flight/targets/boards/ccf3d/pios_board.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pios_board.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2017.
   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      RTC_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 #define PIOS_WDG_SENSORS       0x0020
  77
  78
  79 // ------------------------
  80 // TELEMETRY
  81 // ------------------------
  82 #define TELEM_QUEUE_SIZE          10
  83
  84 // ------------------------
  85 // PIOS_LED
  86 // ------------------------
  87 #define PIOS_LED_HEARTBEAT        0
  88
  89 // -------------------------
  90 // System Settings
  91 // -------------------------
  92 #define PIOS_MASTER_CLOCK         72000000
  93 #define PIOS_PERIPHERAL_CLOCK     (PIOS_MASTER_CLOCK / 2)
  94
  95 // -------------------------
  96 // Interrupt Priorities
  97 // -------------------------
  98 #define PIOS_IRQ_PRIO_LOW         12              // lower than RTOS
  99 #define PIOS_IRQ_PRIO_MID         8               // higher than RTOS
 100 #define PIOS_IRQ_PRIO_HIGH        5               // for SPI, ADC, I2C etc...
 101 #define PIOS_IRQ_PRIO_HIGHEST     4               // for USART etc...
 102 // ------------------------
 103 // PIOS_I2C
 104 // See also pios_board.c
 105 // ------------------------
 106 #define PIOS_I2C_MAX_DEVS         1
 107 #define PIOS_I2C_EXTERNAL_ADAPTER (0)
 108 #define PIOS_I2C_FLEXI_ADAPTER    (0)
 109
 110 // ------------------------
 111 // PIOS_BMP085
 112 // ------------------------
 113 #define PIOS_BMP085_OVERSAMPLING  3
 114
 115 // -------------------------
 116 // SPI
 117 //
 118 // See also pios_board.c
 119 // -------------------------
 120 #define PIOS_SPI_MAX_DEVS        2
 121 extern uint32_t pios_spi_gyro_id;
 122 #define PIOS_SPI_MPU6000_ADAPTER (pios_spi_gyro_id)
 123 // -------------------------
 124 // PIOS_USART
 125 // -------------------------
 126 #define PIOS_USART_MAX_DEVS      2
 127
 128 // -------------------------
 129 // PIOS_COM
 130 //
 131 // See also pios_board.c
 132 // -------------------------
 133 #define PIOS_COM_MAX_DEVS  3
 134
 135 #ifdef PIOS_INCLUDE_WS2811
 136 extern uint32_t pios_ws2811_id;
 137 #define PIOS_WS2811_DEVICE (pios_ws2811_id)
 138 #endif
 139
 140 // -------------------------
 141 // ADC
 142 // PIOS_ADC_PinGet(0) = Gyro Z
 143 // PIOS_ADC_PinGet(1) = Gyro Y
 144 // PIOS_ADC_PinGet(2) = Gyro X
 145 // -------------------------
 146 // #define PIOS_ADC_OVERSAMPLING_RATE           1
 147 #define PIOS_ADC_USE_TEMP_SENSOR         1
 148 #define PIOS_ADC_TEMP_SENSOR_ADC         ADC1
 149 #define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
 150
 151 #define PIOS_ADC_PIN1_GPIO_PORT          GPIOA                   // PA4 (Gyro X)
 152 #define PIOS_ADC_PIN1_GPIO_PIN           GPIO_Pin_4              // ADC12_IN4
 153 #define PIOS_ADC_PIN1_GPIO_CHANNEL       ADC_Channel_4
 154 #define PIOS_ADC_PIN1_ADC                ADC2
 155 #define PIOS_ADC_PIN1_ADC_NUMBER         1
 156
 157 #define PIOS_ADC_PIN2_GPIO_PORT          GPIOA                   // PA5 (Gyro Y)
 158 #define PIOS_ADC_PIN2_GPIO_PIN           GPIO_Pin_5              // ADC123_IN5
 159 #define PIOS_ADC_PIN2_GPIO_CHANNEL       ADC_Channel_5
 160 #define PIOS_ADC_PIN2_ADC                ADC1
 161 #define PIOS_ADC_PIN2_ADC_NUMBER         2
 162
 163 #define PIOS_ADC_PIN3_GPIO_PORT          GPIOA                   // PA3 (Gyro Z)
 164 #define PIOS_ADC_PIN3_GPIO_PIN           GPIO_Pin_3              // ADC12_IN3
 165 #define PIOS_ADC_PIN3_GPIO_CHANNEL       ADC_Channel_3
 166 #define PIOS_ADC_PIN3_ADC                ADC2
 167 #define PIOS_ADC_PIN3_ADC_NUMBER         2
 168
 169 #define PIOS_ADC_NUM_PINS                3
 170
 171 #define PIOS_ADC_PORTS                   { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
 172 #define PIOS_ADC_PINS                    { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
 173 #define PIOS_ADC_CHANNELS                { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
 174 #define PIOS_ADC_MAPPING                 { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
