flight/targets/boards/revoproto/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 // ------------------------
  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
  80 // ------------------------
  81 // PIOS_SPI
  82 // See also pios_board.c
  83 // ------------------------
  84 #define PIOS_SPI_MAX_DEVS        3
  85 extern uint32_t pios_spi_gyro_id;
  86 extern uint32_t pios_spi_accel_id;
  87 #define PIOS_SPI_L3GD20_ADAPTER  (pios_spi_gyro_id)
  88 #define PIOS_SPI_BMA180_ADAPTER  (pios_spi_accel_id)
  89 #define PIOS_SPI_MPU6000_ADAPTER (pios_spi_gyro_id)
  90
  91 // ------------------------
  92 // PIOS_WDG
  93 // ------------------------
  94 #define PIOS_WATCHDOG_TIMEOUT    250
  95 #define PIOS_WDG_REGISTER        RTC_BKP_DR4
  96 #define PIOS_WDG_ACTUATOR        0x0001
  97 #define PIOS_WDG_STABILIZATION   0x0002
  98 #define PIOS_WDG_ATTITUDE        0x0004
  99 #define PIOS_WDG_MANUAL          0x0008
 100 #define PIOS_WDG_SENSORS         0x0010
 101 #define PIOS_WDG_AUTOTUNE        0x0020
 102
 103 // ------------------------
 104 // PIOS_I2C
 105 // See also pios_board.c
 106 // ------------------------
 107 #define PIOS_I2C_MAX_DEVS                 3
 108 extern uint32_t pios_i2c_mag_adapter_id;
 109 extern uint32_t pios_i2c_pressure_adapter_id;
 110
 111 #define PIOS_I2C_MS56XX_INTERNAL_ADAPTER  (pios_i2c_pressure_adapter_id)
 112 #define PIOS_I2C_HMC5X83_INTERNAL_ADAPTER (pios_i2c_mag_adapter_id)
 113
 114 extern uint32_t pios_i2c_flexiport_adapter_id;
 115 #define PIOS_I2C_FLEXI_ADAPTER            (pios_i2c_flexiport_adapter_id)
 116 #define PIOS_I2C_ETASV3_ADAPTER           (PIOS_I2C_FLEXI_ADAPTER)
 117 #define PIOS_I2C_EXTERNAL_ADAPTER         (pios_i2c_flexiport_adapter_id)
 118
 119
 120 // -------------------------
 121 // PIOS_USART
 122 //
 123 // See also pios_board.c
 124 // -------------------------
 125 #define PIOS_USART_MAX_DEVS         5
 126 // Inverter for SBUS handling
 127 #define PIOS_USART_INVERTER_PORT    UART4
 128 #define PIOS_USART_INVERTER_GPIO    GPIOC
 129 #define PIOS_USART_INVERTER_PIN     GPIO_Pin_3
 130 #define PIOS_USART_INVERTER_ENABLE  Bit_SET
 131 #define PIOS_USART_INVERTER_DISABLE Bit_RESET
 132
 133 // -------------------------
 134 // PIOS_COM
 135 //
 136 // See also pios_board.c
 137 // -------------------------
 138 #define PIOS_COM_MAX_DEVS  4
 139
 140 #ifdef PIOS_INCLUDE_WS2811
 141 extern uint32_t pios_ws2811_id;
 142 #define PIOS_WS2811_DEVICE (pios_ws2811_id)
 143 #endif
 144
 145 // ------------------------
 146 // TELEMETRY
 147 // ------------------------
 148 #define TELEM_QUEUE_SIZE      80
 149 #define PIOS_TELEM_STACK_SIZE 800
 150
 151 // -------------------------
 152 // System Settings
 153 //
 154 // See also System_stm32f4xx.c
 155 // -------------------------
 156 // These macros are deprecated
 157 // please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
 158 // #define PIOS_MASTER_CLOCK
 159 // #define PIOS_PERIPHERAL_CLOCK
 160 // #define PIOS_PERIPHERAL_CLOCK
 161
 162 #define PIOS_SYSCLK 168000000
 163 // Peripherals that belongs to APB1 are:
 164 // DAC                  |PWR                            |CAN1,2
 165 // I2C1,2,3             |UART4,5                        |USART3,2
 166 // I2S3Ext              |SPI3/I2S3              |SPI2/I2S2
 167 // I2S2Ext              |IWDG                           |WWDG
 168 // RTC/BKP reg
 169 // TIM2,3,4,5,6,7,12,13,14
 170
 171 // Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
 172 // Default APB1 Prescaler = 4
 173 #define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
 174
 175 // Peripherals belonging to APB2
 176 // SDIO                 |EXTI                           |SYSCFG                 |SPI1
 177 // ADC1,2,3
 178 // USART1,6
 179 // TIM1,8,9,10,11
 180 //
 181 // Default APB2 Prescaler = 2
 182 //
 183 #define PIOS_PERIPHERAL_APB2_CLOCK   PIOS_SYSCLK
 184
 185 // -------------------------
 186 // Interrupt Priorities
 187 // -------------------------
 188 #define PIOS_IRQ_PRIO_LOW            12              // lower than RTOS
 189 #define PIOS_IRQ_PRIO_MID            8               // higher than RTOS
 190 #define PIOS_IRQ_PRIO_HIGH           5               // for SPI, ADC, I2C etc...
