flight/targets/boards/coptercontrol/pios_board.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pios_board.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  *
   8  * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
   9  * @see        The GNU Public License (GPL) Version 3
  10  *
  11  *****************************************************************************/
  12 /*
  13  * This program is free software; you can redistribute it and/or modify
  14  * it under the terms of the GNU General Public License as published by
  15  * the Free Software Foundation; either version 3 of the License, or
  16  * (at your option) any later version.
  17  *
  18  * This program is distributed in the hope that it will be useful, but
  19  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  20  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  21  * for more details.
  22  *
  23  * You should have received a copy of the GNU General Public License along
  24  * with this program; if not, write to the Free Software Foundation, Inc.,
  25  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  26  */
  27
  28 #ifndef PIOS_BOARD_H
  29 #define PIOS_BOARD_H
  30 // ------------------------
  31 // Timers and Channels Used
  32 // ------------------------
  33 /*
  34    Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
  35    ------+-----------+-----------+-----------+----------
  36    TIM1  |  Servo 4  |           |           |
  37    TIM2  |  RC In 5  |  RC In 6  |  Servo 6  |
  38    TIM3  |  Servo 5  |  RC In 2  |  RC In 3  |  RC In 4
  39    TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
  40    ------+-----------+-----------+-----------+----------
  41  */
  42
  43 // ------------------------
  44 // DMA Channels Used
  45 // ------------------------
  46 /* Channel 1  -                                 */
  47 /* Channel 2  -                                 */
  48 /* Channel 3  -                                 */
  49 /* Channel 4  -                                 */
  50 /* Channel 5  -                                 */
  51 /* Channel 6  -                                 */
  52 /* Channel 7  -                                 */
  53 /* Channel 8  -                                 */
  54 /* Channel 9  -                                 */
  55 /* Channel 10 -                                 */
  56 /* Channel 11 -                                 */
  57 /* Channel 12 -                                 */
  58
  59 // ------------------------
  60 // BOOTLOADER_SETTINGS
  61 // ------------------------
  62 #define BOARD_READABLE           TRUE
  63 #define BOARD_WRITABLE           TRUE
  64 #define MAX_DEL_RETRYS           3
  65
  66 // ------------------------
  67 // WATCHDOG_SETTINGS
  68 // ------------------------
  69 #define PIOS_WATCHDOG_TIMEOUT    250
  70 #define PIOS_WDG_REGISTER        BKP_DR4
  71 #define PIOS_WDG_ACTUATOR        0x0001
  72 #define PIOS_WDG_STABILIZATION   0x0002
  73 #define PIOS_WDG_ATTITUDE        0x0004
  74 #define PIOS_WDG_MANUAL          0x0008
  75 #define PIOS_WDG_AUTOTUNE        0x0010
  76
  77 // ------------------------
  78 // TELEMETRY
  79 // ------------------------
  80 #define TELEM_QUEUE_SIZE         10
  81
  82 // ------------------------
  83 // PIOS_LED
  84 // ------------------------
  85 #define PIOS_LED_HEARTBEAT       0
  86
  87 // -------------------------
  88 // System Settings
  89 // -------------------------
  90 #define PIOS_MASTER_CLOCK        72000000
  91
  92 // -------------------------
  93 // Interrupt Priorities
  94 // -------------------------
  95 #define PIOS_IRQ_PRIO_LOW        12              // lower than RTOS
  96 #define PIOS_IRQ_PRIO_MID        8               // higher than RTOS
  97 #define PIOS_IRQ_PRIO_HIGH       5               // for SPI, ADC, I2C etc...
  98 #define PIOS_IRQ_PRIO_HIGHEST    4               // for USART etc...
