flight/targets/boards/revonano/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 LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
   9  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  10  * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
  11  * @see        The GNU Public License (GPL) Version 3
  12  *
  13  *****************************************************************************/
  14 /*
  15  * This program is free software; you can redistribute it and/or modify
  16  * it under the terms of the GNU General Public License as published by
  17  * the Free Software Foundation; either version 3 of the License, or
  18  * (at your option) any later version.
  19  *
  20  * This program is distributed in the hope that it will be useful, but
  21  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  22  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  23  * for more details.
  24  *
  25  * You should have received a copy of the GNU General Public License along
  26  * with this program; if not, write to the Free Software Foundation, Inc.,
  27  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  28  */
  29
  30 #ifndef PIOS_BOARD_H
  31 #define PIOS_BOARD_H
  32
  33 #include <stdbool.h>
  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 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM
  80 #define PIOS_LED_D1        2
  81 #define PIOS_LED_D2        3
  82 #define PIOS_LED_D3        4
  83 #define PIOS_LED_D4        5
  84
  85 #define D1_LED_ON          PIOS_LED_On(PIOS_LED_D1)
  86 #define D1_LED_OFF         PIOS_LED_Off(PIOS_LED_D1)
  87 #define D1_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D1)
  88
  89 #define D2_LED_ON          PIOS_LED_On(PIOS_LED_D2)
  90 #define D2_LED_OFF         PIOS_LED_Off(PIOS_LED_D2)
  91 #define D2_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D2)
  92
  93 #define D3_LED_ON          PIOS_LED_On(PIOS_LED_D3)
  94 #define D3_LED_OFF         PIOS_LED_Off(PIOS_LED_D3)
  95 #define D3_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D3)
  96
  97 #define D4_LED_ON          PIOS_LED_On(PIOS_LED_D4)
  98 #define D4_LED_OFF         PIOS_LED_Off(PIOS_LED_D4)
  99 #define D4_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D4)
 100 #endif /* PIOS_RFM22B_DEBUG_ON_TELEM */
 101
 102 // ------------------------
 103 // PIOS_SPI
 104 // See also pios_board.c
 105 // ------------------------
 106 #define PIOS_SPI_MAX_DEVS        3
 107 extern uint32_t pios_spi_gyro_adapter_id;
 108 #define PIOS_SPI_MPU9250_ADAPTER (pios_spi_gyro_adapter_id)
 109 // ------------------------
 110 // PIOS_WDG
 111 // ------------------------
 112 #define PIOS_WATCHDOG_TIMEOUT    500
 113 #define PIOS_WDG_REGISTER        RTC_BKP_DR4
 114 #define PIOS_WDG_ACTUATOR        0x0001
 115 #define PIOS_WDG_STABILIZATION   0x0002
 116 #define PIOS_WDG_ATTITUDE        0x0004
 117 #define PIOS_WDG_MANUAL          0x0008
 118 #define PIOS_WDG_SENSORS         0x0010
 119
 120 // ------------------------
 121 // PIOS_I2C
 122 // See also pios_board.c
 123 // ------------------------
 124 #define PIOS_I2C_MAX_DEVS                3
 125 extern uint32_t pios_i2c_eeprom_pressure_adapter_id;
 126 #define PIOS_I2C_MS56XX_INTERNAL_ADAPTER (pios_i2c_eeprom_pressure_adapter_id)
