flight/targets/boards/discoveryf4bare/pios_board.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotSystem OpenPilot System
   4  * @{
   5  * @addtogroup OpenPilotCore OpenPilot Core
   6  * @{
   7  * @file       pios_board.h
   8  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
   9  * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
  10  * @see        The GNU Public License (GPL) Version 3
  11  *
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #ifndef PIOS_BOARD_H
  30 #define PIOS_BOARD_H
  31
  32 #include <stdbool.h>
  33 // ------------------------
  34 // Timers and Channels Used
  35 // ------------------------
  36 /*
  37    Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
  38    ------+-----------+-----------+-----------+----------
  39    TIM1  |           |           |           |
  40    TIM2  | --------------- PIOS_DELAY -----------------
  41    TIM3  |           |           |           |
  42    TIM4  |           |           |           |
  43    TIM5  |           |           |           |
  44    TIM6  |           |           |           |
  45    TIM7  |           |           |           |
  46    TIM8  |           |           |           |
  47    ------+-----------+-----------+-----------+----------
  48  */
  49
  50 // ------------------------
  51 // DMA Channels Used
  52 // ------------------------
  53 /* Channel 1  -                                 */
  54 /* Channel 2  - SPI1 RX                         */
  55 /* Channel 3  - SPI1 TX                         */
  56 /* Channel 4  - SPI2 RX                         */
  57 /* Channel 5  - SPI2 TX                         */
  58 /* Channel 6  -                                 */
  59 /* Channel 7  -                                 */
  60 /* Channel 8  -                                 */
  61 /* Channel 9  -                                 */
  62 /* Channel 10 -                                 */
  63 /* Channel 11 -                                 */
  64 /* Channel 12 -                                 */
  65
  66 // ------------------------
  67 // BOOTLOADER_SETTINGS
  68 // ------------------------
  69 #define BOARD_READABLE     true
  70 #define BOARD_WRITABLE     true
  71 #define MAX_DEL_RETRYS     3
  72
  73 // ------------------------
  74 // PIOS_LED
  75 // ------------------------
  76 #define PIOS_LED_HEARTBEAT 0
  77 #define PIOS_LED_ALARM     1
  78
  79 #define PIOS_LED_D1        2
  80 #define PIOS_LED_D2        3
  81 #define PIOS_LED_D3        4
  82 #define PIOS_LED_D4        5
  83
  84 // ------------------------
  85 // PIOS_SPI
  86 // See also pios_board.c
  87 // ------------------------
  88 #define PIOS_SPI_MAX_DEVS      3
  89
  90 // ------------------------
  91 // PIOS_WDG
  92 // ------------------------
  93 #define PIOS_WATCHDOG_TIMEOUT  250
  94 #define PIOS_WDG_REGISTER      RTC_BKP_DR4
  95 #define PIOS_WDG_ACTUATOR      0x0001
  96 #define PIOS_WDG_STABILIZATION 0x0002
  97 #define PIOS_WDG_ATTITUDE      0x0004
  98 #define PIOS_WDG_MANUAL        0x0008
  99 #define PIOS_WDG_SENSORS       0x0010
 100
 101 // ------------------------
 102 // PIOS_I2C
 103 // See also pios_board.c
 104 // ------------------------
 105 #define PIOS_I2C_MAX_DEVS       3
 106 extern uint32_t pios_i2c_mag_pressure_adapter_id;
 107 #define PIOS_I2C_MAIN_ADAPTER   (pios_i2c_mag_pressure_adapter_id)
 108 extern uint32_t pios_i2c_flexiport_adapter_id;
 109 #define PIOS_I2C_FLEXI_ADAPTER  (pios_i2c_flexiport_adapter_id)
 110 #define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
 111
 112 // -------------------------
