flight/targets/boards/oplinkmini/pios_board.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pios_board.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
   7  * @brief      Defines PiOS board hardware for the OpenPilot OPLink Mini board.
   8  * @see        The GNU Public License (GPL) Version 3
   9  *
  10  *****************************************************************************/
  11 /*
  12  * This program is free software; you can redistribute it and/or modify
  13  * it under the terms of the GNU General Public License as published by
  14  * the Free Software Foundation; either version 3 of the License, or
  15  * (at your option) any later version.
  16  *
  17  * This program is distributed in the hope that it will be useful, but
  18  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  19  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  20  * for more details.
  21  *
  22  * You should have received a copy of the GNU General Public License along
  23  * with this program; if not, write to the Free Software Foundation, Inc.,
  24  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  25  */
  26
  27 #ifndef PIOS_BOARD_H
  28 #define PIOS_BOARD_H
  29 #define ADD_ONE_ADC
  30
  31 // ------------------------
  32 // Timers and Channels Used
  33 // ------------------------
  34 /*
  35    Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
  36    ------+-----------+-----------+-----------+----------
  37    TIM1  |  Servo 4  |           |           |
  38    TIM2  |  RC In 5  |  RC In 6  |  Servo 6  |
  39    TIM3  |  Servo 5  |  RC In 2  |  RC In 3  |  RC In 4
  40    TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
  41    ------+-----------+-----------+-----------+----------
  42  */
  43
  44 // ------------------------
  45 // DMA Channels Used
  46 // ------------------------
  47 /* Channel 1  -                                 */
  48 /* Channel 2  -                                 */
  49 /* Channel 3  -                                 */
  50 /* Channel 4  -                                 */
  51 /* Channel 5  -                                 */
  52 /* Channel 6  -                                 */
  53 /* Channel 7  -                                 */
  54 /* Channel 8  -                                 */
  55 /* Channel 9  -                                 */
  56 /* Channel 10 -                                 */
  57 /* Channel 11 -                                 */
  58 /* Channel 12 -                                 */
  59
  60
  61 // ------------------------
  62 // BOOTLOADER_SETTINGS
  63 // ------------------------
  64 #define BOARD_READABLE TRUE
  65 #define BOARD_WRITABLE TRUE
  66 #define MAX_DEL_RETRYS 3
  67
  68
  69 // ------------------------
  70 // WATCHDOG_SETTINGS
  71 // ------------------------
  72 #define PIOS_WATCHDOG_TIMEOUT 500
  73 #define PIOS_WDG_REGISTER     BKP_DR4
  74 #define PIOS_WDG_TELEMETRYTX  0x0001
  75 #define PIOS_WDG_TELEMETRYRX  0x0002
  76 #define PIOS_WDG_TELEMRADIOTX 0x0004
  77 #define PIOS_WDG_TELEMRADIORX 0x0008
  78 #define PIOS_WDG_RFM22B       0x000f
  79 #define PIOS_WDG_PPMINPUT     0x0010
  80
  81 // ------------------------
  82 // TELEMETRY
  83 // ------------------------
  84 #define TELEM_QUEUE_SIZE      20
  85
  86 // ------------------------
  87 // PIOS_LED
  88 // ------------------------
  89 #define PIOS_LED_USB          0
  90 #define PIOS_LED_LINK         1
  91 #define PIOS_LED_RX           2
  92 #define PIOS_LED_TX           3
  93 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM
  94 #define PIOS_LED_D1           4
  95 #define PIOS_LED_D2           5
  96 #define PIOS_LED_D3           6
  97 #define PIOS_LED_D4           7
  98 #endif
  99
 100 #define PIOS_LED_HEARTBEAT    PIOS_LED_LINK
 101 #define PIOS_LED_ALARM        PIOS_LED_TX
 102
 103 #define USB_LED_ON            PIOS_LED_On(PIOS_LED_USB)
