flight/pios/pios.h

   1 /**
   2  ******************************************************************************
   3  * @file       pios.h
   4  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013
   5  * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
   6  * @brief      Main PiOS header.
   7  * @see        The GNU Public License (GPL) Version 3
   8  *****************************************************************************/
   9 /*
  10  * This program is free software; you can redistribute it and/or modify
  11  * it under the terms of the GNU General Public License as published by
  12  * the Free Software Foundation; either version 3 of the License, or
  13  * (at your option) any later version.
  14  *
  15  * This program is distributed in the hope that it will be useful, but
  16  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  17  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  18  * for more details.
  19  *
  20  * You should have received a copy of the GNU General Public License along
  21  * with this program; if not, write to the Free Software Foundation, Inc.,
  22  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  23  */
  24
  25 /*
  26  * To add new PIOS options, drivers or functions please insert their
  27  * includes below into a corresponding group. If new driver has optional
  28  * features, add them as comments before including the driver header.
  29  * Finally update all pios_config.h files for every board in the same order
  30  * as in this file. Include new definition and all options, but comment
  31  * out unused ones.
  32  */
  33
  34 #ifndef PIOS_H
  35 #define PIOS_H
  36
  37 #include <pios_helpers.h>
  38 #include <pios_math.h>
  39 #include <pios_constants.h>
  40
  41 #ifdef USE_SIM_POSIX
  42 /* SimPosix version of this file. This will probably be removed later */
  43 #include <pios_sim_posix.h>
  44 #else
  45
  46 /* C Lib includes */
  47 #include <stdio.h>
  48 #include <stdlib.h>
  49 #include <stdarg.h>
  50 #include <string.h>
  51 #include <math.h>
  52
  53 /* STM32 Std Peripherals Lib */
  54 #if defined(STM32F10X)
  55 #include <stm32f10x.h>
  56 #elif defined(STM32F4XX)
  57 #include <stm32f4xx.h>
  58 #include <stm32f4xx_rcc.h>
  59 #endif
  60
  61 /* PIOS board specific feature selection */
  62 #include "pios_config.h"
  63
  64 /* PIOS board specific device configuration */
  65 #include "pios_board.h"
  66
  67 /* PIOS debug interface */
  68 /* #define PIOS_INCLUDE_DEBUG_CONSOLE */
  69 /* #define DEBUG_LEVEL 0 */
  70 /* #define PIOS_ENABLE_DEBUG_PINS */
  71 #include <pios_debug.h>
  72 #include <pios_debuglog.h>
  73
  74 /* PIOS common functions */
  75 #include <pios_crc.h>
  76
  77 /* PIOS FreeRTOS support */
  78 #ifdef PIOS_INCLUDE_FREERTOS
  79 #include "FreeRTOS.h"
  80 #include "task.h"
  81 #include "queue.h"
  82 #include "semphr.h"
  83 #endif
  84 #include <stdbool.h>
  85
  86 #include <pios_mem.h>
  87
  88 #include <pios_architecture.h>
  89
  90 #ifdef PIOS_INCLUDE_TASK_MONITOR
  91 #ifndef PIOS_INCLUDE_FREERTOS
  92 #error PiOS Task Monitor requires PIOS_INCLUDE_FREERTOS to be defined
  93 #endif
  94 #include <pios_task_monitor.h>
  95 #endif
  96