 113 // PIOS_USART
 114 //
 115 // See also pios_board.c
 116 // -------------------------
 117 #define PIOS_USART_MAX_DEVS 5
 118
 119 // -------------------------
 120 // PIOS_COM
 121 //
 122 // See also pios_board.c
 123 // -------------------------
 124 #define PIOS_COM_MAX_DEVS 4
 125 extern uint32_t pios_com_telem_rf_id;
 126 extern uint32_t pios_com_gps_id;
 127 extern uint32_t pios_com_telem_usb_id;
 128 extern uint32_t pios_com_bridge_id;
 129 extern uint32_t pios_com_vcp_id;
 130 extern uint32_t pios_com_hkosd_id;
 131 extern uint32_t pios_com_msp_id;
 132 extern uint32_t pios_com_mavlink_id;
 133
 134 #define PIOS_COM_GPS       (pios_com_gps_id)
 135 #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
 136 #define PIOS_COM_TELEM_RF  (pios_com_telem_rf_id)
 137 #define PIOS_COM_BRIDGE    (pios_com_bridge_id)
 138 #define PIOS_COM_VCP       (pios_com_vcp_id)
 139 #define PIOS_COM_OSDHK     (pios_com_hkosd_id)
 140 #define PIOS_COM_MSP       (pios_com_msp_id)
 141 #define PIOS_COM_MAVLINK   (pios_com_mavlink_id)
 142
 143 #if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
 144 extern uint32_t pios_com_debug_id;
 145 #define PIOS_COM_DEBUG     (pios_com_debug_id)
 146 #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
 147
 148 #if defined(PIOS_INCLUDE_RFM22B)
 149 extern uint32_t pios_rfm22b_id;
 150 extern uint32_t pios_spi_telem_flash_id;
 151 #define PIOS_RFM22_SPI_PORT (pios_spi_telem_flash_id)
 152 #endif /* PIOS_INCLUDE_RFM22B */
 153
 154 // -------------------------
 155 // Packet Handler
 156 // -------------------------
 157 #define RS_ECC_NPARITY          4
 158 #define PIOS_PH_MAX_PACKET      255
 159 #define PIOS_PH_WIN_SIZE        3
 160 #define PIOS_PH_MAX_CONNECTIONS 1
 161 extern uint32_t pios_packet_handler;
 162 #define PIOS_PACKET_HANDLER     (pios_packet_handler)
 163
 164 // ------------------------
 165 // TELEMETRY
 166 // ------------------------
 167 #define TELEM_QUEUE_SIZE        80
 168 #define PIOS_TELEM_STACK_SIZE   800
 169
 170 // -------------------------
 171 // System Settings
 172 //
 173 // See also System_stm32f4xx.c
 174 // -------------------------
 175 // These macros are deprecated
 176 // please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
 177 // #define PIOS_MASTER_CLOCK
 178 // #define PIOS_PERIPHERAL_CLOCK
 179 // #define PIOS_PERIPHERAL_CLOCK
 180
 181 #define PIOS_SYSCLK 168000000
 182 // Peripherals that belongs to APB1 are:
 183 // DAC                  |PWR                            |CAN1,2
 184 // I2C1,2,3             |UART4,5                        |USART3,2
 185 // I2S3Ext              |SPI3/I2S3              |SPI2/I2S2
 186 // I2S2Ext              |IWDG                           |WWDG
 187 // RTC/BKP reg
 188 // TIM2,3,4,5,6,7,12,13,14
 189
 190 // Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
 191 // Default APB1 Prescaler = 4
 192 #define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
 193
 194 // Peripherals belonging to APB2
 195 // SDIO                 |EXTI                           |SYSCFG                 |SPI1
 196 // ADC1,2,3
 197 // USART1,6
 198 // TIM1,8,9,10,11
 199 //
 200 // Default APB2 Prescaler = 2
 201 //
 202 #define PIOS_PERIPHERAL_APB2_CLOCK   PIOS_SYSCLK
 203
 204 // -------------------------
 205 // Interrupt Priorities
 206 // -------------------------
 207 #define PIOS_IRQ_PRIO_LOW            12              // lower than RTOS
 208 #define PIOS_IRQ_PRIO_MID            8               // higher than RTOS
 209 #define PIOS_IRQ_PRIO_HIGH           5               // for SPI, ADC, I2C etc...
