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 <stdint.h>
  49 #include <stdlib.h>
  50 #include <stdarg.h>
  51 #include <string.h>
  52 #include <math.h>
  53
  54 /* STM32 Std Peripherals Lib */
  55 #if defined(STM32F10X)
  56 #include <stm32f10x.h>
  57 #elif defined(STM32F4XX)
  58 #include <stm32f4xx.h>
  59 #include <stm32f4xx_rcc.h>
  60 #elif defined(STM32F0)
  61 #include <stm32f0xx.h>
  62 #else
  63 #error "No Architecture defined"
  64 #endif
  65
  66 /* PIOS board specific feature selection */
  67 #include "pios_config.h"
  68
  69 /* PIOS board specific device configuration */
  70 #include "pios_board.h"
  71
  72 /* PIOS debug interface */
  73 /* #define PIOS_INCLUDE_DEBUG_CONSOLE */
  74 /* #define DEBUG_LEVEL 0 */
  75 /* #define PIOS_ENABLE_DEBUG_PINS */
  76 #include <pios_debug.h>
  77 #include <pios_debuglog.h>
  78
  79 /* PIOS common functions */
  80 #include <pios_crc.h>
  81
  82 /* PIOS FreeRTOS support */
  83 #ifdef PIOS_INCLUDE_FREERTOS
  84 #include "FreeRTOS.h"
  85 #include "task.h"
  86 #include "queue.h"
  87 #include "semphr.h"
  88 #endif
  89 #include <stdbool.h>
  90
  91 #include <pios_mem.h>
  92
  93 #include <pios_architecture.h>
  94
  95 #ifdef PIOS_INCLUDE_TASK_MONITOR
  96 #ifndef PIOS_INCLUDE_FREERTOS
  97 #error PiOS Task Monitor requires PIOS_INCLUDE_FREERTOS to be defined
  98 #endif
  99 #include <pios_task_monitor.h>
 100 #endif
 101
 102 /* PIOS CallbackScheduler */
 103 #ifdef PIOS_INCLUDE_CALLBACKSCHEDULER
 104 #ifndef PIOS_INCLUDE_FREERTOS
 105 #error PiOS CallbackScheduler requires PIOS_INCLUDE_FREERTOS to be defined
 106 #endif
 107 #include <pios_callbackscheduler.h>
 108 #endif
 109
 110 /* PIOS bootloader helper */
 111 #ifdef PIOS_INCLUDE_BL_HELPER
 112 /* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
 113 #include <pios_bl_helper.h>
 114 #endif
 115
 116 /* PIOS system functions */
 117 #ifdef PIOS_INCLUDE_DELAY
 118 #include <pios_delay.h>
 119 #include <pios_deltatime.h>
 120 #endif
 121
 122 #ifdef PIOS_INCLUDE_INITCALL
 123 #include "pios_initcall.h"
 124 #endif
 125
 126 #ifdef PIOS_INCLUDE_SYS
 127 #include <pios_sys.h>
 128 #endif
 129
 130 /* PIOS hardware peripherals */
 131 #ifdef PIOS_INCLUDE_IRQ
 132 #include <pios_irq.h>
 133 #endif
 134
 135 #ifdef PIOS_INCLUDE_RTC
 136 #include <pios_rtc.h>
 137 #endif
 138
 139 #ifdef PIOS_INCLUDE_TIM
 140 #include <pios_tim.h>
 141 #endif
 142
 143 #ifdef PIOS_INCLUDE_USART
 144 #include <pios_usart.h>
 145 #endif
 146
 147 #ifdef PIOS_INCLUDE_ADC
 148 #include <pios_adc.h>
 149 #endif
 150
 151 #ifdef PIOS_INCLUDE_I2C
 152 #include <pios_i2c.h>
