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 // use simulatior's attitude directly
  35 // disable this if wants to test AHRS algorithm
  36 #undef USE_IMU_CALC
  37
  38 //#define SIMULATOR_ACC_SYNC
  39 //#define SIMULATOR_GYRO_SYNC
  40 //#define SIMULATOR_IMU_SYNC
  41 //#define SIMULATOR_GYROPID_SYNC
  42
  43 // file name to save config
  44 #define EEPROM_FILENAME "eeprom.bin"
  45 #define CONFIG_IN_FILE
  46 #define EEPROM_SIZE     32768
  47
  48 #define U_ID_0 0
  49 #define U_ID_1 1
  50 #define U_ID_2 2
  51
  52 #undef TASK_GYROPID_DESIRED_PERIOD
  53 #define TASK_GYROPID_DESIRED_PERIOD     100
  54
  55 #undef SCHEDULER_DELAY_LIMIT
  56 #define SCHEDULER_DELAY_LIMIT           1
  57
  58 #define USE_FAKE_LED
  59
  60 #define USE_ACC
  61 #define USE_FAKE_ACC
  62
  63 #define USE_GYRO
  64 #define USE_FAKE_GYRO
  65
  66 #define USE_MAG
  67 #define USE_FAKE_MAG
  68
  69 #define USE_BARO
  70 #define USE_FAKE_BARO
  71
  72 #define USABLE_TIMER_CHANNEL_COUNT 0
  73
  74 #define USE_UART1
  75 #define USE_UART2
  76 #define USE_UART3
  77 #define USE_UART4
  78 #define USE_UART5
  79 #define USE_UART6
  80 #define USE_UART7
  81 #define USE_UART8
  82
  83 //#define USE_SOFTSERIAL1
  84 //#define USE_SOFTSERIAL2
  85
  86 #define SERIAL_PORT_COUNT 8
  87
  88 #define DEFAULT_RX_FEATURE      FEATURE_RX_MSP
  89 #define DEFAULT_FEATURES        (FEATURE_GPS | FEATURE_TELEMETRY)
  90
  91 #define USE_PARAMETER_GROUPS
  92
  93 #undef USE_STACK_CHECK // I think SITL don't need this
  94 #undef USE_DASHBOARD
  95 #undef USE_TELEMETRY_LTM
  96 #undef USE_ADC
  97 #undef USE_VCP
  98 #undef USE_OSD
  99 #undef USE_PPM
 100 #undef USE_PWM
 101 #undef USE_SERIALRX
 102 #undef USE_SERIALRX_CRSF
 103 #undef USE_SERIALRX_GHST
 104 #undef USE_SERIALRX_IBUS
 105 #undef USE_SERIALRX_SBUS
 106 #undef USE_SERIALRX_SPEKTRUM
 107 #undef USE_SERIALRX_SUMD
 108 #undef USE_SERIALRX_SUMH
 109 #undef USE_SERIALRX_XBUS
 110 #undef USE_LED_STRIP
 111 #undef USE_TELEMETRY_FRSKY_HUB
 112 #undef USE_TELEMETRY_HOTT
 113 #undef USE_TELEMETRY_SMARTPORT
 114 #undef USE_TELEMETRY_MAVLINK
 115 #undef USE_RESOURCE_MGMT
 116 #undef USE_CMS
 117 #undef USE_TELEMETRY_CRSF
 118 #undef USE_TELEMETRY_GHST
 119 #undef USE_TELEMETRY_IBUS
 120 #undef USE_TELEMETRY_JETIEXBUS
 121 #undef USE_TELEMETRY_SRXL
 122 #undef USE_SERIALRX_JETIEXBUS
 123 #undef USE_VTX_COMMON
 124 #undef USE_VTX_CONTROL
 125 #undef USE_VTX_SMARTAUDIO
 126 #undef USE_VTX_TRAMP
 127 #undef USE_VTX_MSP
 128 #undef USE_CAMERA_CONTROL
 129 #undef USE_BRUSHED_ESC_AUTODETECT
 130 #undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
 131 #undef USE_SERIAL_4WAY_SK_BOOTLOADER
 132
 133 #undef USE_I2C
 134 #undef USE_SPI
 135
 136 #define TARGET_FLASH_SIZE 2048
 137
 138
 139 #define LED_STRIP_TIMER 1
 140 #define SOFTSERIAL_1_TIMER 2
 141 #define SOFTSERIAL_2_TIMER 3
 142
 143 #define DEFIO_NO_PORTS   // suppress 'no pins defined' warning
 144
 145 // belows are internal stuff
 146
 147 extern uint32_t SystemCoreClock;
 148
 149 typedef enum
 150 {
 151     Mode_TEST = 0x0,
