flight/targets/boards/revonano/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 // Timers and Channels Used
  35 // ------------------------
  36 /*
  37    Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
  38    ------+-----------+-----------+-----------+----------
  39    TIM1  |           |           |           |
  40    TIM2  | --------------- PIOS_DELAY -----------------
  41    TIM3  |           |           |           |
  42    TIM4  |           |           |           |
  43    TIM5  |           |           |           |
  44    TIM6  |           |           |           |
  45    TIM7  |           |           |           |
  46    TIM8  |           |           |           |
  47    ------+-----------+-----------+-----------+----------
  48  */
  49
  50 // ------------------------
  51 // DMA Channels Used
  52 // ------------------------
  53 /* Channel 1  -                                 */
  54 /* Channel 2  - SPI1 RX                         */
  55 /* Channel 3  - SPI1 TX                         */
  56 /* Channel 4  - SPI2 RX                         */
  57 /* Channel 5  - SPI2 TX                         */
  58 /* Channel 6  -                                 */
  59 /* Channel 7  -                                 */
  60 /* Channel 8  -                                 */
  61 /* Channel 9  -                                 */
  62 /* Channel 10 -                                 */
  63 /* Channel 11 -                                 */
  64 /* Channel 12 -                                 */
  65
  66 // ------------------------
  67 // BOOTLOADER_SETTINGS
  68 // ------------------------
  69 #define BOARD_READABLE     true
  70 #define BOARD_WRITABLE     true
  71 #define MAX_DEL_RETRYS     3
  72
  73 // ------------------------
  74 // PIOS_LED
  75 // ------------------------
  76 #define PIOS_LED_HEARTBEAT 0
  77 #define PIOS_LED_ALARM     1
  78 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM
  79 #define PIOS_LED_D1        2
  80 #define PIOS_LED_D2        3
  81 #define PIOS_LED_D3        4
  82 #define PIOS_LED_D4        5
  83
  84 #define D1_LED_ON          PIOS_LED_On(PIOS_LED_D1)
  85 #define D1_LED_OFF         PIOS_LED_Off(PIOS_LED_D1)
  86 #define D1_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D1)
  87
  88 #define D2_LED_ON          PIOS_LED_On(PIOS_LED_D2)
  89 #define D2_LED_OFF         PIOS_LED_Off(PIOS_LED_D2)
  90 #define D2_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D2)
  91
  92 #define D3_LED_ON          PIOS_LED_On(PIOS_LED_D3)
  93 #define D3_LED_OFF         PIOS_LED_Off(PIOS_LED_D3)
  94 #define D3_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D3)
  95
  96 #define D4_LED_ON          PIOS_LED_On(PIOS_LED_D4)
  97 #define D4_LED_OFF         PIOS_LED_Off(PIOS_LED_D4)
  98 #define D4_LED_TOGGLE      PIOS_LED_Toggle(PIOS_LED_D4)
  99 #endif /* PIOS_RFM22B_DEBUG_ON_TELEM */
 100
 101 // ------------------------
 102 // PIOS_SPI
 103 // See also pios_board.c
 104 // ------------------------
 105 #define PIOS_SPI_MAX_DEVS      3
 106
 107 // ------------------------
 108 // PIOS_WDG
 109 // ------------------------
 110 #define PIOS_WATCHDOG_TIMEOUT  500
 111 #define PIOS_WDG_REGISTER      RTC_BKP_DR4
 112 #define PIOS_WDG_ACTUATOR      0x0001
 113 #define PIOS_WDG_STABILIZATION 0x0002
 114 #define PIOS_WDG_ATTITUDE      0x0004
 115 #define PIOS_WDG_MANUAL        0x0008
 116 #define PIOS_WDG_SENSORS       0x0010
 117
 118 // ------------------------
 119 // PIOS_I2C
 120 // See also pios_board.c
 121 // ------------------------
 122 #define PIOS_I2C_MAX_DEVS         3
 123 extern uint32_t pios_i2c_mag_pressure_adapter_id;
 124 #define PIOS_I2C_MAIN_ADAPTER     (pios_i2c_mag_pressure_adapter_id)