 175 #define PIOS_ADC_CHANNEL_MAPPING         { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
 176 #define PIOS_ADC_NUM_CHANNELS            (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
 177 #define PIOS_ADC_NUM_ADC_CHANNELS        2
 178 #define PIOS_ADC_USE_ADC2                1
 179 #define PIOS_ADC_CLOCK_FUNCTION          RCC_AHBPeriphClockCmd(RCC_AHBPeriph_ADC12, ENABLE)
 180 #define PIOS_ADC_ADCCLK                  RCC_ADC12PLLCLK_Div32
 181 /* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
 182 /* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
 183 /* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
 184 /* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
 185 #define PIOS_ADC_SAMPLE_TIME             ADC_SampleTime_181Cycles5
 186 /* Sample time: */
 187 /* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
 188 /* Tconv = 239.5 + 12.5 = 252 cycles = 18�s */
 189 /* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */
 190 #define PIOS_ADC_IRQ_PRIO                PIOS_IRQ_PRIO_LOW
 191
 192 // Currently analog acquistion hard coded at 480 Hz
 193 // PCKL2 = HCLK / 16
 194 // ADCCLK = PCLK2 / 2
 195 #define PIOS_ADC_RATE                    (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
 196 #define PIOS_ADC_MAX_OVERSAMPLING        48
 197
 198 #define PIOS_ADC_TEMPERATURE_PIN         0
 199
 200 // ------------------------
 201 // PIOS_RCVR
 202 // See also pios_board.c
 203 // ------------------------
 204 #define PIOS_RCVR_MAX_DEVS           3
 205 #define PIOS_RCVR_MAX_CHANNELS       12
 206 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 207
 208 // -------------------------
 209 // Receiver PPM input
 210 // -------------------------
 211 #define PIOS_PPM_MAX_DEVS            1
 212 #define PIOS_PPM_NUM_INPUTS          16
 213
 214 // -------------------------
 215 // Receiver PWM input
 216 // -------------------------
 217 #define PIOS_PWM_MAX_DEVS            1
 218 #define PIOS_PWM_NUM_INPUTS          6
 219
 220 // -------------------------
 221 // Receiver DSM input
 222 // -------------------------
 223 #define PIOS_DSM_MAX_DEVS            2
 224 #define PIOS_DSM_NUM_INPUTS          12
 225
 226 // -------------------------
 227 // Receiver S.Bus input
 228 // -------------------------
 229 #define PIOS_SBUS_MAX_DEVS           1
 230 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 231
 232 // -------------------------
 233 // Receiver HOTT input
 234 // -------------------------
 235 #define PIOS_HOTT_MAX_DEVS           1
 236 #define PIOS_HOTT_NUM_INPUTS         32
 237
 238 // -------------------------
 239 // Receiver EX.Bus input
 240 // -------------------------
 241 #define PIOS_EXBUS_MAX_DEVS          1
 242 #define PIOS_EXBUS_NUM_INPUTS        16
 243
 244 // -------------------------
 245 // Receiver Multiplex SRXL input
 246 // -------------------------
 247 #define PIOS_SRXL_MAX_DEVS           1
 248 #define PIOS_SRXL_NUM_INPUTS         16
 249
 250 // -------------------------
 251 // Receiver FlySky IBus input
 252 // -------------------------
 253 #define PIOS_IBUS_MAX_DEVS           1
 254 #define PIOS_IBUS_NUM_INPUTS         10
 255
 256 // -------------------------
 257 // Servo outputs
 258 // -------------------------
 259 #define PIOS_SERVO_UPDATE_HZ         50
 260 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 261 #define PIOS_SERVO_BANKS             6
 262
 263 // --------------------------
 264 // Timer controller settings
 265 // --------------------------
 266 #define PIOS_TIM_MAX_DEVS            3
 267
 268 // -------------------------
 269 // GPIO
 270 // -------------------------
 271 #define PIOS_GPIO_PORTS              {}
 272 #define PIOS_GPIO_PINS               {}
 273 #define PIOS_GPIO_CLKS               {}
 274 #define PIOS_GPIO_NUM                0
 275
 276 // -------------------------
 277 // USB
 278 // -------------------------
 279 #define PIOS_USB_HID_MAX_DEVS        1
 280
 281 #define PIOS_USB_ENABLED             1
 282 #define PIOS_USB_DETECT_GPIO_PORT    GPIOC
 283 #define PIOS_USB_MAX_DEVS            1
 284 #define PIOS_USB_DETECT_GPIO_PIN     GPIO_Pin_15
 285
 286 #endif /* PIOS_BOARD_H */