 104 #define USB_LED_OFF           PIOS_LED_Off(PIOS_LED_USB)
 105 #define USB_LED_TOGGLE        PIOS_LED_Toggle(PIOS_LED_USB)
 106
 107 #define LINK_LED_ON           PIOS_LED_On(PIOS_LED_LINK)
 108 #define LINK_LED_OFF          PIOS_LED_Off(PIOS_LED_LINK)
 109 #define LINK_LED_TOGGLE       PIOS_LED_Toggle(PIOS_LED_LINK)
 110
 111 #define RX_LED_ON             PIOS_LED_On(PIOS_LED_RX)
 112 #define RX_LED_OFF            PIOS_LED_Off(PIOS_LED_RX)
 113 #define RX_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_RX)
 114
 115 #define TX_LED_ON             PIOS_LED_On(PIOS_LED_TX)
 116 #define TX_LED_OFF            PIOS_LED_Off(PIOS_LED_TX)
 117 #define TX_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_TX)
 118
 119 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM
 120 #define D1_LED_ON             PIOS_LED_On(PIOS_LED_D1)
 121 #define D1_LED_OFF            PIOS_LED_Off(PIOS_LED_D1)
 122 #define D1_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_D1)
 123
 124 #define D2_LED_ON             PIOS_LED_On(PIOS_LED_D2)
 125 #define D2_LED_OFF            PIOS_LED_Off(PIOS_LED_D2)
 126 #define D2_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_D2)
 127
 128 #define D3_LED_ON             PIOS_LED_On(PIOS_LED_D3)
 129 #define D3_LED_OFF            PIOS_LED_Off(PIOS_LED_D3)
 130 #define D3_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_D3)
 131
 132 #define D4_LED_ON             PIOS_LED_On(PIOS_LED_D4)
 133 #define D4_LED_OFF            PIOS_LED_Off(PIOS_LED_D4)
 134 #define D4_LED_TOGGLE         PIOS_LED_Toggle(PIOS_LED_D4)
 135 #endif
 136
 137 // -------------------------
 138 // System Settings
 139 // -------------------------
 140 #define PIOS_MASTER_CLOCK     72000000
 141
 142 // -------------------------
 143 // Interrupt Priorities
 144 // -------------------------
 145 #define PIOS_IRQ_PRIO_LOW     12              // lower than RTOS
 146 #define PIOS_IRQ_PRIO_MID     8               // higher than RTOS
 147 #define PIOS_IRQ_PRIO_HIGH    5               // for SPI, ADC, I2C etc...
 148 #define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
 149
 150 // ------------------------
 151 // PIOS_I2C
 152 // See also pios_board.c
 153 // ------------------------
 154 #define PIOS_I2C_MAX_DEVS     1
 155 extern uint32_t pios_i2c_flexi_adapter_id;
 156 #define PIOS_I2C_MAIN_ADAPTER (pios_i2c_flexi_adapter_id)
 157
 158 // ------------------------
 159 // PIOS_SPI
 160 // See also pios_board.c
 161 // ------------------------
 162 #define PIOS_SPI_MAX_DEVS       1
 163 #define PIOS_SPI_RFM22B_ADAPTER (pios_spi_rfm22b_id)
 164
 165 // -------------------------
 166 // PIOS_USART
 167 // -------------------------
 168 #define PIOS_USART_MAX_DEVS     3
 169
 170 // -------------------------
 171 // PIOS_COM
 172 //
 173 // See also pios_board.c
 174 // -------------------------
 175 #define PIOS_COM_MAX_DEVS             5
 176
 177 /* USB telemetry */
 178 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
 179 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
 180
 181 /* VCP Bridge */
 182 #define PIOS_COM_TELEM_VCP_RX_BUF_LEN 128
 183 #define PIOS_COM_TELEM_VCP_TX_BUF_LEN 128
 184
 185 // The direct com ports
 186 extern uint32_t pios_com_hid_id;
 187 extern uint32_t pios_com_vcp_id;
 188 extern uint32_t pios_com_main_id;
 189 extern uint32_t pios_com_flexi_id;
 190 extern uint32_t pios_com_pri_radio_id;
 191 extern uint32_t pios_com_aux_radio_id;
 192 // The port that the GCS is connected to
 193 extern uint32_t pios_com_gcs_id;
 194 // The destination port from the GCS port
 195 extern uint32_t pios_com_gcs_out_id;
 196 // The destination port from the VCP com bridge
 197 extern uint32_t pios_com_bridge_id;
 198 // The destination port for the primary radio port
 199 extern uint32_t pios_com_pri_radio_out_id;
 200 // The destination port for the auxiliary radio port.