 125 extern uint32_t pios_i2c_flexiport_adapter_id;
 126 #define PIOS_I2C_FLEXI_ADAPTER    (pios_i2c_flexiport_adapter_id)
 127 #define PIOS_I2C_ETASV3_ADAPTER   (PIOS_I2C_FLEXI_ADAPTER)
 128 #define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
 129
 130 // -------------------------
 131 // PIOS_USART
 132 //
 133 // See also pios_board.c
 134 // -------------------------
 135 #define PIOS_USART_MAX_DEVS 5
 136
 137 // -------------------------
 138 // PIOS_COM
 139 //
 140 // See also pios_board.c
 141 // -------------------------
 142 #define PIOS_COM_MAX_DEVS 4
 143 extern uint32_t pios_com_telem_rf_id;
 144 extern uint32_t pios_com_rf_id;
 145 extern uint32_t pios_com_gps_id;
 146 extern uint32_t pios_com_telem_usb_id;
 147 extern uint32_t pios_com_bridge_id;
 148 extern uint32_t pios_com_vcp_id;
 149 extern uint32_t pios_com_hkosd_id;
 150 #define PIOS_COM_GPS       (pios_com_gps_id)
 151 #define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
 152 #define PIOS_COM_TELEM_RF  (pios_com_telem_rf_id)
 153 #define PIOS_COM_RF        (pios_com_rf_id)
 154 #define PIOS_COM_BRIDGE    (pios_com_bridge_id)
 155 #define PIOS_COM_VCP       (pios_com_vcp_id)
 156 #define PIOS_COM_OSDHK     (pios_com_hkosd_id)
 157
 158 #if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
 159 extern uint32_t pios_com_debug_id;
 160 #define PIOS_COM_DEBUG     (pios_com_debug_id)
 161 #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
 162
 163 #if defined(PIOS_INCLUDE_RFM22B)
 164 extern uint32_t pios_rfm22b_id;
 165 extern uint32_t pios_spi_telem_flash_id;
 166 #define PIOS_RFM22_SPI_PORT (pios_spi_telem_flash_id)
 167 #endif /* PIOS_INCLUDE_RFM22B */
 168
 169 // -------------------------
 170 // Packet Handler
 171 // -------------------------
 172 #define RS_ECC_NPARITY          4
 173 #define PIOS_PH_MAX_PACKET      255
 174 #define PIOS_PH_WIN_SIZE        3
 175 #define PIOS_PH_MAX_CONNECTIONS 1
 176 extern uint32_t pios_packet_handler;
 177 #define PIOS_PACKET_HANDLER     (pios_packet_handler)
 178
 179 // ------------------------
 180 // TELEMETRY
 181 // ------------------------
 182 #define TELEM_QUEUE_SIZE        80
 183 #define PIOS_TELEM_STACK_SIZE   800
 184
 185 // -------------------------
 186 // System Settings
 187 //
 188 // See also System_stm32f4xx.c
 189 // -------------------------
 190 // These macros are deprecated
 191 // please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below
 192 // #define PIOS_MASTER_CLOCK
 193 // #define PIOS_PERIPHERAL_CLOCK
 194 // #define PIOS_PERIPHERAL_CLOCK
 195
 196 #define PIOS_SYSCLK SYSCLK_FREQ
 197 // Peripherals that belongs to APB1 are:
 198 // DAC                  |PWR                            |CAN1,2
 199 // I2C1,2,3             |UART4,5                        |USART3,2
 200 // I2S3Ext              |SPI3/I2S3              |SPI2/I2S2
 201 // I2S2Ext              |IWDG                           |WWDG
 202 // RTC/BKP reg
 203 // TIM2,3,4,5,6,7,12,13,14
 204
 205 // Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2)
 206 // Default APB1 Prescaler = 4
 207 #define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2)
 208
 209 // Peripherals belonging to APB2
 210 // SDIO                 |EXTI                           |SYSCFG                 |SPI1
 211 // ADC1,2,3
 212 // USART1,6
 213 // TIM1,8,9,10,11
 214 //
 215 // Default APB2 Prescaler = 2
 216 //
 217 #define PIOS_PERIPHERAL_APB2_CLOCK   PIOS_SYSCLK
 218
 219 // -------------------------
 220 // Interrupt Priorities
 221 // -------------------------
 222 #define PIOS_IRQ_PRIO_LOW            12              // lower than RTOS
 223 #define PIOS_IRQ_PRIO_MID            8               // higher than RTOS
 224 #define PIOS_IRQ_PRIO_HIGH           5               // for SPI, ADC, I2C etc...
