flight/targets/boards/revoproto/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 // ------------------------
  35 // Timers and Channels Used
  36 // ------------------------
  37 /*
  38    Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
  39    ------+-----------+-----------+-----------+----------
  40    TIM1  |           |           |           |
  41    TIM2  | --------------- PIOS_DELAY -----------------
  42    TIM3  |           |           |           |
  43    TIM4  |           |           |           |
  44    TIM5  |           |           |           |
  45    TIM6  |           |           |           |
  46    TIM7  |           |           |           |
  47    TIM8  |           |           |           |
  48    ------+-----------+-----------+-----------+----------
  49  */
  50
  51 // ------------------------
  52 // DMA Channels Used
  53 // ------------------------
  54 /* Channel 1  -                                 */
  55 /* Channel 2  - SPI1 RX                         */
  56 /* Channel 3  - SPI1 TX                         */
  57 /* Channel 4  - SPI2 RX                         */
  58 /* Channel 5  - SPI2 TX                         */
  59 /* Channel 6  -                                 */
  60 /* Channel 7  -                                 */
  61 /* Channel 8  -                                 */
  62 /* Channel 9  -                                 */
  63 /* Channel 10 -                                 */
  64 /* Channel 11 -                                 */
  65 /* Channel 12 -                                 */
  66
  67 // ------------------------
  68 // BOOTLOADER_SETTINGS
  69 // ------------------------
  70 #define BOARD_READABLE     true
  71 #define BOARD_WRITABLE     true
  72 #define MAX_DEL_RETRYS     3
  73
  74 // ------------------------
  75 // PIOS_LED
  76 // ------------------------
  77 #define PIOS_LED_HEARTBEAT 0
  78 #define PIOS_LED_ALARM     1
  79
  80 // ------------------------
  81 // PIOS_SPI
  82 // See also pios_board.c
  83 // ------------------------
  84 #define PIOS_SPI_MAX_DEVS      3
  85
  86 // ------------------------
  87 // PIOS_WDG
  88 // ------------------------
  89 #define PIOS_WATCHDOG_TIMEOUT  250
  90 #define PIOS_WDG_REGISTER      RTC_BKP_DR4
  91 #define PIOS_WDG_ACTUATOR      0x0001
  92 #define PIOS_WDG_STABILIZATION 0x0002
  93 #define PIOS_WDG_ATTITUDE      0x0004
  94 #define PIOS_WDG_MANUAL        0x0008
  95 #define PIOS_WDG_SENSORS       0x0010
  96 #define PIOS_WDG_AUTOTUNE      0x0020
  97
  98 // ------------------------
  99 // PIOS_I2C
 100 // See also pios_board.c
 101 // ------------------------
 102 #define PIOS_I2C_MAX_DEVS       3
 103 extern uint32_t pios_i2c_mag_adapter_id;
 104 #define PIOS_I2C_MAIN_ADAPTER   (pios_i2c_mag_adapter_id)
 105 extern uint32_t pios_i2c_flexiport_adapter_id;
 106 #define PIOS_I2C_FLEXI_ADAPTER  (pios_i2c_flexiport_adapter_id)
 107 #define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
 108
 109 // -------------------------
 110 // PIOS_USART
 111 //
 112 // See also pios_board.c
 113 // -------------------------
 114 #define PIOS_USART_MAX_DEVS 5
 115
 116 // -------------------------
 117 // PIOS_COM
 118 //
 119 // See also pios_board.c
 120 // -------------------------
 121 #define PIOS_COM_MAX_DEVS 4
 122 extern uint32_t pios_com_telem_rf_id;
 123 extern uint32_t pios_com_gps_id;
 124 extern uint32_t pios_com_aux_id;
 125 extern uint32_t pios_com_telem_usb_id;
 126 extern uint32_t pios_com_bridge_id;
 127 extern uint32_t pios_com_vcp_id;
 128 extern uint32_t pios_com_hkosd_id;
 129 extern uint32_t pios_com_msp_id;
 130 extern uint32_t pios_com_mavlink_id;
 131
 132 #define PIOS_COM_AUX          (pios_com_aux_id)
 133 #define PIOS_COM_GPS          (pios_com_gps_id)
 134 #define PIOS_COM_TELEM_USB    (pios_com_telem_usb_id)
 135 #define PIOS_COM_TELEM_RF     (pios_com_telem_rf_id)
 136 #define PIOS_COM_BRIDGE       (pios_com_bridge_id)
 137 #define PIOS_COM_VCP          (pios_com_vcp_id)
 138 #define PIOS_COM_DEBUG        PIOS_COM_AUX
 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 // ------------------------
 144 // TELEMETRY
 145 // ------------------------
 146 #define TELEM_QUEUE_SIZE      80
 147 #define PIOS_TELEM_STACK_SIZE 800
 148
 149 // -------------------------
 150 // System Settings
 151 //
 152 // See also System_stm32f4xx.c
 153 // -------------------------
 154 // These macros are deprecated
 155 // please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
 156 // #define PIOS_MASTER_CLOCK
 157 // #define PIOS_PERIPHERAL_CLOCK
 158 // #define PIOS_PERIPHERAL_CLOCK
 159
 160 #define PIOS_SYSCLK 168000000
 161 // Peripherals that belongs to APB1 are:
 162 // DAC                  |PWR                            |CAN1,2
 163 // I2C1,2,3             |UART4,5                        |USART3,2
 164 // I2S3Ext              |SPI3/I2S3              |SPI2/I2S2
 165 // I2S2Ext              |IWDG                           |WWDG
 166 // RTC/BKP reg
 167 // TIM2,3,4,5,6,7,12,13,14
 168
 169 // Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
 170 // Default APB1 Prescaler = 4
 171 #define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
 172
 173 // Peripherals belonging to APB2
 174 // SDIO                 |EXTI                           |SYSCFG                 |SPI1
 175 // ADC1,2,3
 176 // USART1,6
 177 // TIM1,8,9,10,11
 178 //
 179 // Default APB2 Prescaler = 2
 180 //
 181 #define PIOS_PERIPHERAL_APB2_CLOCK   PIOS_SYSCLK
 182
 183 // -------------------------
 184 // Interrupt Priorities
 185 // -------------------------
 186 #define PIOS_IRQ_PRIO_LOW            12              // lower than RTOS
 187 #define PIOS_IRQ_PRIO_MID            8               // higher than RTOS
 188 #define PIOS_IRQ_PRIO_HIGH           5               // for SPI, ADC, I2C etc...