 201 extern uint32_t pios_com_aux_radio_out_id;
 202 // The PPM IDs
 203 extern uint32_t pios_ppm_out_id;
 204 #define PIOS_COM_HID           (pios_com_hid_id)
 205 #define PIOS_COM_VCP           (pios_com_vcp_id)
 206 #define PIOS_COM_MAIN          (pios_com_main_id)
 207 #define PIOS_COM_FLEXI         (pios_com_flexi_id)
 208 #define PIOS_COM_PRI_RADIO     (pios_com_pri_radio_id)
 209 #define PIOS_COM_AUX_RADIO     (pios_com_aux_radio_id)
 210 #define PIOS_COM_PRI_RADIO_OUT (pios_com_pri_radio_out_id)
 211 #define PIOS_COM_AUX_RADIO_OUT (pios_com_aux_radio_out_id)
 212 #define PIOS_COM_GCS           (pios_com_gcs_id)
 213 #define PIOS_COM_GCS_OUT       (pios_com_gcs_out_id)
 214 #define PIOS_COM_BRIDGE        (pios_com_bridge_id)
 215 #define PIOS_PPM_OUTPUT        (pios_ppm_out_id)
 216 #define RFM22_DEBUG            1
 217
 218 // -------------------------
 219 // ADC
 220 // None
 221 // -------------------------
 222 // #define PIOS_ADC_OVERSAMPLING_RATE           1
 223 #define PIOS_ADC_USE_TEMP_SENSOR         0
 224 #define PIOS_ADC_TEMP_SENSOR_ADC         ADC1
 225 #define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
 226
 227 #define PIOS_ADC_NUM_PINS                0
 228
 229 #define PIOS_ADC_PORTS                   {}
 230 #define PIOS_ADC_PINS                    {}
 231 #define PIOS_ADC_CHANNELS                {}
 232 #define PIOS_ADC_MAPPING                 {}
 233 #define PIOS_ADC_CHANNEL_MAPPING         {}
 234 #define PIOS_ADC_NUM_CHANNELS            (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
 235 #define PIOS_ADC_NUM_ADC_CHANNELS        0
 236 #define PIOS_ADC_USE_ADC2                0
 237 #define PIOS_ADC_CLOCK_FUNCTION          RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
 238 #define PIOS_ADC_ADCCLK                  RCC_PCLK2_Div8
 239 /* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
 240 /* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
 241 /* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
 242 /* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
 243 #define PIOS_ADC_SAMPLE_TIME             ADC_SampleTime_239Cycles5
 244 /* Sample time: */
 245 /* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
 246 /* Tconv = 239.5 + 12.5 = 252 cycles = 18�s */
 247 /* (1 / (ADCCLK / CYCLES)) = Sample Time (�S) */
 248 #define PIOS_ADC_IRQ_PRIO                PIOS_IRQ_PRIO_LOW
 249
 250 // Currently analog acquistion hard coded at 480 Hz
 251 // PCKL2 = HCLK / 16
 252 // ADCCLK = PCLK2 / 2
 253 #define PIOS_ADC_RATE                    (72.0e6 / 1.0 / 8.0 / 252.0 / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
 254 #define PIOS_ADC_MAX_OVERSAMPLING        36
 255
 256 #define PIOS_ADC_TEMPERATURE_PIN         0
 257
 258 // ------------------------
 259 // PIOS_RCVR
 260 // See also pios_board.c