 152     Mode_Out_PP = 0x10
 153 } GPIO_Mode;
 154
 155 typedef enum {RESET = 0, SET = !RESET} FlagStatus, ITStatus;
 156 typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 157 typedef enum {TEST_IRQ = 0 } IRQn_Type;
 158 typedef enum {
 159     EXTI_Trigger_Rising = 0x08,
 160     EXTI_Trigger_Falling = 0x0C,
 161     EXTI_Trigger_Rising_Falling = 0x10
 162 } EXTITrigger_TypeDef;
 163
 164 typedef struct
 165 {
 166   uint32_t IDR;
 167   uint32_t ODR;
 168   uint32_t BSRR;
 169   uint32_t BRR;
 170 } GPIO_TypeDef;
 171
 172 #define GPIOA_BASE ((intptr_t)0x0001)
 173
 174 typedef struct
 175 {
 176     void* test;
 177 } TIM_TypeDef;
 178
 179 typedef struct
 180 {
 181     void* test;
 182 } TIM_OCInitTypeDef;
 183
 184 typedef struct {
 185     void* test;
 186 } DMA_TypeDef;
 187
 188 typedef struct {
 189     void* test;
 190 } DMA_Channel_TypeDef;
 191
 192 typedef struct {
 193     void* test;
 194 } DMA_InitTypeDef;
 195
 196 uint8_t DMA_GetFlagStatus(void *);
 197 void DMA_Cmd(DMA_Channel_TypeDef*, FunctionalState );
 198 void DMA_ClearFlag(uint32_t);
 199
 200 typedef struct
 201 {
 202     void* test;
 203 } SPI_TypeDef;
 204
 205 typedef struct
 206 {
 207     void* test;
 208 } USART_TypeDef;
 209
 210 #define USART1 ((USART_TypeDef *)0x0001)
 211 #define USART2 ((USART_TypeDef *)0x0002)
 212 #define USART3 ((USART_TypeDef *)0x0003)
 213 #define USART4 ((USART_TypeDef *)0x0004)
 214 #define USART5 ((USART_TypeDef *)0x0005)
 215 #define USART6 ((USART_TypeDef *)0x0006)
 216 #define USART7 ((USART_TypeDef *)0x0007)
 217 #define USART8 ((USART_TypeDef *)0x0008)
 218
 219 #define UART4 ((USART_TypeDef *)0x0004)
 220 #define UART5 ((USART_TypeDef *)0x0005)
 221 #define UART7 ((USART_TypeDef *)0x0007)
 222 #define UART8 ((USART_TypeDef *)0x0008)
 223
 224 typedef struct
 225 {
 226     void* test;
 227 } I2C_TypeDef;
 228
 229 typedef enum
 230 {
 231   FLASH_BUSY = 1,
 232   FLASH_ERROR_PG,
 233   FLASH_ERROR_WRP,
 234   FLASH_COMPLETE,
 235   FLASH_TIMEOUT
 236 } FLASH_Status;
 237
 238 typedef struct {
 239     double timestamp;                   // in seconds
 240     double imu_angular_velocity_rpy[3]; // rad/s -> range: +/- 8192; +/- 2000 deg/se
 241     double imu_linear_acceleration_xyz[3];    // m/s/s NED, body frame -> sim 1G = 9.80665, FC 1G = 256
 242     double imu_orientation_quat[4];     //w, x, y, z
 243     double velocity_xyz[3];             // m/s, earth frame
 244     double position_xyz[3];             // meters, NED from origin
 245 } fdm_packet;
 246 typedef struct {
 247     float motor_speed[4];   // normal: [0.0, 1.0], 3D: [-1.0, 1.0]
 248 } servo_packet;
 249
 250 void FLASH_Unlock(void);
 251 void FLASH_Lock(void);
 252 FLASH_Status FLASH_ErasePage(uintptr_t Page_Address);
 253 FLASH_Status FLASH_ProgramWord(uintptr_t addr, uint32_t Data);
 254
 255 uint64_t nanos64_real(void);
 256 uint64_t micros64_real(void);
 257 uint64_t millis64_real(void);
 258 void delayMicroseconds_real(uint32_t us);
 259 uint64_t micros64(void);
 260 uint64_t millis64(void);
 261
 262 int lockMainPID(void);
 263
 264