 127 extern uint32_t pios_i2c_flexiport_adapter_id;
 128 #define PIOS_I2C_FLEXI_ADAPTER           (pios_i2c_flexiport_adapter_id)
 129 #define PIOS_I2C_ETASV3_ADAPTER          (PIOS_I2C_FLEXI_ADAPTER)
 130 #define PIOS_I2C_MS4525DO_ADAPTER        (PIOS_I2C_FLEXI_ADAPTER)
 131 #define PIOS_I2C_EXTERNAL_ADAPTER        (PIOS_I2C_FLEXI_ADAPTER)
 132
 133 #ifdef PIOS_INCLUDE_WS2811
 134 extern uint32_t pios_ws2811_id;
 135 #define PIOS_WS2811_DEVICE               (pios_ws2811_id)
 136 #endif
 137
 138 // -------------------------
 139 // PIOS_USART
 140 //
 141 // See also pios_board.c
 142 // -------------------------
 143 #define PIOS_USART_MAX_DEVS         5
 144 // Inverter for SBUS handling
 145 #define PIOS_USART_INVERTER_PORT    USART2
 146 #define PIOS_USART_INVERTER_GPIO    GPIOC
 147 #define PIOS_USART_INVERTER_PIN     GPIO_Pin_15
 148 #define PIOS_USART_INVERTER_ENABLE  Bit_SET
 149 #define PIOS_USART_INVERTER_DISABLE Bit_RESET
 150
 151 // -------------------------
 152 // PIOS_COM
 153 //
 154 // See also pios_board.c
 155 // -------------------------
 156 #define PIOS_COM_MAX_DEVS       4
 157 // -------------------------
 158 // Packet Handler
 159 // -------------------------
 160 #define RS_ECC_NPARITY          4
 161 #define PIOS_PH_MAX_PACKET      255
 162 #define PIOS_PH_WIN_SIZE        3
 163 #define PIOS_PH_MAX_CONNECTIONS 1
 164 extern uint32_t pios_packet_handler;
 165 #define PIOS_PACKET_HANDLER     (pios_packet_handler)
 166
 167 // ------------------------
 168 // TELEMETRY
 169 // ------------------------
 170 #define TELEM_QUEUE_SIZE        80
 171 #define PIOS_TELEM_STACK_SIZE   800
 172
 173 // -------------------------
 174 // System Settings
 175 //
 176 // See also System_stm32f4xx.c
 177 // -------------------------
 178 // These macros are deprecated
 179 // please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
 180 // #define PIOS_MASTER_CLOCK
 181 // #define PIOS_PERIPHERAL_CLOCK
 182 // #define PIOS_PERIPHERAL_CLOCK
 183
 184 #define PIOS_SYSCLK SYSCLK_FREQ
 185 // Peripherals that belongs to APB1 are:
 186 // DAC                  |PWR                            |CAN1,2
 187 // I2C1,2,3             |UART4,5                        |USART3,2
 188 // I2S3Ext              |SPI3/I2S3              |SPI2/I2S2
 189 // I2S2Ext              |IWDG                           |WWDG
 190 // RTC/BKP reg
 191 // TIM2,3,4,5,6,7,12,13,14
 192
 193 // Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
 194 // Default APB1 Prescaler = 2
 195 #define PIOS_PERIPHERAL_APB1_CLOCK PIOS_SYSCLK
 196
 197 // Peripherals belonging to APB2
 198 // SDIO                 |EXTI                           |SYSCFG                 |SPI1
 199 // ADC1,2,3
 200 // USART1,6
 201 // TIM1,8,9,10,11
 202 //
 203 // Default APB2 Prescaler = 1
 204 //
 205 #define PIOS_PERIPHERAL_APB2_CLOCK   PIOS_SYSCLK
 206
 207 // -------------------------
 208 // Interrupt Priorities
 209 // -------------------------
 210 #define PIOS_IRQ_PRIO_LOW            12              // lower than RTOS
 211 #define PIOS_IRQ_PRIO_MID            8               // higher than RTOS
 212 #define PIOS_IRQ_PRIO_HIGH           5               // for SPI, ADC, I2C etc...
 213 #define PIOS_IRQ_PRIO_HIGHEST        4               // for USART etc...
