mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
335 lines
11 KiB
C
Executable File
335 lines
11 KiB
C
Executable File
/**
|
||
******************************************************************************
|
||
*
|
||
* @file pios_board.h
|
||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||
* @brief Defines board hardware for the OpenPilot Version 1.1 hardware.
|
||
* @see The GNU Public License (GPL) Version 3
|
||
*
|
||
*****************************************************************************/
|
||
/*
|
||
* This program is free software; you can redistribute it and/or modify
|
||
* it under the terms of the GNU General Public License as published by
|
||
* the Free Software Foundation; either version 3 of the License, or
|
||
* (at your option) any later version.
|
||
*
|
||
* This program is distributed in the hope that it will be useful, but
|
||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||
* for more details.
|
||
*
|
||
* You should have received a copy of the GNU General Public License along
|
||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||
*/
|
||
|
||
#ifndef STM32103CB_PIPXTREME_H_
|
||
#define STM32103CB_PIPXTREME_H_
|
||
|
||
#define ADD_ONE_ADC
|
||
|
||
//------------------------
|
||
// Timers and Channels Used
|
||
//------------------------
|
||
/*
|
||
Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
|
||
------+-----------+-----------+-----------+----------
|
||
TIM1 | Servo 4 | | |
|
||
TIM2 | RC In 5 | RC In 6 | Servo 6 |
|
||
TIM3 | Servo 5 | RC In 2 | RC In 3 | RC In 4
|
||
TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
|
||
------+-----------+-----------+-----------+----------
|
||
*/
|
||
|
||
//------------------------
|
||
// DMA Channels Used
|
||
//------------------------
|
||
/* Channel 1 - */
|
||
/* Channel 2 - */
|
||
/* Channel 3 - */
|
||
/* Channel 4 - */
|
||
/* Channel 5 - */
|
||
/* Channel 6 - */
|
||
/* Channel 7 - */
|
||
/* Channel 8 - */
|
||
/* Channel 9 - */
|
||
/* Channel 10 - */
|
||
/* Channel 11 - */
|
||
/* Channel 12 - */
|
||
|
||
|
||
//------------------------
|
||
// BOOTLOADER_SETTINGS
|
||
//------------------------
|
||
#define BOARD_READABLE TRUE
|
||
#define BOARD_WRITABLE TRUE
|
||
#define MAX_DEL_RETRYS 3
|
||
|
||
|
||
//------------------------
|
||
// WATCHDOG_SETTINGS
|
||
//------------------------
|
||
#define PIOS_WATCHDOG_TIMEOUT 500
|
||
#define PIOS_WDG_REGISTER BKP_DR4
|
||
#define PIOS_WDG_TELEMETRY 0x0001
|
||
#define PIOS_WDG_RADIORX 0x0002
|
||
#define PIOS_WDG_RADIOTX 0x0004
|
||
#define PIOS_WDG_RFM22B 0x0008
|
||
|
||
//------------------------
|
||
// TELEMETRY
|
||
//------------------------
|
||
#define TELEM_QUEUE_SIZE 20
|
||
|
||
//------------------------
|
||
// PIOS_LED
|
||
//------------------------
|
||
#define PIOS_LED_USB 0
|
||
#define PIOS_LED_LINK 1
|
||
#define PIOS_LED_RX 2
|
||
#define PIOS_LED_TX 3
|
||
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
|
||
#define PIOS_LED_D1 4
|
||
#define PIOS_LED_D2 5
|
||
#define PIOS_LED_D3 6
|
||
#define PIOS_LED_D4 7
|
||
#endif
|
||
|
||
#define PIOS_LED_HEARTBEAT PIOS_LED_LINK
|
||
#define PIOS_LED_ALARM PIOS_LED_TX
|
||
|
||
#define USB_LED_ON PIOS_LED_On(PIOS_LED_USB)
|
||
#define USB_LED_OFF PIOS_LED_Off(PIOS_LED_USB)
|
||
#define USB_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_USB)
|
||
|
||
#define LINK_LED_ON PIOS_LED_On(PIOS_LED_LINK)
|
||
#define LINK_LED_OFF PIOS_LED_Off(PIOS_LED_LINK)
|
||
#define LINK_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_LINK)
|
||
|
||
#define RX_LED_ON PIOS_LED_On(PIOS_LED_RX)
|
||
#define RX_LED_OFF PIOS_LED_Off(PIOS_LED_RX)
|
||
#define RX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_RX)
|
||
|
||
#define TX_LED_ON PIOS_LED_On(PIOS_LED_TX)
|
||
#define TX_LED_OFF PIOS_LED_Off(PIOS_LED_TX)
|
||
#define TX_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_TX)
|
||
|
||
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
|
||
#define D1_LED_ON PIOS_LED_On(PIOS_LED_D1)
|
||
#define D1_LED_OFF PIOS_LED_Off(PIOS_LED_D1)
|
||
#define D1_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D1)
|
||
|
||
#define D2_LED_ON PIOS_LED_On(PIOS_LED_D2)
|
||
#define D2_LED_OFF PIOS_LED_Off(PIOS_LED_D2)
|
||
#define D2_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D2)
|
||
|
||
#define D3_LED_ON PIOS_LED_On(PIOS_LED_D3)
|
||
#define D3_LED_OFF PIOS_LED_Off(PIOS_LED_D3)
|
||
#define D3_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D3)
|
||
|
||
#define D4_LED_ON PIOS_LED_On(PIOS_LED_D4)
|
||
#define D4_LED_OFF PIOS_LED_Off(PIOS_LED_D4)
|
||
#define D4_LED_TOGGLE PIOS_LED_Toggle(PIOS_LED_D4)
|
||
#endif
|
||
|
||
//-------------------------
|
||
// System Settings
|
||
//-------------------------
|
||
#define PIOS_MASTER_CLOCK 72000000
|
||
#define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
|
||
|
||
//-------------------------
|
||
// Interrupt Priorities
|
||
//-------------------------
|
||
#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS
|
||
#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS
|
||
#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc...
