flight/targets/boards/discoveryf4bare/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 // Timers and Channels Used
  35 // ------------------------
  36 /*
  37    Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
  38    ------+-----------+-----------+-----------+----------
  39    TIM1  |           |           |           |
  40    TIM2  | --------------- PIOS_DELAY -----------------
  41    TIM3  |           |           |           |
  42    TIM4  |           |           |           |
  43    TIM5  |           |           |           |
  44    TIM6  |           |           |           |
  45    TIM7  |           |           |           |
  46    TIM8  |           |           |           |
  47    ------+-----------+-----------+-----------+----------
  48  */
  49
  50 // ------------------------
  51 // DMA Channels Used
  52 // ------------------------
  53 /* Channel 1  -                                 */
  54 /* Channel 2  - SPI1 RX                         */
  55 /* Channel 3  - SPI1 TX                         */
  56 /* Channel 4  - SPI2 RX                         */
  57 /* Channel 5  - SPI2 TX                         */
  58 /* Channel 6  -                                 */
  59 /* Channel 7  -                                 */
  60 /* Channel 8  -                                 */
  61 /* Channel 9  -                                 */
  62 /* Channel 10 -                                 */
  63 /* Channel 11 -                                 */
  64 /* Channel 12 -                                 */
  65
  66 // ------------------------
  67 // BOOTLOADER_SETTINGS
  68 // ------------------------
  69 #define BOARD_READABLE     true
  70 #define BOARD_WRITABLE     true
  71 #define MAX_DEL_RETRYS     3
  72
  73 // ------------------------
  74 // PIOS_LED
  75 // ------------------------
  76 #define PIOS_LED_HEARTBEAT 0
  77 #define PIOS_LED_ALARM     1
  78
  79 #define PIOS_LED_D1        2
  80 #define PIOS_LED_D2        3
  81 #define PIOS_LED_D3        4
  82 #define PIOS_LED_D4        5
  83
  84 // ------------------------
  85 // PIOS_SPI
  86 // See also pios_board.c
  87 // ------------------------
  88 #define PIOS_SPI_MAX_DEVS        3
  89 extern uint32_t pios_spi_telem_flash_adapter_id;
  90 #define PIOS_SPI_RFM22B_ADAPTER  (pios_spi_telem_flash_adapter_id)
  91 extern uint32_t pios_spi_gyro_adapter_id;
  92 #define PIOS_SPI_MPU6000_ADAPTER (pios_spi_gyro_adapter_id)
  93
  94 // ------------------------
  95 // PIOS_WDG
  96 // ------------------------
  97 #define PIOS_WATCHDOG_TIMEOUT    250
  98 #define PIOS_WDG_REGISTER        RTC_BKP_DR4
  99 #define PIOS_WDG_ACTUATOR        0x0001
 100 #define PIOS_WDG_STABILIZATION   0x0002
 101 #define PIOS_WDG_ATTITUDE        0x0004
 102 #define PIOS_WDG_MANUAL          0x0008
 103 #define PIOS_WDG_SENSORS         0x0010
 104
 105 // ------------------------
 106 // PIOS_I2C
 107 // See also pios_board.c
 108 // ------------------------
 109 #define PIOS_I2C_MAX_DEVS                 3
 110 extern uint32_t pios_i2c_mag_pressure_adapter_id;
 111 #define PIOS_I2C_HMC5X83_INTERNAL_ADAPTER (pios_i2c_mag_pressure_adapter_id)
 112 extern uint32_t pios_i2c_flexiport_adapter_id;
 113 #define PIOS_I2C_FLEXI_ADAPTER            (pios_i2c_flexiport_adapter_id)
 114 #define PIOS_I2C_ETASV3_ADAPTER           (PIOS_I2C_FLEXI_ADAPTER)
 115 #define PIOS_I2C_EXTERNAL_ADAPTER         (PIOS_I2C_FLEXI_ADAPTER)
 116
 117 // -------------------------
 118 // PIOS_USART
 119 //
 120 // See also pios_board.c
 121 // -------------------------
 122 #define PIOS_USART_MAX_DEVS         5
 123 // Inverter for SBUS handling
 124 #define PIOS_USART_INVERTER_PORT    USART1
 125 #define PIOS_USART_INVERTER_GPIO    GPIOC
 126 #define PIOS_USART_INVERTER_PIN     GPIO_Pin_0
 127 #define PIOS_USART_INVERTER_ENABLE  Bit_SET
 128 #define PIOS_USART_INVERTER_DISABLE Bit_RESET
 129
 130 // -------------------------
 131 // PIOS_COM
 132 //
 133 // See also pios_board.c
 134 // -------------------------
 135 #define PIOS_COM_MAX_DEVS  4
 136
 137 #ifdef PIOS_INCLUDE_WS2811
 138 extern uint32_t pios_ws2811_id;
 139 #define PIOS_WS2811_DEVICE (pios_ws2811_id)
 140 #endif
 141
 142 // -------------------------
 143 // Packet Handler
 144 // -------------------------
 145 #define RS_ECC_NPARITY          4
 146 #define PIOS_PH_MAX_PACKET      255
 147 #define PIOS_PH_WIN_SIZE        3
 148 #define PIOS_PH_MAX_CONNECTIONS 1
 149 extern uint32_t pios_packet_handler;
 150 #define PIOS_PACKET_HANDLER     (pios_packet_handler)
 151
 152 // ------------------------
 153 // TELEMETRY
 154 // ------------------------
 155 #define TELEM_QUEUE_SIZE        80
 156 #define PIOS_TELEM_STACK_SIZE   800
 157
 158 // -------------------------
 159 // System Settings
 160 //
 161 // See also System_stm32f4xx.c