  97 /* PIOS CallbackScheduler */
  98 #ifdef PIOS_INCLUDE_CALLBACKSCHEDULER
  99 #ifndef PIOS_INCLUDE_FREERTOS
 100 #error PiOS CallbackScheduler requires PIOS_INCLUDE_FREERTOS to be defined
 101 #endif
 102 #include <pios_callbackscheduler.h>
 103 #endif
 104
 105 /* PIOS bootloader helper */
 106 #ifdef PIOS_INCLUDE_BL_HELPER
 107 /* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
 108 #include <pios_bl_helper.h>
 109 #endif
 110
 111 /* PIOS system functions */
 112 #ifdef PIOS_INCLUDE_DELAY
 113 #include <pios_delay.h>
 114 #include <pios_deltatime.h>
 115 #endif
 116
 117 #ifdef PIOS_INCLUDE_INITCALL
 118 #include "pios_initcall.h"
 119 #endif
 120
 121 #ifdef PIOS_INCLUDE_SYS
 122 #include <pios_sys.h>
 123 #endif
 124
 125 /* PIOS hardware peripherals */
 126 #ifdef PIOS_INCLUDE_IRQ
 127 #include <pios_irq.h>
 128 #endif
 129
 130 #ifdef PIOS_INCLUDE_RTC
 131 #include <pios_rtc.h>
 132 #endif
 133
 134 #ifdef PIOS_INCLUDE_TIM
 135 #include <pios_tim.h>
 136 #endif
 137
 138 #ifdef PIOS_INCLUDE_USART
 139 #include <pios_usart.h>
 140 #endif
 141
 142 #ifdef PIOS_INCLUDE_ADC
 143 #include <pios_adc.h>
 144 #endif
 145
 146 #ifdef PIOS_INCLUDE_I2C
 147 #include <pios_i2c.h>
 148 #endif
 149
 150 #ifdef PIOS_INCLUDE_SPI
 151 #include <pios_spi.h>
 152 #endif
 153
 154 #ifdef PIOS_INCLUDE_GPIO
 155 #include <pios_gpio.h>
 156 #endif
 157
 158 #ifdef PIOS_INCLUDE_EXTI
 159 #include <pios_exti.h>
 160 #endif
 161
 162 #ifdef PIOS_INCLUDE_WDG
 163 #include <pios_wdg.h>
 164 #endif
 165
 166 /* PIOS USB functions */
 167 #ifdef PIOS_INCLUDE_USB
 168 /* #define PIOS_INCLUDE_USB_HID */
 169 /* #define PIOS_INCLUDE_USB_CDC */
 170 /* #define PIOS_INCLUDE_USB_RCTX */
 171 #include <pios_usb.h>
 172 #ifdef PIOS_INCLUDE_USB_HID
 173 #include <pios_usb_hid.h>
 174 #endif
 175 #ifdef PIOS_INCLUDE_USB_RCTX
 176 #include <pios_usb_rctx.h>
 177 #endif
 178 #endif
 179
 180 /* PIOS sensor interfaces */
 181 #ifdef PIOS_INCLUDE_ADXL345
 182 /* ADXL345 3-Axis Accelerometer */
 183 #include <pios_adxl345.h>
 184 #endif
 185
 186 #ifdef PIOS_INCLUDE_BMA180
 187 /* BMA180 3-Axis Accelerometer */
 188 #include <pios_bma180.h>
 189 #endif
 190
 191 #ifdef PIOS_INCLUDE_L3GD20
 192 /* L3GD20 3-Axis Gyro */
 193 #include <pios_l3gd20.h>
 194 #endif
 195
 196 #ifdef PIOS_INCLUDE_MPU6000
 197 /* MPU6000 3-Axis Gyro/Accelerometer */
 198 /* #define PIOS_MPU6000_ACCEL */
 199 #include <pios_mpu6000.h>
 200 #endif
 201
 202 #ifdef PIOS_INCLUDE_HMC5843
 203 /* HMC5843 3-Axis Digital Compass */
 204 #include <pios_hmc5843.h>
 205 #endif
 206
 207 #ifdef PIOS_INCLUDE_HMC5X83
 208 /* HMC5883/HMC5983 3-Axis Digital Compass */
 209 /* #define PIOS_HMC5x83_HAS_GPIOS */
 210 #include <pios_hmc5x83.h>
 211 #endif
 212
 213 #ifdef PIOS_INCLUDE_BMP085
 214 /* BMP085 Barometric Pressure Sensor */
 215 #include <pios_bmp085.h>
 216 #endif
 217
 218 #ifdef PIOS_INCLUDE_MS5611
 219 /* MS5611 Barometric Pressure Sensor */
 220 #include <pios_ms5611.h>
 221 #endif
 222
 223 #ifdef PIOS_INCLUDE_MPXV
 224 /* MPXV5004, MPXV7002 based Airspeed Sensor */
 225 #include <pios_mpxv.h>
 226 #endif
 227
 228 #ifdef PIOS_INCLUDE_ETASV3
 229 /* Eagle Tree Systems Airspeed MicroSensor V3 */
 230 #include <pios_etasv3.h>