 225 #define PIOS_IRQ_PRIO_HIGHEST        4               // for USART etc...
 226 // ------------------------
 227 // PIOS_RCVR
 228 // See also pios_board.c
 229 // ------------------------
 230 #define PIOS_RCVR_MAX_DEVS           3
 231 #define PIOS_RCVR_MAX_CHANNELS       12
 232 #define PIOS_GCSRCVR_TIMEOUT_MS      100
 233 #define PIOS_RFM22B_RCVR_TIMEOUT_MS  200
 234 #define PIOS_OPLINK_RCVR_TIMEOUT_MS  100
 235
 236 // -------------------------
 237 // Receiver PPM input
 238 // -------------------------
 239 #define PIOS_PPM_MAX_DEVS            1
 240 #define PIOS_PPM_NUM_INPUTS          12
 241
 242 // -------------------------
 243 // Receiver PWM input
 244 // -------------------------
 245 #define PIOS_PWM_MAX_DEVS            1
 246 #define PIOS_PWM_NUM_INPUTS          8
 247
 248 // -------------------------
 249 // Receiver SPEKTRUM input
 250 // -------------------------
 251 #define PIOS_SPEKTRUM_MAX_DEVS       2
 252 #define PIOS_SPEKTRUM_NUM_INPUTS     12
 253
 254 // -------------------------
 255 // Receiver S.Bus input
 256 // -------------------------
 257 #define PIOS_SBUS_MAX_DEVS           1
 258 #define PIOS_SBUS_NUM_INPUTS         (16 + 2)
 259
 260 // -------------------------
 261 // Receiver DSM input
 262 // -------------------------
 263 #define PIOS_DSM_MAX_DEVS            2
 264 #define PIOS_DSM_NUM_INPUTS          12
 265
 266 // -------------------------
 267 // Servo outputs
 268 // -------------------------
 269 #define PIOS_SERVO_UPDATE_HZ         50
 270 #define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
 271 #define PIOS_SERVO_BANKS             6
 272
 273 // --------------------------
 274 // Timer controller settings
 275 // --------------------------
 276 #define PIOS_TIM_MAX_DEVS            6
 277
 278 // -------------------------
 279 // ADC
 280 // PIOS_ADC_PinGet(0) = Current sensor
 281 // PIOS_ADC_PinGet(1) = Voltage sensor
 282 // PIOS_ADC_PinGet(4) = VREF
 283 // PIOS_ADC_PinGet(5) = Temperature sensor
 284 // -------------------------
 285 #define PIOS_DMA_PIN_CONFIG                                                                 \
 286     {                                                                                           \
 287         { GPIOC, GPIO_Pin_1, ADC_Channel_11 },                                                \
 288         { GPIOC, GPIO_Pin_2, ADC_Channel_12 },                                                \
 289         { NULL, 0, ADC_Channel_Vrefint }, /* Voltage reference */         \
 290         { NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */        \
 291     }
 292
 293 /* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
 294 /* which is annoying because this then determines the rate at which we generate buffer turnover events */
 295 /* the objective here is to get enough buffer space to support 100Hz averaging rate */
 296 #define PIOS_ADC_NUM_CHANNELS     4
 297 #define PIOS_ADC_MAX_OVERSAMPLING 2
 298 #define PIOS_ADC_USE_ADC2         0
 299
 300 #define PIOS_ADC_USE_TEMP_SENSOR
 301 #define PIOS_ADC_TEMPERATURE_PIN  3
 302
 303 // -------------------------
 304 // USB
 305 // -------------------------
 306 #define PIOS_USB_MAX_DEVS         1
 307 #define PIOS_USB_ENABLED          1 /* Should remove all references to this */
 308 #define PIOS_USB_HID_MAX_DEVS     1
 309
 310 #endif /* PIOS_BOARD_H */
 311
 312 /**
 313  * @}
 314  * @}
 315  */