 214 // ------------------------
 215 // PIOS_RCVR
 216 // See also pios_board.c
 217 // ------------------------
 218 #define PIOS_RCVR_MAX_DEVS           3
 219 #define PIOS_RCVR_MAX_CHANNELS       12
 220 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 221
 222 // -------------------------
 223 // Receiver PPM input
 224 // -------------------------
 225 #define PIOS_PPM_MAX_DEVS            1
 226 #define PIOS_PPM_NUM_INPUTS          16
 227
 228 // -------------------------
 229 // Receiver PWM input
 230 // -------------------------
 231 #define PIOS_PWM_MAX_DEVS            1
 232 #define PIOS_PWM_NUM_INPUTS          8
 233
 234 // -------------------------
 235 // Receiver SPEKTRUM input
 236 // -------------------------
 237 #define PIOS_SPEKTRUM_MAX_DEVS       2
 238 #define PIOS_SPEKTRUM_NUM_INPUTS     12
 239
 240 // -------------------------
 241 // Receiver S.Bus input
 242 // -------------------------
 243 #define PIOS_SBUS_MAX_DEVS           1
 244 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 245 #define PIOS_SBUS_BAUD_RATE          99999 /* f411 / 96mhz sysclk / usart2 baud rate weirdness */
 246 // -------------------------
 247 // Receiver HOTT input
 248 // -------------------------
 249 #define PIOS_HOTT_MAX_DEVS           1
 250 #define PIOS_HOTT_NUM_INPUTS         32
 251
 252 // -------------------------
 253 // Receiver EX.Bus input
 254 // -------------------------
 255 #define PIOS_EXBUS_MAX_DEVS          1
 256 #define PIOS_EXBUS_NUM_INPUTS        16
 257
 258 // -------------------------
 259 // Receiver Multiplex SRXL input
 260 // -------------------------
 261 #define PIOS_SRXL_MAX_DEVS           1
 262 #define PIOS_SRXL_NUM_INPUTS         16
 263
 264 // -------------------------
 265 // Receiver DSM input
 266 // -------------------------
 267 #define PIOS_DSM_MAX_DEVS            2
 268 #define PIOS_DSM_NUM_INPUTS          12
 269
 270 // -------------------------
 271 // Receiver FlySky IBus input
 272 // -------------------------
 273 #define PIOS_IBUS_MAX_DEVS           1
 274 #define PIOS_IBUS_NUM_INPUTS         10
 275
 276 // -------------------------
 277 // Servo outputs
 278 // -------------------------
 279 #define PIOS_SERVO_UPDATE_HZ         50
 280 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 281 #define PIOS_SERVO_BANKS             6
 282
 283 // --------------------------
 284 // Timer controller settings
 285 // --------------------------
 286 #define PIOS_TIM_MAX_DEVS            6
 287
 288 // -------------------------
 289 // ADC
 290 // PIOS_ADC_PinGet(0) = Current sensor
 291 // PIOS_ADC_PinGet(1) = Voltage sensor
 292 // PIOS_ADC_PinGet(4) = VREF
 293 // PIOS_ADC_PinGet(5) = Temperature sensor
 294 // -------------------------
 295 #define PIOS_DMA_PIN_CONFIG                                                 \
 296     {                                                                       \
 297         { GPIOB, GPIO_Pin_1, ADC_Channel_9, false }, /* FLEXI-IO PIN 4     */ \
 298         { GPIOB, GPIO_Pin_0, ADC_Channel_8, false }, /* FLEXI-IO PIN 5     */ \
 299         { GPIOA, GPIO_Pin_7, ADC_Channel_7, false }, /* FLEXI-IO PIN 6     */ \
 300         { GPIOA, GPIO_Pin_6, ADC_Channel_6, false }, /* FLEXI-IO PIN 7     */ \
 301         { GPIOA, GPIO_Pin_5, ADC_Channel_5, false }, /* FLEXI-IO PIN 8     */ \
 302                                                                             \
 303         { GPIOA, GPIO_Pin_0, ADC_Channel_0, false }, /* SERVO PIN 5        */ \
 304         { GPIOA, GPIO_Pin_1, ADC_Channel_1, false }, /* SERVO PIN 6        */ \
 305                                                                             \
 306         { NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference  */ \
 307         { NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */ \
 308     }
 309
 310 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
 311 /* which is annoying because this then determines the rate at which we generate buffer turnover events */
 312 /* the objective here is to get enough buffer space to support 100Hz averaging rate */
 313 #define PIOS_ADC_NUM_CHANNELS     9
 314 #define PIOS_ADC_MAX_OVERSAMPLING 2
 315 #define PIOS_ADC_USE_ADC2         0
 316
 317 #define PIOS_ADC_USE_TEMP_SENSOR
 318 #define PIOS_ADC_TEMPERATURE_PIN  8
 319
 320 // -------------------------
 321 // USB
 322 // -------------------------
 323 #define PIOS_USB_MAX_DEVS         1
 324 #define PIOS_USB_ENABLED          1 /* Should remove all references to this */
 325 #define PIOS_USB_HID_MAX_DEVS     1
 326
 327 #endif /* PIOS_BOARD_H */
 328
 329 /**
 330  * @}
 331  * @}
 332  */