 261 // ------------------------
 262 #define PIOS_RCVR_MAX_DEVS           3
 263 #define PIOS_RCVR_MAX_CHANNELS       12
 264 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 265
 266 // -------------------------
 267 // Receiver PPM input
 268 // -------------------------
 269 #define PIOS_PPM_MAX_DEVS            1
 270 #define PIOS_PPM_NUM_INPUTS          12
 271
 272 // -------------------------
 273 // Receiver PWM inputs
 274 // -------------------------
 275 #define PIOS_PWM_NUM_INPUTS          4
 276
 277 // -------------------------
 278 // Servo outputs
 279 // -------------------------
 280 #define PIOS_SERVO_UPDATE_HZ         50
 281 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 282 #define PIOS_SERVO_BANKS             6
 283
 284 // --------------------------
 285 // Timer controller settings
 286 // --------------------------
 287 #define PIOS_TIM_MAX_DEVS            3
 288
 289 // -------------------------
 290 // GPIO
 291 // -------------------------
 292 #define PIOS_GPIO_PORTS              {}
 293 #define PIOS_GPIO_PINS               {}
 294 #define PIOS_GPIO_CLKS               {}
 295 #define PIOS_GPIO_NUM                0
 296
 297 // -------------------------
 298 // USB
 299 // -------------------------
 300 #define PIOS_USB_HID_MAX_DEVS        1
 301 #define PIOS_USB_ENABLED             1
 302 #define PIOS_USB_HID_MAX_DEVS        1
 303 #define PIOS_USB_MAX_DEVS            1
 304 #define PIOS_USB_DETECT_GPIO_PORT    GPIOC
 305 #define PIOS_USB_DETECT_GPIO_PIN     GPIO_Pin_15
 306 #define PIOS_USB_DETECT_EXTI_LINE    EXTI_Line15
 307
 308 // -------------------------
 309 // RFM22
 310 // -------------------------
 311
 312 #if defined(PIOS_INCLUDE_RFM22B)
 313 extern uint32_t pios_spi_rfm22b_id;
 314 #define PIOS_RFM22_SPI_PORT (pios_spi_rfm22b_id)
 315 extern uint32_t pios_rfm22b_id;
 316 #endif /* PIOS_INCLUDE_RFM22B */
 317
 318 // -------------------------
 319 // Packet Handler
 320 // -------------------------
 321 extern uint32_t pios_packet_handler;
 322 #define PIOS_PACKET_HANDLER     (pios_packet_handler)
 323 #define PIOS_PH_MAX_PACKET      255
 324 #define PIOS_PH_WIN_SIZE        3
 325 #define PIOS_PH_MAX_CONNECTIONS 1
 326 #define RS_ECC_NPARITY          4
 327
 328 // -------------------------
 329 // Reed-Solomon ECC
 330 // -------------------------
 331
 332 #define RS_ECC_NPARITY 4
 333
 334 // -------------------------
 335 // Flash EEPROM Emulation
 336 // -------------------------
 337
 338 #define PIOS_FLASH_SIZE              0x20000
 339 #define PIOS_FLASH_EEPROM_START_ADDR 0x08000000
 340 #define PIOS_FLASH_PAGE_SIZE         1024
 341 #define PIOS_FLASH_EEPROM_ADDR       (PIOS_FLASH_EEPROM_START_ADDR + PIOS_FLASH_SIZE - PIOS_FLASH_PAGE_SIZE)
 342 #define PIOS_FLASH_EEPROM_LEN        PIOS_FLASH_PAGE_SIZE
 343
 344 #endif /* PIOS_BOARD_H */