 153 #endif
 154
 155 #ifdef PIOS_INCLUDE_SPI
 156 #include <pios_spi.h>
 157 #endif
 158
 159 #ifdef PIOS_INCLUDE_GPIO
 160 #include <pios_gpio.h>
 161 #endif
 162
 163 #ifdef PIOS_INCLUDE_EXTI
 164 #include <pios_exti.h>
 165 #endif
 166
 167 #ifdef PIOS_INCLUDE_WDG
 168 #include <pios_wdg.h>
 169 #endif
 170
 171 /* PIOS USB functions */
 172 #ifdef PIOS_INCLUDE_USB
 173 /* #define PIOS_INCLUDE_USB_HID */
 174 /* #define PIOS_INCLUDE_USB_CDC */
 175 /* #define PIOS_INCLUDE_USB_RCTX */
 176 #include <pios_usb.h>
 177 #ifdef PIOS_INCLUDE_USB_HID
 178 #include <pios_usb_hid.h>
 179 #endif
 180 #ifdef PIOS_INCLUDE_USB_RCTX
 181 #include <pios_usb_rctx.h>
 182 #endif
 183 #endif
 184
 185 /* PIOS sensor interfaces */
 186 #ifdef PIOS_INCLUDE_ADXL345
 187 /* ADXL345 3-Axis Accelerometer */
 188 #include <pios_adxl345.h>
 189 #endif
 190
 191 #ifdef PIOS_INCLUDE_BMA180
 192 /* BMA180 3-Axis Accelerometer */
 193 #include <pios_bma180.h>
 194 #endif
 195
 196 #ifdef PIOS_INCLUDE_L3GD20
 197 /* L3GD20 3-Axis Gyro */
 198 #include <pios_l3gd20.h>
 199 #endif
 200
 201 #ifdef PIOS_INCLUDE_MPU6000
 202 /* MPU6000 3-Axis Gyro/Accelerometer */
 203 /* #define PIOS_MPU6000_ACCEL */
 204 #include <pios_mpu6000.h>
 205 #endif
 206
 207 #ifdef PIOS_INCLUDE_HMC5843
 208 /* HMC5843 3-Axis Digital Compass */
 209 #include <pios_hmc5843.h>
 210 #endif
 211
 212 #ifdef PIOS_INCLUDE_HMC5X83
 213 /* HMC5883/HMC5983 3-Axis Digital Compass */
 214 /* #define PIOS_HMC5x83_HAS_GPIOS */
 215 #include <pios_hmc5x83.h>
 216 #endif
 217
 218 #ifdef PIOS_INCLUDE_BMP085
 219 /* BMP085 Barometric Pressure Sensor */
 220 #include <pios_bmp085.h>
 221 #endif
 222
 223 #ifdef PIOS_INCLUDE_MS5611
 224 /* MS5611 Barometric Pressure Sensor */
 225 #include <pios_ms5611.h>
 226 #endif
 227
 228 #ifdef PIOS_INCLUDE_MPXV
 229 /* MPXV5004, MPXV7002 based Airspeed Sensor */
 230 #include <pios_mpxv.h>
 231 #endif
 232
 233 #ifdef PIOS_INCLUDE_ETASV3
 234 /* Eagle Tree Systems Airspeed MicroSensor V3 */
 235 #include <pios_etasv3.h>
 236 #endif
 237
 238 #ifdef PIOS_INCLUDE_MS4525DO
 239 /* PixHawk Airspeed Sensor based on MS4525DO */
 240 #include <pios_ms4525do.h>
 241 #endif
 242
 243
 244 #ifdef PIOS_INCLUDE_HCSR04
 245 /* HC-SR04 Ultrasonic Sensor */
 246 #include <pios_hcsr04.h>
 247 #endif
 248
 249 /* PIOS receiver drivers */
 250 #ifdef PIOS_INCLUDE_PWM
 251 #include <pios_pwm.h>
 252 #endif
 253
 254 #ifdef PIOS_INCLUDE_PPM
 255 #include <pios_ppm.h>
 256 #endif
 257
 258 #ifdef PIOS_INCLUDE_PPM_FLEXI
 259 /* PPM on CC flexi port */
 260 #endif
 261
 262 #ifdef PIOS_INCLUDE_DSM
 263 #include <pios_dsm.h>
