flight/pios/pios.h

   1 /**
   2  ******************************************************************************
   3  * @file       pios.h
   4  * @author     The LibrePilot Project, http://www.librepilot.org, Copyright (C) 2015
   5  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013
   6  *             PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
   7  * @brief      Main PiOS header.
   8  * @see        The GNU Public License (GPL) Version 3
   9  *****************************************************************************/
  10 /*
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License as published by
  13  * the Free Software Foundation; either version 3 of the License, or
  14  * (at your option) any later version.
  15  *
  16  * This program is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  18  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  19  * for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License along
  22  * with this program; if not, write to the Free Software Foundation, Inc.,
  23  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  24  */
  25
  26 /*
  27  * To add new PIOS options, drivers or functions please insert their
  28  * includes below into a corresponding group. If new driver has optional
  29  * features, add them as comments before including the driver header.
  30  * Finally update all pios_config.h files for every board in the same order
  31  * as in this file. Include new definition and all options, but comment
  32  * out unused ones.
  33  */
  34
  35 #ifndef PIOS_H
  36 #define PIOS_H
  37
  38 #ifdef __cplusplus
  39 extern "C" {
  40 #endif
  41
  42 #include <pios_helpers.h>
  43 #include <pios_math.h>
  44 #include <pios_constants.h>
  45
  46 #ifdef USE_SIM_POSIX
  47 /* SimPosix version of this file. This will probably be removed later */
  48 #include <pios_sim_posix.h>
  49 #else
  50
  51 /* C Lib includes */
  52 #include <stdio.h>
  53 #include <stdint.h>
  54 #include <stdlib.h>
  55 #include <stdarg.h>
  56 #include <string.h>
  57 #include <math.h>
  58
  59 /* STM32 Std Peripherals Lib */
  60 #if defined(STM32F10X)
  61 #include <stm32f10x.h>
  62 #elif defined(STM32F4XX)
  63 #include <stm32f4xx.h>
  64 #include <stm32f4xx_rcc.h>
  65 #elif defined(STM32F0)
  66 #include <stm32f0xx.h>
  67 #elif defined(STM32F3)
  68 #include <stm32f30x.h>
  69 #else
  70 #error "No Architecture defined"
  71 #endif
  72
  73 /* PIOS board specific feature selection */
  74 #include "pios_config.h"
  75
  76 /* PIOS board specific device configuration */
  77 #include "pios_board.h"
  78
  79 /* PIOS debug interface */
  80 /* #define PIOS_INCLUDE_DEBUG_CONSOLE */
  81 /* #define DEBUG_LEVEL 0 */
  82 /* #define PIOS_ENABLE_DEBUG_PINS */
  83 #include <pios_debug.h>
  84 #include <pios_debuglog.h>
  85
  86 /* PIOS common functions */
  87 #include <pios_crc.h>
  88
  89 /* PIOS FreeRTOS support */
  90 #ifdef PIOS_INCLUDE_FREERTOS
  91 #include "FreeRTOS.h"
  92 #include "task.h"
  93 #include "queue.h"
