flight/targets/boards/gpsplatinum/pios_board.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pios_board.h
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
   7  * @see        The GNU Public License (GPL) Version 3
   8  *
   9  *****************************************************************************/
  10 /*
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License as published by
  13  * the Free Software Foundation; either version 3 of the License, or
  14  * (at your option) any later version.
  15  *
  16  * This program is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  18  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  19  * for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License along
  22  * with this program; if not, write to the Free Software Foundation, Inc.,
  23  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  24  */
  25
  26 #ifndef PIOS_BOARD_H
  27 #define PIOS_BOARD_H
  28 // ------------------------
  29 // Timers and Channels Used
  30 // ------------------------
  31 /*
  32    Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
  33    ------+-----------+-----------+-----------+----------
  34    TIM1  |  Servo 4  |           |           |
  35    TIM2  |  RC In 5  |  RC In 6  |  Servo 6  |
  36    TIM3  |  Servo 5  |  RC In 2  |  RC In 3  |  RC In 4
  37    TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
  38    ------+-----------+-----------+-----------+----------
  39  */
  40
  41 // ------------------------
  42 // DMA Channels Used
  43 // ------------------------
  44 /* Channel 1  -                                 */
  45 /* Channel 2  -                                 */
  46 /* Channel 3  -                                 */
  47 /* Channel 4  -                                 */
  48 /* Channel 5  -                                 */
  49 /* Channel 6  -                                 */
  50 /* Channel 7  -                                 */
  51 /* Channel 8  -                                 */
  52 /* Channel 9  -                                 */
  53 /* Channel 10 -                                 */
  54 /* Channel 11 -                                 */
  55 /* Channel 12 -                                 */
  56
  57 // ------------------------
  58 // BOOTLOADER_SETTINGS
  59 // ------------------------
  60 #define BOARD_READABLE        true
  61 #define BOARD_WRITABLE        true
  62 #define MAX_DEL_RETRYS        3
  63
  64 // ------------------------
  65 // WATCHDOG_SETTINGS
  66 // ------------------------
  67 #define PIOS_WATCHDOG_TIMEOUT 400
  68 #define PIOS_WDG_REGISTER     RTC_BKP_DR4
  69 #define PIOS_WDG_SYSTEM       0x0001
  70 #define PIOS_WDG_GPS          0x0002
  71 #define PIOS_WDG_MAG          0x0004
  72
  73 // ------------------------
  74 // TELEMETRY
  75 // ------------------------
  76 // #define TELEM_QUEUE_SIZE         20
  77
  78 // ------------------------
  79 // PIOS_LED
  80 // ------------------------
  81 #define PIOS_LED_HEARTBEAT    0
  82
  83 // -------------------------
  84 // System Settings
  85 // -------------------------
  86 #define PIOS_MASTER_CLOCK     48000000
  87 #define PIOS_PERIPHERAL_CLOCK (PIOS_MASTER_CLOCK / 2)
  88
  89 // -------------------------
  90 // Interrupt Priorities
  91 // -------------------------
  92 #define PIOS_IRQ_PRIO_LOW     12              // lower than RTOS
  93 #define PIOS_IRQ_PRIO_MID     8               // higher than RTOS
  94 #define PIOS_IRQ_PRIO_HIGH    5               // for SPI, ADC, I2C etc...