  99 // ------------------------
 100 // PIOS_I2C
 101 // See also pios_board.c
 102 // ------------------------
 103 #define PIOS_I2C_MAX_DEVS        1
 104 extern uint32_t pios_i2c_flexi_adapter_id;
 105 #define PIOS_I2C_MAIN_ADAPTER    (pios_i2c_flexi_adapter_id)
 106 #define PIOS_I2C_ESC_ADAPTER     (pios_i2c_flexi_adapter_id)
 107 #define PIOS_I2C_BMP085_ADAPTER  (pios_i2c_flexi_adapter_id)
 108
 109 // ------------------------
 110 // PIOS_BMP085
 111 // ------------------------
 112 #define PIOS_BMP085_OVERSAMPLING 3
 113
 114 // -------------------------
 115 // SPI
 116 //
 117 // See also pios_board.c
 118 // -------------------------
 119 #define PIOS_SPI_MAX_DEVS           2
 120 extern uint32_t pios_spi_gyro_adapter_id;
 121 #define PIOS_SPI_MPU6000_ADAPTER    (pios_spi_gyro_adapter_id)
 122 extern uint32_t pios_spi_flash_accel_adapter_id;
 123 #define PIOS_SPI_ADXL345_ADAPTER    (pios_spi_flash_accel_adapter_id)
 124
 125 // -------------------------
 126 // PIOS_USART
 127 // -------------------------
 128 #define PIOS_USART_MAX_DEVS         2
 129
 130 // Inverter for SBUS handling
 131 #define PIOS_USART_INVERTER_PORT    USART1
 132 #define PIOS_USART_INVERTER_GPIO    GPIOB
 133 #define PIOS_USART_INVERTER_PIN     GPIO_Pin_2
 134 #define PIOS_USART_INVERTER_ENABLE  Bit_SET
 135 #define PIOS_USART_INVERTER_DISABLE Bit_RESET
 136
 137 // -------------------------
 138 // PIOS_COM
 139 //
 140 // See also pios_board.c
 141 // -------------------------
 142 #define PIOS_COM_MAX_DEVS                3
 143
 144 #define PIOS_COM_TELEM_RF_RX_BUF_LEN     32
 145 #define PIOS_COM_TELEM_RF_TX_BUF_LEN     12
 146
 147 #define PIOS_COM_GPS_RX_BUF_LEN          32
 148
 149 #define PIOS_COM_TELEM_USB_RX_BUF_LEN    65
 150 #define PIOS_COM_TELEM_USB_TX_BUF_LEN    65
 151
 152 #define PIOS_COM_BRIDGE_RX_BUF_LEN       65
 153 #define PIOS_COM_BRIDGE_TX_BUF_LEN       12
 154
 155 #define PIOS_COM_HKOSD_TX_BUF_LEN        22
 156
 157 #define PIOS_COM_MSP_TX_BUF_LEN          128
 158 #define PIOS_COM_MSP_RX_BUF_LEN          64
 159
 160 #define PIOS_COM_MAVLINK_TX_BUF_LEN      128
 161
 162 #define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
 163
 164 // -------------------------
 165 // ADC
 166 // PIOS_ADC_PinGet(0) = Gyro Z
 167 // PIOS_ADC_PinGet(1) = Gyro Y
 168 // PIOS_ADC_PinGet(2) = Gyro X
 169 // -------------------------
 170 // #define PIOS_ADC_OVERSAMPLING_RATE           1
 171 #define PIOS_ADC_USE_TEMP_SENSOR         1
 172 #define PIOS_ADC_TEMP_SENSOR_ADC         ADC1
 173 #define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
 174
 175 #define PIOS_ADC_PIN1_GPIO_PORT          GPIOA                   // PA4 (Gyro X)
 176 #define PIOS_ADC_PIN1_GPIO_PIN           GPIO_Pin_4              // ADC12_IN4
 177 #define PIOS_ADC_PIN1_GPIO_CHANNEL       ADC_Channel_4
 178 #define PIOS_ADC_PIN1_ADC                ADC2
 179 #define PIOS_ADC_PIN1_ADC_NUMBER         1
 180
 181 #define PIOS_ADC_PIN2_GPIO_PORT          GPIOA                   // PA5 (Gyro Y)
 182 #define PIOS_ADC_PIN2_GPIO_PIN           GPIO_Pin_5              // ADC123_IN5
 183 #define PIOS_ADC_PIN2_GPIO_CHANNEL       ADC_Channel_5
 184 #define PIOS_ADC_PIN2_ADC                ADC1
 185 #define PIOS_ADC_PIN2_ADC_NUMBER         2
 186
 187 #define PIOS_ADC_PIN3_GPIO_PORT          GPIOA                   // PA3 (Gyro Z)
 188 #define PIOS_ADC_PIN3_GPIO_PIN           GPIO_Pin_3              // ADC12_IN3
 189 #define PIOS_ADC_PIN3_GPIO_CHANNEL       ADC_Channel_3
 190 #define PIOS_ADC_PIN3_ADC                ADC2
 191 #define PIOS_ADC_PIN3_ADC_NUMBER         2
 192
 193 #define PIOS_ADC_NUM_PINS                3
 194
 195 #define PIOS_ADC_PORTS                   { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
 196 #define PIOS_ADC_PINS                    { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
 197 #define PIOS_ADC_CHANNELS                { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
 198 #define PIOS_ADC_MAPPING                 { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
 199 #define PIOS_ADC_CHANNEL_MAPPING         { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