 189 #define PIOS_IRQ_PRIO_HIGHEST        4               // for USART etc...
 190 // ------------------------
 191 // PIOS_RCVR
 192 // See also pios_board.c
 193 // ------------------------
 194 #define PIOS_RCVR_MAX_DEVS           3
 195 #define PIOS_RCVR_MAX_CHANNELS       12
 196 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 197
 198 // -------------------------
 199 // Receiver PPM input
 200 // -------------------------
 201 #define PIOS_PPM_MAX_DEVS            1
 202 #define PIOS_PPM_NUM_INPUTS          16
 203
 204 // -------------------------
 205 // Receiver PWM input
 206 // -------------------------
 207 #define PIOS_PWM_MAX_DEVS            1
 208 #define PIOS_PWM_NUM_INPUTS          8
 209
 210 // -------------------------
 211 // Receiver SPEKTRUM input
 212 // -------------------------
 213 #define PIOS_SPEKTRUM_MAX_DEVS       2
 214 #define PIOS_SPEKTRUM_NUM_INPUTS     12
 215
 216 // -------------------------
 217 // Receiver S.Bus input
 218 // -------------------------
 219 #define PIOS_SBUS_MAX_DEVS           1
 220 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 221
 222 // -------------------------
 223 // Receiver DSM input
 224 // -------------------------
 225 #define PIOS_DSM_MAX_DEVS            2
 226 #define PIOS_DSM_NUM_INPUTS          12
 227
 228 // -------------------------
 229 // Servo outputs
 230 // -------------------------
 231 #define PIOS_SERVO_UPDATE_HZ         50
 232 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 233 #define PIOS_SERVO_BANKS             6
 234
 235 // --------------------------
 236 // Timer controller settings
 237 // --------------------------
 238 #define PIOS_TIM_MAX_DEVS            6
 239
 240 // -------------------------
 241 // ADC
 242 // PIOS_ADC_PinGet(0) = Current sensor
 243 // PIOS_ADC_PinGet(1) = Voltage sensor
 244 // PIOS_ADC_PinGet(2) = VREF
 245 // PIOS_ADC_PinGet(3) = Temperature sensor
 246 // PIOS_ADC_PinGet(4) = Board Power
 247 // -------------------------
 248 #define PIOS_DMA_PIN_CONFIG                                                                         \
 249     {                                                                                                   \
 250         { GPIOC, GPIO_Pin_0, ADC_Channel_10, true },                                                        \
 251         { GPIOC, GPIO_Pin_1, ADC_Channel_11, true },                                                        \
 252         { NULL, 0, ADC_Channel_Vrefint, true }, /* Voltage reference */         \
 253         { NULL, 0, ADC_Channel_TempSensor, true }, /* Temperature sensor */        \
 254         { GPIOC, GPIO_Pin_2, ADC_Channel_12, true }  \
 255     }
 256
 257 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
 258 /* which is annoying because this then determines the rate at which we generate buffer turnover events */
 259 /* the objective here is to get enough buffer space to support 100Hz averaging rate */
 260 #define PIOS_ADC_NUM_CHANNELS     4
 261 #define PIOS_ADC_MAX_OVERSAMPLING 2
 262 #define PIOS_ADC_USE_ADC2         0
 263
 264 #define PIOS_ADC_USE_TEMP_SENSOR
 265 #define PIOS_ADC_TEMPERATURE_PIN  3          /* V */
 266
 267 // -------------------------
 268 // USB
 269 // -------------------------
 270 #define PIOS_USB_MAX_DEVS         1
 271 #define PIOS_USB_ENABLED          1 /* Should remove all references to this */
 272 #define PIOS_USB_HID_MAX_DEVS     1
 273
 274 #endif /* PIOS_BOARD_H */
 275
 276 /**
 277  * @}
 278  * @}
 279  */