|
||
#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
|
||
|
||
//------------------------
|
||
// PIOS_I2C
|
||
// See also pios_board.c
|
||
//------------------------
|
||
#define PIOS_I2C_MAX_DEVS 1
|
||
extern uint32_t pios_i2c_flexi_adapter_id;
|
||
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id)
|
||
|
||
//------------------------
|
||
// PIOS_SPI
|
||
// See also pios_board.c
|
||
//------------------------
|
||
#define PIOS_SPI_MAX_DEVS 1
|
||
|
||
//-------------------------
|
||
// PIOS_USART
|
||
//-------------------------
|
||
#define PIOS_USART_MAX_DEVS 3
|
||
|
||
//-------------------------
|
||
// PIOS_COM
|
||
//
|
||
// See also pios_board.c
|
||
//-------------------------
|
||
#define PIOS_COM_MAX_DEVS 5
|
||
|
||
extern uint32_t pios_com_telem_usb_id;
|
||
extern uint32_t pios_com_telem_vcp_id;
|
||
extern uint32_t pios_com_telem_uart_telem_id;
|
||
extern uint32_t pios_com_telem_uart_flexi_id;
|
||
extern uint32_t pios_com_telemetry_id;
|
||
extern uint32_t pios_com_rfm22b_id;
|
||
extern uint32_t pios_com_radio_id;
|
||
extern uint32_t pios_ppm_rcvr_id;
|
||
extern uint32_t pios_ppm_out_id;
|
||
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
|
||
#define PIOS_COM_TELEM_VCP (pios_com_telem_vcp_id)
|
||
#define PIOS_COM_TELEM_UART_FLEXI (pios_com_telem_uart_flexi_id)
|
||
#define PIOS_COM_TELEM_UART_TELEM (pios_com_telem_uart_telem_id)
|
||
#define PIOS_COM_TELEMETRY (pios_com_telemetry_id)
|
||
#define PIOS_COM_RFM22B (pios_com_rfm22b_id)
|
||
#define PIOS_COM_RADIO (pios_com_radio_id)
|
||
#define PIOS_PPM_RECEIVER (pios_ppm_rcvr_id)
|
||
#define PIOS_PPM_OUTPUT (pios_ppm_out_id)
|
||
|
||
#define DEBUG_LEVEL 2
|
||
#if DEBUG_LEVEL > 1000
|
||
#define DEBUG_PRINTF(level, ...) {if(level <= DEBUG_LEVEL && PIOS_COM_DEBUG > 0) { PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__); }}
|
||
#else
|
||
#define DEBUG_PRINTF(...)