 200 #define PIOS_ADC_NUM_CHANNELS            (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
 201 #define PIOS_ADC_NUM_ADC_CHANNELS        2
 202 #define PIOS_ADC_USE_ADC2                1
 203 #define PIOS_ADC_CLOCK_FUNCTION          RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
 204 #define PIOS_ADC_ADCCLK                  RCC_PCLK2_Div8
 205 /* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
 206 /* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
 207 /* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
 208 /* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
 209 #define PIOS_ADC_SAMPLE_TIME             ADC_SampleTime_239Cycles5
 210 /* Sample time: */
 211 /* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
 212 /* Tconv = 239.5 + 12.5 = 252 cycles = 18�s */
 213 /* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */
 214 #define PIOS_ADC_IRQ_PRIO                PIOS_IRQ_PRIO_LOW
 215
 216 // Currently analog acquistion hard coded at 480 Hz
 217 // PCKL2 = HCLK / 16
 218 // ADCCLK = PCLK2 / 2
 219 #define PIOS_ADC_RATE                    (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
 220 #define PIOS_ADC_MAX_OVERSAMPLING        48
 221
 222 #define PIOS_ADC_TEMPERATURE_PIN         0
 223
 224 // ------------------------
 225 // PIOS_RCVR
 226 // See also pios_board.c
 227 // ------------------------
 228 #define PIOS_RCVR_MAX_DEVS           3
 229 #define PIOS_RCVR_MAX_CHANNELS       12
 230 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 231
 232 // -------------------------
 233 // Receiver PPM input
 234 // -------------------------
 235 #define PIOS_PPM_MAX_DEVS            1
 236 #define PIOS_PPM_NUM_INPUTS          16
 237
 238 // -------------------------
 239 // Receiver PWM input
 240 // -------------------------
 241 #define PIOS_PWM_MAX_DEVS            1
 242 #define PIOS_PWM_NUM_INPUTS          6
 243
 244 // -------------------------
 245 // Receiver DSM input
 246 // -------------------------
 247 #define PIOS_DSM_MAX_DEVS            2
 248 #define PIOS_DSM_NUM_INPUTS          12
 249
 250 // -------------------------
 251 // Receiver S.Bus input
 252 // -------------------------
 253 #define PIOS_SBUS_MAX_DEVS           1
 254 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 255
 256 // -------------------------
 257 // Receiver HOTT input
 258 // -------------------------
 259 #define PIOS_HOTT_MAX_DEVS           1
 260 #define PIOS_HOTT_NUM_INPUTS         32
 261
 262 // -------------------------
 263 // Receiver EX.Bus input
 264 // -------------------------
 265 #define PIOS_EXBUS_MAX_DEVS          1
 266 #define PIOS_EXBUS_NUM_INPUTS        16
 267
 268 // -------------------------
 269 // Receiver Multiplex SRXL input
 270 // -------------------------
 271 #define PIOS_SRXL_MAX_DEVS           1
 272 #define PIOS_SRXL_NUM_INPUTS         16
 273
 274 // -------------------------
 275 // Receiver FlySky IBus input
 276 // -------------------------
 277 #define PIOS_IBUS_MAX_DEVS           1
 278 #define PIOS_IBUS_NUM_INPUTS         10
 279
 280 // -------------------------
 281 // Servo outputs
 282 // -------------------------
 283 #define PIOS_SERVO_UPDATE_HZ         50
 284 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 285 #define PIOS_SERVO_BANKS             6
 286
 287 // --------------------------
 288 // Timer controller settings
 289 // --------------------------
 290 #define PIOS_TIM_MAX_DEVS            3
 291
 292 // -------------------------
 293 // GPIO
 294 // -------------------------
 295 #define PIOS_GPIO_PORTS              {}
 296 #define PIOS_GPIO_PINS               {}
 297 #define PIOS_GPIO_CLKS               {}
 298 #define PIOS_GPIO_NUM                0
 299
 300 // -------------------------
 301 // USB
 302 // -------------------------
 303 #define PIOS_USB_HID_MAX_DEVS        1
 304
 305 #define PIOS_USB_ENABLED             1
 306 #define PIOS_USB_DETECT_GPIO_PORT    GPIOC
 307 #define PIOS_USB_MAX_DEVS            1
 308 #define PIOS_USB_DETECT_GPIO_PIN     GPIO_Pin_15
 309
 310 #endif /* PIOS_BOARD_H */