  94 #include "semphr.h"
  95 #endif
  96 #include <stdbool.h>
  97
  98 #include <pios_mem.h>
  99
 100 #include <pios_architecture.h>
 101
 102 #ifdef PIOS_INCLUDE_TASK_MONITOR
 103 #ifndef PIOS_INCLUDE_FREERTOS
 104 #error PiOS Task Monitor requires PIOS_INCLUDE_FREERTOS to be defined
 105 #endif
 106 #include <pios_task_monitor.h>
 107 #endif
 108
 109 /* PIOS CallbackScheduler */
 110 #ifdef PIOS_INCLUDE_CALLBACKSCHEDULER
 111 #ifndef PIOS_INCLUDE_FREERTOS
 112 #error PiOS CallbackScheduler requires PIOS_INCLUDE_FREERTOS to be defined
 113 #endif
 114 #include <pios_callbackscheduler.h>
 115 #endif
 116
 117 /* PIOS bootloader helper */
 118 #ifdef PIOS_INCLUDE_BL_HELPER
 119 /* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
 120 #include <pios_bl_helper.h>
 121 #endif
 122
 123 /* PIOS system functions */
 124 #ifdef PIOS_INCLUDE_DELAY
 125 #include <pios_delay.h>
 126 #include <pios_deltatime.h>
 127 #endif
 128
 129 #ifdef PIOS_INCLUDE_INITCALL
 130 #include "pios_initcall.h"
 131 #endif
 132
 133 #ifdef PIOS_INCLUDE_SYS
 134 #include <pios_sys.h>
 135 #endif
 136
 137 /* PIOS hardware peripherals */
 138 #ifdef PIOS_INCLUDE_IRQ
 139 #include <pios_irq.h>
 140 #endif
 141
 142 #ifdef PIOS_INCLUDE_RTC
 143 #include <pios_rtc.h>
 144 #endif
 145
 146 #ifdef PIOS_INCLUDE_TIM
 147 #include <pios_tim.h>
 148 #endif
 149
 150 #ifdef PIOS_INCLUDE_USART
 151 #include <pios_usart.h>
 152 #endif
 153
 154 #ifdef PIOS_INCLUDE_ADC
 155 #include <pios_adc.h>
 156 #endif
 157
 158 #ifdef PIOS_INCLUDE_I2C
 159 #include <pios_i2c.h>
 160 #endif
 161
 162 #ifdef PIOS_INCLUDE_SPI
 163 #include <pios_spi.h>
 164 #endif
 165
 166 #ifdef PIOS_INCLUDE_GPIO
 167 #include <pios_gpio.h>
 168 #endif
 169
 170 #ifdef PIOS_INCLUDE_EXTI
 171 #include <pios_exti.h>
 172 #endif
 173
 174 #ifdef PIOS_INCLUDE_WDG
 175 #include <pios_wdg.h>
 176 #endif
 177
 178 /* PIOS USB functions */
 179 #ifdef PIOS_INCLUDE_USB
 180 /* #define PIOS_INCLUDE_USB_HID */
 181 /* #define PIOS_INCLUDE_USB_CDC */
 182 /* #define PIOS_INCLUDE_USB_RCTX */
 183 #include <pios_usb.h>
 184 #ifdef PIOS_INCLUDE_USB_HID
 185 #include <pios_usb_hid.h>
 186 #endif
 187 #ifdef PIOS_INCLUDE_USB_RCTX
 188 #include <pios_usb_rctx.h>
 189 #endif
 190 #endif
 191
 192 #ifdef PIOS_INCLUDE_MPXV
 193 /* MPXV5004, MPXV7002 based Airspeed Sensor */
 194 #include <pios_mpxv.h>
 195 #endif
 196
 197 #ifdef PIOS_INCLUDE_ETASV3
 198 /* Eagle Tree Systems Airspeed MicroSensor V3 */
 199 #include <pios_etasv3.h>
 200 #endif
 201
 202 #ifdef PIOS_INCLUDE_MS4525DO
 203 /* PixHawk Airspeed Sensor based on MS4525DO */
 204 #include <pios_ms4525do.h>
 205 #endif
 206
 207
 208 #ifdef PIOS_INCLUDE_HCSR04
 209 /* HC-SR04 Ultrasonic Sensor */
 210 #include <pios_hcsr04.h>
 211 #endif
 212
 213 /* PIOS receiver drivers */
 214 #ifdef PIOS_INCLUDE_PWM
 215 #include <pios_pwm.h>
 216 #endif
 217
 218 #ifdef PIOS_INCLUDE_PPM
 219 #include <pios_ppm.h>
 220 #endif
 221
 222 #ifdef PIOS_INCLUDE_PPM_FLEXI
 223 /* PPM on CC flexi port */
 224 #endif
 225
 226 #ifdef PIOS_INCLUDE_DSM