 264 #endif
 265
 266 #ifdef PIOS_INCLUDE_SBUS
 267 #include <pios_sbus.h>
 268 #endif
 269
 270 /* PIOS abstract receiver interface */
 271 #ifdef PIOS_INCLUDE_RCVR
 272 #include <pios_rcvr.h>
 273 #endif
 274
 275 /* PIOS common peripherals */
 276 #ifdef PIOS_INCLUDE_LED
 277 #include <pios_led.h>
 278 #endif
 279
 280 #ifdef PIOS_INCLUDE_IAP
 281 #include <pios_iap.h>
 282 #endif
 283
 284 #ifdef PIOS_INCLUDE_SERVO
 285 #include <pios_servo.h>
 286 #endif
 287
 288 #ifdef PIOS_INCLUDE_I2C_ESC
 289 #include <pios_i2c_esc.h>
 290 #endif
 291
 292 #ifdef PIOS_INCLUDE_OVERO
 293 /* #define PIOS_OVERO_SPI */
 294 #include <pios_overo.h>
 295 #endif
 296
 297 #ifdef PIOS_INCLUDE_SDCARD
 298 /* #define LOG_FILENAME "startup.log" */
 299 #include <dosfs.h>
 300 #include <pios_sdcard.h>
 301 #endif
 302
 303 #ifdef PIOS_INCLUDE_FLASH
 304 /* #define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS */
 305 /* #define FLASH_FREERTOS */
 306 #include <pios_flash.h>
 307 #include <pios_flashfs.h>
 308 #endif
 309
 310 /* driver for storage on internal flash */
 311 /* #define PIOS_INCLUDE_FLASH_INTERNAL */
 312
 313 #ifdef PIOS_INCLUDE_FLASH_EEPROM
 314 #include <pios_eeprom.h>
 315 #endif
 316
 317 /* PIOS radio modules */
 318 #ifdef PIOS_INCLUDE_RFM22B
 319 /* #define PIOS_INCLUDE_PPM_OUT */
 320 /* #define PIOS_RFM22B_DEBUG_ON_TELEM */
 321 #include <pios_rfm22b.h>
 322 #ifdef PIOS_INCLUDE_RFM22B_COM
 323 #include <pios_rfm22b_com.h>
 324 #endif
 325 #endif /* PIOS_INCLUDE_RFM22B */
 326
 327 /* PIOS misc peripherals */
 328 #ifdef PIOS_INCLUDE_VIDEO
 329 #include <pios_video.h>
 330 #endif
 331
 332 #ifdef PIOS_INCLUDE_WAVE
 333 #include <pios_wavplay.h>
 334 #endif
 335
 336 #ifdef PIOS_INCLUDE_UDP
 337 #include <pios_udp.h>
 338 #endif
 339
 340 /* PIOS abstract comms interface with options */
 341 #ifdef PIOS_INCLUDE_COM
 342 /* #define PIOS_INCLUDE_COM_MSG */
 343 /* #define PIOS_INCLUDE_TELEMETRY_RF */
 344 /* #define PIOS_INCLUDE_COM_TELEM */
 345 /* #define PIOS_INCLUDE_COM_FLEXI */
 346 /* #define PIOS_INCLUDE_COM_AUX */
 347 /* #define PIOS_TELEM_PRIORITY_QUEUE */
 348 /* #define PIOS_INCLUDE_GPS */
 349 /* #define PIOS_GPS_MINIMAL */
 350 /* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
 351 /* #define PIOS_INCLUDE_GPS_UBX_PARSER */
 352 /* #define PIOS_GPS_SETS_HOMELOCATION */
 353 #include <pios_com.h>
 354 #endif
 355
 356 /* Stabilization options */
 357 /* #define PIOS_QUATERNION_STABILIZATION */
 358
 359 /* Performance counters */
 360 /* #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 */
 361
 362 #endif /* USE_SIM_POSIX */
 363 #endif /* PIOS_H */