  95 #define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
  96 // ------------------------
  97 // PIOS_I2C
  98 // See also pios_board.c
  99 // ------------------------
 100 #define PIOS_I2C_MAX_DEVS     1
 101 extern uint32_t pios_i2c_gps_id;
 102 #define PIOS_I2C_GPS          (pios_i2c_gps_id)
 103
 104 // -------------------------
 105 // SPI
 106 //
 107 // See also pios_board.c
 108 // -------------------------
 109 #define PIOS_SPI_MAX_DEVS   0
 110
 111 // -------------------------
 112 // PIOS_USART
 113 // -------------------------
 114 #define PIOS_USART_MAX_DEVS 1
 115
 116 // -------------------------
 117 // PIOS_COM
 118 //
 119 // See also pios_board.c
 120 // -------------------------
 121 #define PIOS_COM_MAX_DEVS  1
 122 extern uint32_t pios_com_main_id;
 123 #define PIOS_COM_TELEM_USB pios_com_main_id
 124 #if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
 125
 126 #define PIOS_COM_DEBUG     (pios_com_main_id)
 127 #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
 128
 129 // -------------------------
 130 // ADC
 131 // PIOS_ADC_PinGet(0) = Gyro Z
 132 // PIOS_ADC_PinGet(1) = Gyro Y
 133 // PIOS_ADC_PinGet(2) = Gyro X
 134 // -------------------------
 135 // #define PIOS_ADC_OVERSAMPLING_RATE           1
 136 #if 0
 137 #define PIOS_ADC_USE_TEMP_SENSOR         1
 138 #define PIOS_ADC_TEMP_SENSOR_ADC         ADC1
 139 #define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
 140
 141 #define PIOS_ADC_PIN1_GPIO_PORT          GPIOA                   // PA4 (Gyro X)
 142 #define PIOS_ADC_PIN1_GPIO_PIN           GPIO_Pin_4              // ADC12_IN4
 143 #define PIOS_ADC_PIN1_GPIO_CHANNEL       ADC_Channel_4
 144 #define PIOS_ADC_PIN1_ADC                ADC2
 145 #define PIOS_ADC_PIN1_ADC_NUMBER         1
 146
 147 #define PIOS_ADC_PIN2_GPIO_PORT          GPIOA                   // PA5 (Gyro Y)
 148 #define PIOS_ADC_PIN2_GPIO_PIN           GPIO_Pin_5              // ADC123_IN5
 149 #define PIOS_ADC_PIN2_GPIO_CHANNEL       ADC_Channel_5
 150 #define PIOS_ADC_PIN2_ADC                ADC1
 151 #define PIOS_ADC_PIN2_ADC_NUMBER         2
 152
 153 #define PIOS_ADC_PIN3_GPIO_PORT          GPIOA                   // PA3 (Gyro Z)
 154 #define PIOS_ADC_PIN3_GPIO_PIN           GPIO_Pin_3              // ADC12_IN3
 155 #define PIOS_ADC_PIN3_GPIO_CHANNEL       ADC_Channel_3
 156 #define PIOS_ADC_PIN3_ADC                ADC2
 157 #define PIOS_ADC_PIN3_ADC_NUMBER         2
 158
 159 #define PIOS_ADC_NUM_PINS                3
 160
 161 #define PIOS_ADC_PORTS                   { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
 162 #define PIOS_ADC_PINS                    { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
 163 #define PIOS_ADC_CHANNELS                { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
 164 #define PIOS_ADC_MAPPING                 { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
 165 #define PIOS_ADC_CHANNEL_MAPPING         { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
 166 #define PIOS_ADC_NUM_CHANNELS            (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
 167 #define PIOS_ADC_NUM_ADC_CHANNELS        2
 168 #define PIOS_ADC_USE_ADC2                1
 169 #define PIOS_ADC_CLOCK_FUNCTION          RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
 170 #define PIOS_ADC_ADCCLK                  RCC_PCLK2_Div8
 171 /* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
 172 /* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
 173 /* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
 174 /* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
 175 #define PIOS_ADC_SAMPLE_TIME             ADC_SampleTime_239Cycles5
 176 /* Sample time: */
 177 /* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
 178 /* Tconv = 239.5 + 12.5 = 252 cycles = 18�s */
 179 /* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */
 180 #define PIOS_ADC_IRQ_PRIO                PIOS_IRQ_PRIO_LOW
 181
 182 // Currently analog acquistion hard coded at 480 Hz
 183 // PCKL2 = HCLK / 16
 184 // ADCCLK = PCLK2 / 2
 185 #define PIOS_ADC_RATE                    (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
 186 #define PIOS_ADC_MAX_OVERSAMPLING        36
 187
 188 #define PIOS_ADC_TEMPERATURE_PIN         0
 189 #endif // if 0
 190
 191 // --------------------------
 192 // Timer controller settings
 193 // --------------------------
 194 #define PIOS_TIM_MAX_DEVS 3
 195
 196 // -------------------------
 197 // GPIO
 198 // -------------------------
 199 #define PIOS_GPIO_PORTS   {}
 200 #define PIOS_GPIO_PINS    {}
 201 #define PIOS_GPIO_CLKS    {}
 202 #define PIOS_GPIO_NUM     0
 203
 204 #define PIOS_USB_ENABLED  0
 205
 206 #endif /* PIOS_BOARD_H */