 210 #define PIOS_IRQ_PRIO_HIGHEST        4               // for USART etc...
 211 // ------------------------
 212 // PIOS_RCVR
 213 // See also pios_board.c
 214 // ------------------------
 215 #define PIOS_RCVR_MAX_DEVS           3
 216 #define PIOS_RCVR_MAX_CHANNELS       12
 217 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 218 #define PIOS_RFM22B_RCVR_TIMEOUT_MS  200
 219 #define PIOS_OPLINK_RCVR_TIMEOUT_MS  100
 220
 221 // -------------------------
 222 // Receiver PPM input
 223 // -------------------------
 224 #define PIOS_PPM_MAX_DEVS            1
 225 #define PIOS_PPM_NUM_INPUTS          16
 226
 227 // -------------------------
 228 // Receiver PWM input
 229 // -------------------------
 230 #define PIOS_PWM_MAX_DEVS            1
 231 #define PIOS_PWM_NUM_INPUTS          8
 232
 233 // -------------------------
 234 // Receiver SPEKTRUM input
 235 // -------------------------
 236 #define PIOS_SPEKTRUM_MAX_DEVS       2
 237 #define PIOS_SPEKTRUM_NUM_INPUTS     12
 238
 239 // -------------------------
 240 // Receiver S.Bus input
 241 // -------------------------
 242 #define PIOS_SBUS_MAX_DEVS           1
 243 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 244
 245 // -------------------------
 246 // Receiver DSM input
 247 // -------------------------
 248 #define PIOS_DSM_MAX_DEVS            2
 249 #define PIOS_DSM_NUM_INPUTS          12
 250
 251 // -------------------------
 252 // Servo outputs
 253 // -------------------------
 254 #define PIOS_SERVO_UPDATE_HZ         50
 255 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 256 #define PIOS_SERVO_BANKS             6
 257
 258 // --------------------------
 259 // Timer controller settings
 260 // --------------------------
 261 #define PIOS_TIM_MAX_DEVS            6
 262
 263 // -------------------------
 264 // ADC
 265 // PIOS_ADC_PinGet(0) = Current sensor
 266 // PIOS_ADC_PinGet(1) = Voltage sensor
 267 // PIOS_ADC_PinGet(4) = VREF
 268 // PIOS_ADC_PinGet(5) = Temperature sensor
 269 // -------------------------
 270 #define PIOS_DMA_PIN_CONFIG                                                                 \
 271     {                                                                                           \
 272         { GPIOC, GPIO_Pin_1, ADC_Channel_11, false },                                                \
 273         { GPIOC, GPIO_Pin_2, ADC_Channel_12, false },                                                \
 274         { NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference */         \
 275         { NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */        \
 276     }
 277
 278 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
 279 /* which is annoying because this then determines the rate at which we generate buffer turnover events */
 280 /* the objective here is to get enough buffer space to support 100Hz averaging rate */
 281 #define PIOS_ADC_NUM_CHANNELS     4
 282 #define PIOS_ADC_MAX_OVERSAMPLING 2
 283 #define PIOS_ADC_USE_ADC2         0
 284
 285 #define PIOS_ADC_USE_TEMP_SENSOR
 286 #define PIOS_ADC_TEMPERATURE_PIN  3
 287
 288 // -------------------------
 289 // USB
 290 // -------------------------
 291 #define PIOS_USB_MAX_DEVS         1
 292 #define PIOS_USB_ENABLED          1 /* Should remove all references to this */
 293 #define PIOS_USB_HID_MAX_DEVS     1
 294
 295 #endif /* PIOS_BOARD_H */
 296
 297 /**
 298  * @}
 299  * @}
 300  */