 191 #define PIOS_IRQ_PRIO_HIGHEST        4               // for USART etc...
 192 // ------------------------
 193 // PIOS_RCVR
 194 // See also pios_board.c
 195 // ------------------------
 196 #define PIOS_RCVR_MAX_DEVS           3
 197 #define PIOS_RCVR_MAX_CHANNELS       12
 198 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 199
 200 // -------------------------
 201 // Receiver PPM input
 202 // -------------------------
 203 #define PIOS_PPM_MAX_DEVS            1
 204 #define PIOS_PPM_NUM_INPUTS          16
 205
 206 // -------------------------
 207 // Receiver PWM input
 208 // -------------------------
 209 #define PIOS_PWM_MAX_DEVS            1
 210 #define PIOS_PWM_NUM_INPUTS          8
 211
 212 // -------------------------
 213 // Receiver SPEKTRUM input
 214 // -------------------------
 215 #define PIOS_SPEKTRUM_MAX_DEVS       2
 216 #define PIOS_SPEKTRUM_NUM_INPUTS     12
 217
 218 // -------------------------
 219 // Receiver S.Bus input
 220 // -------------------------
 221 #define PIOS_SBUS_MAX_DEVS           1
 222 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 223
 224 // -------------------------
 225 // Receiver DSM input
 226 // -------------------------
 227 #define PIOS_DSM_MAX_DEVS            2
 228 #define PIOS_DSM_NUM_INPUTS          12
 229
 230 // -------------------------
 231 // Servo outputs
 232 // -------------------------
 233 #define PIOS_SERVO_UPDATE_HZ         50
 234 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 235 #define PIOS_SERVO_BANKS             6
 236
 237 // --------------------------
 238 // Timer controller settings
 239 // --------------------------
 240 #define PIOS_TIM_MAX_DEVS            6
 241
 242 // -------------------------
 243 // ADC
 244 // PIOS_ADC_PinGet(0) = Current sensor
 245 // PIOS_ADC_PinGet(1) = Voltage sensor
 246 // PIOS_ADC_PinGet(2) = VREF
 247 // PIOS_ADC_PinGet(3) = Temperature sensor
 248 // PIOS_ADC_PinGet(4) = Board Power
 249 // -------------------------
 250 #define PIOS_DMA_PIN_CONFIG                                                                         \
 251     {                                                                                                   \
 252         { GPIOC, GPIO_Pin_0, ADC_Channel_10, true },                                                        \
 253         { GPIOC, GPIO_Pin_1, ADC_Channel_11, true },                                                        \
 254         { NULL, 0, ADC_Channel_Vrefint, true }, /* Voltage reference */         \
 255         { NULL, 0, ADC_Channel_TempSensor, true }, /* Temperature sensor */        \
 256         { GPIOC, GPIO_Pin_2, ADC_Channel_12, true }  \
 257     }
 258
 259 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
 260 /* which is annoying because this then determines the rate at which we generate buffer turnover events */
 261 /* the objective here is to get enough buffer space to support 100Hz averaging rate */
 262 #define PIOS_ADC_NUM_CHANNELS     4
 263 #define PIOS_ADC_MAX_OVERSAMPLING 2
 264 #define PIOS_ADC_USE_ADC2         0
 265
 266 #define PIOS_ADC_USE_TEMP_SENSOR
 267 #define PIOS_ADC_TEMPERATURE_PIN  3          /* V */
 268
 269 // -------------------------
 270 // USB
 271 // -------------------------
 272 #define PIOS_USB_MAX_DEVS         1
 273 #define PIOS_USB_ENABLED          1 /* Should remove all references to this */
 274 #define PIOS_USB_HID_MAX_DEVS     1
 275
 276 #endif /* PIOS_BOARD_H */
 277
 278 /**
 279  * @}
 280  * @}
 281  */