|
||
#endif
|
||
#define RFM22_DEBUG 1
|
||
|
||
//-------------------------
|
||
// ADC
|
||
// None
|
||
//-------------------------
|
||
//#define PIOS_ADC_OVERSAMPLING_RATE 1
|
||
#define PIOS_ADC_USE_TEMP_SENSOR 0
|
||
#define PIOS_ADC_TEMP_SENSOR_ADC ADC1
|
||
#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
|
||
|
||
#define PIOS_ADC_NUM_PINS 0
|
||
|
||
#define PIOS_ADC_PORTS { }
|
||
#define PIOS_ADC_PINS { }
|
||
#define PIOS_ADC_CHANNELS { }
|
||
#define PIOS_ADC_MAPPING { }
|
||
#define PIOS_ADC_CHANNEL_MAPPING { }
|
||
#define PIOS_ADC_NUM_CHANNELS (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
|
||
#define PIOS_ADC_NUM_ADC_CHANNELS 0
|
||
#define PIOS_ADC_USE_ADC2 0
|
||
#define PIOS_ADC_CLOCK_FUNCTION RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
|
||
#define PIOS_ADC_ADCCLK RCC_PCLK2_Div8
|
||
/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
|
||
/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
|
||
/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
|
||
/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
|
||
#define PIOS_ADC_SAMPLE_TIME ADC_SampleTime_239Cycles5
|
||
/* Sample time: */
|
||
/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
|
||
/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
|
||
/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
|
||
#define PIOS_ADC_IRQ_PRIO PIOS_IRQ_PRIO_LOW
|
||
|
||
// Currently analog acquistion hard coded at 480 Hz
|
||
// PCKL2 = HCLK / 16
|
||
// ADCCLK = PCLK2 / 2
|
||
#define PIOS_ADC_RATE (72.0e6 / 1.0 / 8.0 / 252.0 / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
|
||
#define PIOS_ADC_MAX_OVERSAMPLING 36
|
||
|
||
//------------------------
|
||
// PIOS_RCVR
|
||
// See also pios_board.c
|
||
//------------------------
|
||
#define PIOS_RCVR_MAX_DEVS 3
|
||
#define PIOS_RCVR_MAX_CHANNELS 12
|
||
#define PIOS_GCSRCVR_TIMEOUT_MS 100
|
||
|
||
//-------------------------
|
||
// Receiver PPM input
|
||
//-------------------------
|
||
#define PIOS_PPM_MAX_DEVS 1
|
||
#define PIOS_PPM_NUM_INPUTS 8
|
||
|
||
//-------------------------
|
||
// Servo outputs
|
||
//-------------------------
|
||
#define PIOS_SERVO_UPDATE_HZ 50
|
||
#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
|
||
|
||
//--------------------------
|
||
// Timer controller settings
|
||
//--------------------------
|
||
#define PIOS_TIM_MAX_DEVS 3
|
||
|
||
//-------------------------
|
||
// GPIO
|
||
//-------------------------
|
||
#define PIOS_GPIO_PORTS { }
|
||
#define PIOS_GPIO_PINS { }
|
||
#define PIOS_GPIO_CLKS { }
|
||
#define PIOS_GPIO_NUM 0
|
||
|
||
//-------------------------
|
||
// USB
|
||
//-------------------------
|
||
#define PIOS_USB_HID_MAX_DEVS 1
|
||
#define PIOS_USB_ENABLED 1
|
||
#define PIOS_USB_HID_MAX_DEVS 1
|
||
#define PIOS_USB_MAX_DEVS 1
|
||
#define PIOS_USB_DETECT_GPIO_PORT GPIOC
|
||
#define PIOS_USB_DETECT_GPIO_PIN GPIO_Pin_15
|
||
#define PIOS_USB_DETECT_EXTI_LINE EXTI_Line15
|
||
|
||
//-------------------------
|
||
// RFM22
|
||
//-------------------------
|
||
|
||
#if defined(PIOS_INCLUDE_RFM22B)
|
||
extern uint32_t pios_spi_rfm22b_id;
|
||
#define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id)
|
||
extern uint32_t pios_rfm22b_id;
|
||
#endif /* PIOS_INCLUDE_RFM22B */
|
||
|
||
//-------------------------
|
||
// Packet Handler
|
||
//-------------------------
|
||
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
|
||
extern uint32_t pios_packet_handler;
|
||
#define PIOS_PACKET_HANDLER (pios_packet_handler)
|
||
#define PIOS_PH_MAX_PACKET 255
|
||
#define PIOS_PH_WIN_SIZE 3
|
||
#define PIOS_PH_MAX_CONNECTIONS 1
|
||
#define RS_ECC_NPARITY 4
|
||
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
|
||
|
||
//-------------------------
|
||
// Packet Handler
|
||
//-------------------------
|
||
|
||
#if defined(PIOS_INCLUDE_PACKET_HANDLER)
|
||
uint32_t pios_packet_handler;
|
||
#define PIOS_PACKET_HANDLER (pios_packet_handler)
|
||
#define PIOS_PH_MAX_PACKET 255
|
||
#define PIOS_PH_WIN_SIZE 3
|
||
#define PIOS_PH_MAX_CONNECTIONS 1
|
||
#endif /* PIOS_INCLUDE_PACKET_HANDLER */
|
||
|
||
//-------------------------
|
||
// Reed-Solomon ECC
|
||
//-------------------------
|
||
|
||
#define RS_ECC_NPARITY 4
|
||
|
||
//-------------------------
|
||
// Flash EEPROM Emulation
|
||
//-------------------------
|
||
|
||
#define PIOS_FLASH_SIZE 0x20000
|
||
#define PIOS_FLASH_EEPROM_START_ADDR 0x08000000
|
||
#define PIOS_FLASH_PAGE_SIZE 1024
|
||
#define PIOS_FLASH_EEPROM_ADDR (PIOS_FLASH_EEPROM_START_ADDR + PIOS_FLASH_SIZE - PIOS_FLASH_PAGE_SIZE)
|
||
#define PIOS_FLASH_EEPROM_LEN PIOS_FLASH_PAGE_SIZE
|
||
|
||
#endif /* STM32103CB_PIPXTREME_H_ */
|