flight/targets/boards/pikoblx/pios_board.h

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pios_board.h
   5  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
   6  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   7  *
   8  * @brief      Defines board hardware for the PikoBLX board
   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 #define PIOS_LED_ALARM        1
  89 #define PIOS_BUZZER_ALARM     2
  90
  91 // -------------------------
  92 // System Settings
  93 // -------------------------
  94 #define PIOS_MASTER_CLOCK     72000000
  95
  96 // -------------------------
  97 // Interrupt Priorities
  98 // -------------------------
  99 #define PIOS_IRQ_PRIO_LOW     12              // lower than RTOS
 100 #define PIOS_IRQ_PRIO_MID     8               // higher than RTOS
 101 #define PIOS_IRQ_PRIO_HIGH    5               // for SPI, ADC, I2C etc...
 102 #define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc...
 103 // ------------------------
 104 // PIOS_I2C
 105 // See also pios_board.c
 106 // ------------------------
 107 #define PIOS_I2C_MAX_DEVS     0
 108
 109 // -------------------------
 110 // SPI
 111 //
 112 // See also pios_board.c
 113 // -------------------------
 114 #define PIOS_SPI_MAX_DEVS        2
 115 extern uint32_t pios_spi_mpu6000_id;
 116 #define PIOS_SPI_MPU6000_ADAPTER (pios_spi_mpu6000_id)
 117
 118 // -------------------------
 119 // PIOS_USART
 120 // -------------------------
 121 #define PIOS_USART_MAX_DEVS      3
 122
 123 // -------------------------
 124 // PIOS_COM
 125 //
 126 // See also pios_board.c
 127 // -------------------------
 128 #define PIOS_COM_MAX_DEVS  3
 129
 130
 131 #ifdef PIOS_INCLUDE_WS2811
 132 extern uint32_t pios_ws2811_id;
 133 #define PIOS_WS2811_DEVICE (pios_ws2811_id)
 134 #endif
 135
 136 // -------------------------
 137 // ADC
 138 // PIOS_ADC_PinGet(0) = Current sensor
 139 // PIOS_ADC_PinGet(1) = Battery voltage
 140 // -------------------------
 141 #define PIOS_DMA_PIN_CONFIG                            \
 142     {                                                  \
 143         { GPIOB, GPIO_Pin_2, ADC_Channel_12, false }, /* ADC_2 / Current   */  \
 144         { GPIOA, GPIO_Pin_5, ADC_Channel_2, false }, /* ADC_1 / Voltage   */  \
 145     }
 146
 147 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
 148 /* which is annoying because this then determines the rate at which we generate buffer turnover events */
 149 /* the objective here is to get enough buffer space to support 100Hz averaging rate */
 150 #define PIOS_ADC_NUM_CHANNELS     2
 151 #define PIOS_ADC_MAX_OVERSAMPLING 32
 152 #define PIOS_ADC_USE_ADC2         0
 153
 154 // #define PIOS_ADC_USE_TEMP_SENSOR
 155 // #define PIOS_ADC_TEMPERATURE_PIN  4
 156
 157 // ------------------------
 158 // PIOS_RCVR
 159 // See also pios_board.c
 160 // ------------------------
 161 #define PIOS_RCVR_MAX_DEVS           3
 162 #define PIOS_RCVR_MAX_CHANNELS       12
 163 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 164
 165 // -------------------------
 166 // Receiver PPM input
 167 // -------------------------
 168 #define PIOS_PPM_MAX_DEVS            1
 169 #define PIOS_PPM_NUM_INPUTS          16
 170
 171 // -------------------------
 172 // Receiver PWM input
 173 // -------------------------
 174 #define PIOS_PWM_MAX_DEVS            1
 175 #define PIOS_PWM_NUM_INPUTS          6
 176
 177 // -------------------------
 178 // Receiver DSM input
 179 // -------------------------
 180 #define PIOS_DSM_MAX_DEVS            2
 181 #define PIOS_DSM_NUM_INPUTS          12
 182
 183 // -------------------------
 184 // Receiver S.Bus input
 185 // -------------------------
 186 #define PIOS_SBUS_MAX_DEVS           1
 187 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 188
 189 // -------------------------
 190 // Receiver HOTT input
 191 // -------------------------
 192 #define PIOS_HOTT_MAX_DEVS           1
 193 #define PIOS_HOTT_NUM_INPUTS         32
 194
 195 // -------------------------
 196 // Receiver EX.Bus input
 197 // -------------------------
 198 #define PIOS_EXBUS_MAX_DEVS          1
 199 #define PIOS_EXBUS_NUM_INPUTS        16
 200
 201 // -------------------------
 202 // Receiver Multiplex SRXL input
 203 // -------------------------
 204 #define PIOS_SRXL_MAX_DEVS           1
 205 #define PIOS_SRXL_NUM_INPUTS         16
 206
 207 // -------------------------
 208 // Receiver FlySky IBus input
 209 // -------------------------
 210 #define PIOS_IBUS_MAX_DEVS           1
 211 #define PIOS_IBUS_NUM_INPUTS         10
 212
 213 // -------------------------
 214 // Servo outputs
 215 // -------------------------
 216 #define PIOS_SERVO_UPDATE_HZ         50
 217 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 218 #define PIOS_SERVO_BANKS             6
 219
 220 // --------------------------
 221 // Timer controller settings
 222 // --------------------------
 223 #define PIOS_TIM_MAX_DEVS            3
 224
 225 // -------------------------
 226 // GPIO
 227 // -------------------------
 228 #define PIOS_GPIO_PORTS              {}
 229 #define PIOS_GPIO_PINS               {}
 230 #define PIOS_GPIO_CLKS               {}
 231 #define PIOS_GPIO_NUM                0
 232
 233 // -------------------------
 234 // USB
 235 // -------------------------
 236 #define PIOS_USB_HID_MAX_DEVS        1
 237
 238 #define PIOS_USB_ENABLED             1
 239 #define PIOS_USB_MAX_DEVS            1
 240
 241 #endif /* PIOS_BOARD_H */