 231 #endif
 232
 233 #ifdef PIOS_INCLUDE_MS4525DO
 234 /* PixHawk Airspeed Sensor based on MS4525DO */
 235 #include <pios_ms4525do.h>
 236 #endif
 237
 238
 239 #ifdef PIOS_INCLUDE_HCSR04
 240 /* HC-SR04 Ultrasonic Sensor */
 241 #include <pios_hcsr04.h>
 242 #endif
 243
 244 /* PIOS receiver drivers */
 245 #ifdef PIOS_INCLUDE_PWM
 246 #include <pios_pwm.h>
 247 #endif
 248
 249 #ifdef PIOS_INCLUDE_PPM
 250 #include <pios_ppm.h>
 251 #endif
 252
 253 #ifdef PIOS_INCLUDE_PPM_FLEXI
 254 /* PPM on CC flexi port */
 255 #endif
 256
 257 #ifdef PIOS_INCLUDE_DSM
 258 #include <pios_dsm.h>
 259 #endif
 260
 261 #ifdef PIOS_INCLUDE_SBUS
 262 #include <pios_sbus.h>
 263 #endif
 264
 265 /* PIOS abstract receiver interface */
 266 #ifdef PIOS_INCLUDE_RCVR
 267 #include <pios_rcvr.h>
 268 #endif
 269
 270 /* PIOS common peripherals */
 271 #ifdef PIOS_INCLUDE_LED
 272 #include <pios_led.h>
 273 #endif
 274
 275 #ifdef PIOS_INCLUDE_IAP
 276 #include <pios_iap.h>
 277 #endif
 278
 279 #ifdef PIOS_INCLUDE_SERVO
 280 #include <pios_servo.h>
 281 #endif
 282
 283 #ifdef PIOS_INCLUDE_I2C_ESC
 284 #include <pios_i2c_esc.h>
 285 #endif
 286
 287 #ifdef PIOS_INCLUDE_OVERO
 288 /* #define PIOS_OVERO_SPI */
 289 #include <pios_overo.h>
 290 #endif
 291
 292 #ifdef PIOS_INCLUDE_SDCARD
 293 /* #define LOG_FILENAME "startup.log" */
 294 #include <dosfs.h>
 295 #include <pios_sdcard.h>
 296 #endif
 297
 298 #ifdef PIOS_INCLUDE_FLASH
 299 /* #define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS */
 300 /* #define FLASH_FREERTOS */
 301 #include <pios_flash.h>
 302 #include <pios_flashfs.h>
 303 #endif
 304
 305 /* driver for storage on internal flash */
 306 /* #define PIOS_INCLUDE_FLASH_INTERNAL */
 307
 308 #ifdef PIOS_INCLUDE_FLASH_EEPROM
 309 #include <pios_eeprom.h>
 310 #endif
 311
 312 /* PIOS radio modules */
 313 #ifdef PIOS_INCLUDE_RFM22B
 314 /* #define PIOS_INCLUDE_PPM_OUT */
 315 /* #define PIOS_RFM22B_DEBUG_ON_TELEM */
 316 #include <pios_rfm22b.h>
 317 #ifdef PIOS_INCLUDE_RFM22B_COM
 318 #include <pios_rfm22b_com.h>
 319 #endif
 320 #endif /* PIOS_INCLUDE_RFM22B */
 321
 322 /* PIOS misc peripherals */
 323 #ifdef PIOS_INCLUDE_VIDEO
 324 #include <pios_video.h>
 325 #endif
 326
 327 #ifdef PIOS_INCLUDE_WAVE
 328 #include <pios_wavplay.h>
 329 #endif
 330
 331 #ifdef PIOS_INCLUDE_UDP
 332 #include <pios_udp.h>
 333 #endif
 334
 335 /* PIOS abstract comms interface with options */
 336 #ifdef PIOS_INCLUDE_COM
 337 /* #define PIOS_INCLUDE_COM_MSG */
 338 /* #define PIOS_INCLUDE_TELEMETRY_RF */
 339 /* #define PIOS_INCLUDE_COM_TELEM */
 340 /* #define PIOS_INCLUDE_COM_FLEXI */
 341 /* #define PIOS_INCLUDE_COM_AUX */
 342 /* #define PIOS_TELEM_PRIORITY_QUEUE */
 343 /* #define PIOS_INCLUDE_GPS */
 344 /* #define PIOS_GPS_MINIMAL */
 345 /* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
 346 /* #define PIOS_INCLUDE_GPS_UBX_PARSER */
 347 /* #define PIOS_GPS_SETS_HOMELOCATION */
 348 #include <pios_com.h>
 349 #endif
 350
 351 /* Stabilization options */
 352 /* #define PIOS_QUATERNION_STABILIZATION */
 353
 354 /* Performance counters */
 355 /* #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 */
 356
 357 #endif /* USE_SIM_POSIX */
 358 #endif /* PIOS_H */