src/main/target/SITL/target.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 // SITL (software in the loop) simulator
  22
  23 #pragma once
  24
  25 #include <stdint.h>
  26 #include <stddef.h>
  27
  28 #include "common/utils.h"
  29
  30 #define TARGET_BOARD_IDENTIFIER "SITL"
  31
  32 #define SIMULATOR_MULTITHREAD
  33
  34 #define SYSTEM_HSE_MHZ 0
  35 #define DEFAULT_CPU_OVERCLOCK 1
  36 #define DMA_RAM
  37 #define DMA_RW_AXI
  38 #define DMA_RAM_R
  39 #define DMA_RAM_W
  40 #define DMA_RAM_RW
  41
  42 #define DMA_DATA_ZERO_INIT
  43 #define DMA_DATA
  44 #define STATIC_DMA_DATA_AUTO
  45
  46 // use simulatior's attitude directly
  47 // disable this if wants to test AHRS algorithm
  48 #undef USE_IMU_CALC
  49
  50 //#define SIMULATOR_ACC_SYNC
  51 //#define SIMULATOR_GYRO_SYNC
  52 //#define SIMULATOR_IMU_SYNC
  53 //#define SIMULATOR_GYROPID_SYNC
  54
  55 // file name to save config
  56 #define EEPROM_FILENAME "eeprom.bin"
  57 #define CONFIG_IN_FILE
  58 #define EEPROM_SIZE     32768
  59
  60 #define U_ID_0 0
  61 #define U_ID_1 1
  62 #define U_ID_2 2
  63
  64 #undef TASK_GYROPID_DESIRED_PERIOD
  65 #define TASK_GYROPID_DESIRED_PERIOD     100
  66
  67 #undef SCHEDULER_DELAY_LIMIT
  68 #define SCHEDULER_DELAY_LIMIT           1
  69
  70 #define USE_VIRTUAL_LED
  71
  72 #define USE_ACC
  73 #define USE_VIRTUAL_ACC
  74
  75 #define USE_GYRO
  76 #define USE_VIRTUAL_GYRO
  77
  78 #define USE_MAG
  79 #define USE_VIRTUAL_MAG
  80
  81 #define USE_BARO
  82 #define USE_VIRTUAL_BARO
  83
  84 #define USABLE_TIMER_CHANNEL_COUNT 0
  85
  86 #define USE_UART1
  87 #define USE_UART2
  88 #define USE_UART3
  89 #define USE_UART4
  90 #define USE_UART5
  91 #define USE_UART6
  92 #define USE_UART7
  93 #define USE_UART8
  94
  95 #define SERIAL_PORT_COUNT 8
  96
  97 #define DEFAULT_RX_FEATURE      FEATURE_RX_MSP
  98 #define DEFAULT_FEATURES        (FEATURE_GPS | FEATURE_TELEMETRY)
  99
 100 #define USE_PARAMETER_GROUPS
 101
 102 #define USE_PWM_OUTPUT
 103
 104 #undef USE_STACK_CHECK // I think SITL don't need this
 105 #undef USE_DASHBOARD
 106 #undef USE_TELEMETRY_LTM
 107 #undef USE_ADC
 108 #undef USE_VCP
 109 #undef USE_OSD
 110 #undef USE_RX_PPM
 111 #undef USE_RX_PWM
 112 #undef USE_SERIALRX
 113 #undef USE_SERIALRX_CRSF
 114 #undef USE_SERIALRX_GHST
 115 #undef USE_SERIALRX_IBUS
 116 #undef USE_SERIALRX_SBUS
 117 #undef USE_SERIALRX_SPEKTRUM
 118 #undef USE_SERIALRX_SUMD
 119 #undef USE_SERIALRX_SUMH
 120 #undef USE_SERIALRX_XBUS
 121 #undef USE_LED_STRIP
 122 #undef USE_TELEMETRY_FRSKY_HUB
 123 #undef USE_TELEMETRY_HOTT
 124 #undef USE_TELEMETRY_SMARTPORT
 125 #undef USE_TELEMETRY_MAVLINK
 126 #undef USE_RESOURCE_MGMT
 127 #undef USE_CMS
 128 #undef USE_TELEMETRY_CRSF
 129 #undef USE_TELEMETRY_GHST
 130 #undef USE_TELEMETRY_IBUS
 131 #undef USE_TELEMETRY_JETIEXBUS
 132 #undef USE_TELEMETRY_SRXL
 133 #undef USE_SERIALRX_JETIEXBUS
 134 #undef USE_VTX_COMMON
 135 #undef USE_VTX_CONTROL
 136 #undef USE_VTX_SMARTAUDIO
 137 #undef USE_VTX_TRAMP
 138 #undef USE_VTX_MSP
 139 #undef USE_CAMERA_CONTROL
 140 #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 141 #undef USE_SERIAL_4WAY_SK_BOOTLOADER
 142
 143 #undef USE_I2C
 144 #undef USE_SPI
 145
 146 #define TARGET_FLASH_SIZE 2048
 147
 148
 149 #define LED_STRIP_TIMER 1
 150 #define SOFTSERIAL_1_TIMER 2
 151 #define SOFTSERIAL_2_TIMER 3
 152
 153 #define DEFIO_NO_PORTS   // suppress 'no pins defined' warning
 154
 155 #define FLASH_PAGE_SIZE (0x400)
 156
 157 // belows are internal stuff
 158
 159 extern uint32_t SystemCoreClock;
 160
 161 typedef enum
 162 {
 163     Mode_TEST = 0x0,
 164     Mode_Out_PP = 0x10