 227 #include <pios_dsm.h>
 228 #endif
 229
 230 #ifdef PIOS_INCLUDE_SBUS
 231 #include <pios_sbus.h>
 232 #endif
 233
 234 #ifdef PIOS_INCLUDE_HOTT
 235 #include <pios_hott.h>
 236 #endif
 237
 238 #ifdef PIOS_INCLUDE_EXBUS
 239 #include <pios_exbus.h>
 240 #endif
 241
 242 #ifdef PIOS_INCLUDE_SRXL
 243 #include <pios_srxl.h>
 244 #endif
 245
 246 #ifdef PIOS_INCLUDE_IBUS
 247 #include <pios_ibus.h>
 248 #endif
 249
 250 /* PIOS abstract receiver interface */
 251 #ifdef PIOS_INCLUDE_RCVR
 252 #include <pios_rcvr.h>
 253 #endif
 254
 255 /* PIOS common peripherals */
 256 #ifdef PIOS_INCLUDE_LED
 257 #include <pios_led.h>
 258 #endif
 259
 260 #ifdef PIOS_INCLUDE_IAP
 261 #include <pios_iap.h>
 262 #endif
 263
 264 #ifdef PIOS_INCLUDE_SERVO
 265 #include <pios_servo.h>
 266 #endif
 267
 268 #ifdef PIOS_INCLUDE_I2C_ESC
 269 #include <pios_i2c_esc.h>
 270 #endif
 271
 272 #ifdef PIOS_INCLUDE_OVERO
 273 /* #define PIOS_OVERO_SPI */
 274 #include <pios_overo.h>
 275 #endif
 276
 277 #ifdef PIOS_INCLUDE_SDCARD
 278 /* #define LOG_FILENAME "startup.log" */
 279 #include <dosfs.h>
 280 #include <pios_sdcard.h>
 281 #endif
 282
 283 #ifdef PIOS_INCLUDE_FLASH
 284 /* #define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS */
 285 /* #define FLASH_FREERTOS */
 286 #include <pios_flash.h>
 287 #include <pios_flashfs.h>
 288 #endif
 289
 290 /* driver for storage on internal flash */
 291 /* #define PIOS_INCLUDE_FLASH_INTERNAL */
 292
 293 #ifdef PIOS_INCLUDE_FLASH_EEPROM
 294 #include <pios_flash_eeprom.h>
 295 #endif
 296
 297 /* PIOS radio modules */
 298 #ifdef PIOS_INCLUDE_RFM22B
 299 /* #define PIOS_INCLUDE_PPM_OUT */
 300 /* #define PIOS_RFM22B_DEBUG_ON_TELEM */
 301 #include <pios_rfm22b.h>
 302 #ifdef PIOS_INCLUDE_RFM22B_COM
 303 #include <pios_rfm22b_com.h>
 304 #endif
 305 #endif /* PIOS_INCLUDE_RFM22B */
 306
 307 /* PIOS misc peripherals */
 308 #ifdef PIOS_INCLUDE_VIDEO
 309 #include <pios_video.h>
 310 #endif
 311
 312 #ifdef PIOS_INCLUDE_WAVE
 313 #include <pios_wavplay.h>
 314 #endif
 315
 316 #ifdef PIOS_INCLUDE_UDP
 317 #include <pios_udp.h>
 318 #endif
 319
 320 /* PIOS abstract comms interface with options */
 321 #ifdef PIOS_INCLUDE_COM
 322 /* #define PIOS_INCLUDE_COM_MSG */
 323 /* #define PIOS_INCLUDE_TELEMETRY_RF */
 324 /* #define PIOS_INCLUDE_COM_TELEM */
 325 /* #define PIOS_INCLUDE_COM_FLEXI */
 326 /* #define PIOS_INCLUDE_COM_AUX */
 327 /* #define PIOS_TELEM_PRIORITY_QUEUE */
 328 /* #define PIOS_INCLUDE_GPS */
 329 /* #define PIOS_GPS_MINIMAL */
 330 /* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
 331 /* #define PIOS_INCLUDE_GPS_UBX_PARSER */
 332 /* #define PIOS_GPS_SETS_HOMELOCATION */
 333 #include <pios_com.h>
 334 #endif
 335
 336 /* Stabilization options */
 337 /* #define PIOS_QUATERNION_STABILIZATION */
 338
 339 /* Performance counters */
 340 /* #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 */
 341
 342 #endif /* USE_SIM_POSIX */
 343
 344
 345 #ifdef __cplusplus
 346 } // closing brace for extern "C"
 347 #endif
 348
 349 #endif /* PIOS_H */