 162 // -------------------------
 163 // These macros are deprecated
 164 // please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
 165 // #define PIOS_MASTER_CLOCK
 166 // #define PIOS_PERIPHERAL_CLOCK
 167 // #define PIOS_PERIPHERAL_CLOCK
 168
 169 #define PIOS_SYSCLK 168000000
 170 // Peripherals that belongs to APB1 are:
 171 // DAC                  |PWR                            |CAN1,2
 172 // I2C1,2,3             |UART4,5                        |USART3,2
 173 // I2S3Ext              |SPI3/I2S3              |SPI2/I2S2
 174 // I2S2Ext              |IWDG                           |WWDG
 175 // RTC/BKP reg
 176 // TIM2,3,4,5,6,7,12,13,14
 177
 178 // Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
 179 // Default APB1 Prescaler = 4
 180 #define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
 181
 182 // Peripherals belonging to APB2
 183 // SDIO                 |EXTI                           |SYSCFG                 |SPI1
 184 // ADC1,2,3
 185 // USART1,6
 186 // TIM1,8,9,10,11
 187 //
 188 // Default APB2 Prescaler = 2
 189 //
 190 #define PIOS_PERIPHERAL_APB2_CLOCK   PIOS_SYSCLK
 191
 192 // -------------------------
 193 // Interrupt Priorities
 194 // -------------------------
 195 #define PIOS_IRQ_PRIO_LOW            12              // lower than RTOS
 196 #define PIOS_IRQ_PRIO_MID            8               // higher than RTOS
 197 #define PIOS_IRQ_PRIO_HIGH           5               // for SPI, ADC, I2C etc...
 198 #define PIOS_IRQ_PRIO_HIGHEST        4               // for USART etc...
 199 // ------------------------
 200 // PIOS_RCVR
 201 // See also pios_board.c
 202 // ------------------------
 203 #define PIOS_RCVR_MAX_DEVS           3
 204 #define PIOS_RCVR_MAX_CHANNELS       12
 205 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 206
 207 // -------------------------
 208 // Receiver PPM input
 209 // -------------------------
 210 #define PIOS_PPM_MAX_DEVS            1
 211 #define PIOS_PPM_NUM_INPUTS          16
 212
 213 // -------------------------
 214 // Receiver PWM input
 215 // -------------------------
 216 #define PIOS_PWM_MAX_DEVS            1
 217 #define PIOS_PWM_NUM_INPUTS          8
 218
 219 // -------------------------
 220 // Receiver SPEKTRUM input
 221 // -------------------------
 222 #define PIOS_SPEKTRUM_MAX_DEVS       2
 223 #define PIOS_SPEKTRUM_NUM_INPUTS     12
 224
 225 // -------------------------
 226 // Receiver S.Bus input
 227 // -------------------------
 228 #define PIOS_SBUS_MAX_DEVS           1
 229 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 230
 231 // -------------------------
 232 // Receiver DSM input
 233 // -------------------------
 234 #define PIOS_DSM_MAX_DEVS            2
 235 #define PIOS_DSM_NUM_INPUTS          12
 236
 237 // -------------------------
 238 // Servo outputs
 239 // -------------------------
 240 #define PIOS_SERVO_UPDATE_HZ         50
 241 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 242 #define PIOS_SERVO_BANKS             6
 243
 244 // --------------------------
 245 // Timer controller settings
 246 // --------------------------
 247 #define PIOS_TIM_MAX_DEVS            6
 248
 249 // -------------------------
 250 // ADC
 251 // PIOS_ADC_PinGet(0) = Current sensor
 252 // PIOS_ADC_PinGet(1) = Voltage sensor
 253 // PIOS_ADC_PinGet(4) = VREF
 254 // PIOS_ADC_PinGet(5) = Temperature sensor
 255 // -------------------------
 256 #define PIOS_DMA_PIN_CONFIG                                                                 \
 257     {                                                                                           \
 258         { GPIOC, GPIO_Pin_1, ADC_Channel_11, false },                                                \
 259         { GPIOC, GPIO_Pin_2, ADC_Channel_12, false },                                                \
 260         { NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference */         \
 261         { NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */        \
 262     }
 263
 264 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
 265 /* which is annoying because this then determines the rate at which we generate buffer turnover events */
 266 /* the objective here is to get enough buffer space to support 100Hz averaging rate */
 267 #define PIOS_ADC_NUM_CHANNELS     4
 268 #define PIOS_ADC_MAX_OVERSAMPLING 2
 269 #define PIOS_ADC_USE_ADC2         0
 270
 271 #define PIOS_ADC_USE_TEMP_SENSOR
 272 #define PIOS_ADC_TEMPERATURE_PIN  3
 273
 274 // -------------------------
 275 // USB
 276 // -------------------------
 277 #define PIOS_USB_MAX_DEVS         1
 278 #define PIOS_USB_ENABLED          1 /* Should remove all references to this */
 279 #define PIOS_USB_HID_MAX_DEVS     1
 280
 281 #endif /* PIOS_BOARD_H */
 282
 283 /**
 284  * @}
 285  * @}
 286  */