 165 } GPIO_Mode;
 166
 167 typedef enum {RESET = 0, SET = !RESET} FlagStatus, ITStatus;
 168 typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 169 typedef enum {TEST_IRQ = 0 } IRQn_Type;
 170 typedef enum {
 171     EXTI_Trigger_Rising = 0x08,
 172     EXTI_Trigger_Falling = 0x0C,
 173     EXTI_Trigger_Rising_Falling = 0x10
 174 } EXTITrigger_TypeDef;
 175
 176 typedef struct
 177 {
 178   uint32_t IDR;
 179   uint32_t ODR;
 180   uint32_t BSRR;
 181   uint32_t BRR;
 182 } GPIO_TypeDef;
 183
 184 #define GPIOA_BASE ((intptr_t)0x0001)
 185
 186 typedef struct
 187 {
 188     void* test;
 189 } TIM_TypeDef;
 190
 191 typedef struct
 192 {
 193     void* test;
 194 } TIM_OCInitTypeDef;
 195
 196 typedef struct {
 197     void* test;
 198 } DMA_TypeDef;
 199
 200 typedef struct {
 201     void* test;
 202 } DMA_Channel_TypeDef;
 203
 204 typedef struct {
 205     void* test;
 206 } DMA_InitTypeDef;
 207
 208 uint8_t DMA_GetFlagStatus(void *);
 209 void DMA_Cmd(DMA_Channel_TypeDef*, FunctionalState );
 210 void DMA_ClearFlag(uint32_t);
 211
 212 typedef struct
 213 {
 214     void* test;
 215 } SPI_TypeDef;
 216
 217 typedef struct
 218 {
 219     void* test;
 220 } USART_TypeDef;
 221
 222 #define USART1 ((USART_TypeDef *)0x0001)
 223 #define USART2 ((USART_TypeDef *)0x0002)
 224 #define USART3 ((USART_TypeDef *)0x0003)
 225 #define USART4 ((USART_TypeDef *)0x0004)
 226 #define USART5 ((USART_TypeDef *)0x0005)
 227 #define USART6 ((USART_TypeDef *)0x0006)
 228 #define USART7 ((USART_TypeDef *)0x0007)
 229 #define USART8 ((USART_TypeDef *)0x0008)
 230
 231 #define UART4 ((USART_TypeDef *)0x0004)
 232 #define UART5 ((USART_TypeDef *)0x0005)
 233 #define UART7 ((USART_TypeDef *)0x0007)
 234 #define UART8 ((USART_TypeDef *)0x0008)
 235
 236 #define SIMULATOR_MAX_RC_CHANNELS   16
 237 #define SIMULATOR_MAX_PWM_CHANNELS  16
 238
 239 typedef struct
 240 {
 241     void* test;
 242 } I2C_TypeDef;
 243
 244 typedef enum
 245 {
 246   FLASH_BUSY = 1,
 247   FLASH_ERROR_PG,
 248   FLASH_ERROR_WRP,
 249   FLASH_COMPLETE,
 250   FLASH_TIMEOUT
 251 } FLASH_Status;
 252
 253 typedef struct {
 254     double timestamp;                   // in seconds
 255     double imu_angular_velocity_rpy[3]; // rad/s -> range: +/- 8192; +/- 2000 deg/se
 256     double imu_linear_acceleration_xyz[3];    // m/s/s NED, body frame -> sim 1G = 9.80665, FC 1G = 256
 257     double imu_orientation_quat[4];     //w, x, y, z
 258     double velocity_xyz[3];             // m/s, earth frame
 259     double position_xyz[3];             // meters, NED from origin
 260     double pressure;
 261 } fdm_packet;
 262
 263 typedef struct {
 264     double timestamp;                               // in seconds
 265     uint16_t channels[SIMULATOR_MAX_RC_CHANNELS];   // RC channels
 266 } rc_packet;
 267
 268 typedef struct {
 269     float motor_speed[4];   // normal: [0.0, 1.0], 3D: [-1.0, 1.0]
 270 } servo_packet;
 271
 272 typedef struct {
 273     uint16_t motorCount; // Count of motor in the PWM output.
 274     float pwm_output_raw[SIMULATOR_MAX_PWM_CHANNELS];   // Raw PWM from 1100 to 1900
 275 } servo_packet_raw;
 276
 277 void FLASH_Unlock(void);
 278 void FLASH_Lock(void);
 279 FLASH_Status FLASH_ErasePage(uintptr_t Page_Address);
 280 FLASH_Status FLASH_ProgramWord(uintptr_t addr, uint32_t Data);
 281
 282 uint64_t nanos64_real(void);
 283 uint64_t micros64_real(void);
 284 uint64_t millis64_real(void);
 285 void delayMicroseconds_real(uint32_t us);
 286 uint64_t micros64(void);
 287 uint64_t millis64(void);
 288
 289 int lockMainPID(void);
 290
 291 int targetParseArgs(int argc, char * argv[]);