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 #ifdef __cplusplus
  38 extern "C" {
  39 #endif
  40
  41 #include <pios_helpers.h>
  42 #include <pios_math.h>
  43 #include <pios_constants.h>
  44
  45 #ifdef USE_SIM_POSIX
  46 /* SimPosix version of this file. This will probably be removed later */
  47 #include <pios_sim_posix.h>
  48 #else
  49
  50 /* C Lib includes */
  51 #include <stdio.h>
  52 #include <stdint.h>
  53 #include <stdlib.h>
  54 #include <stdarg.h>
  55 #include <string.h>
  56 #include <math.h>
  57
  58 /* STM32 Std Peripherals Lib */
  59 #if defined(STM32F10X)
  60 #include <stm32f10x.h>
  61 #elif defined(STM32F4XX)
  62 #include <stm32f4xx.h>
  63 #include <stm32f4xx_rcc.h>
  64 #elif defined(STM32F0)
  65 #include <stm32f0xx.h>
  66 #else
  67 #error "No Architecture defined"
  68 #endif
  69
  70 /* PIOS board specific feature selection */
  71 #include "pios_config.h"
  72
  73 /* PIOS board specific device configuration */
  74 #include "pios_board.h"
  75
  76 /* PIOS debug interface */
  77 /* #define PIOS_INCLUDE_DEBUG_CONSOLE */
  78 /* #define DEBUG_LEVEL 0 */
  79 /* #define PIOS_ENABLE_DEBUG_PINS */
  80 #include <pios_debug.h>
  81 #include <pios_debuglog.h>
  82
  83 /* PIOS common functions */
  84 #include <pios_crc.h>
  85
  86 /* PIOS FreeRTOS support */
  87 #ifdef PIOS_INCLUDE_FREERTOS
  88 #include "FreeRTOS.h"
  89 #include "task.h"
  90 #include "queue.h"
  91 #include "semphr.h"
  92 #endif
  93 #include <stdbool.h>
  94
  95 #include <pios_mem.h>
  96
  97 #include <pios_architecture.h>
  98
  99 #ifdef PIOS_INCLUDE_TASK_MONITOR
 100 #ifndef PIOS_INCLUDE_FREERTOS
 101 #error PiOS Task Monitor requires PIOS_INCLUDE_FREERTOS to be defined
 102 #endif
 103 #include <pios_task_monitor.h>
 104 #endif
 105
 106 /* PIOS CallbackScheduler */
 107 #ifdef PIOS_INCLUDE_CALLBACKSCHEDULER
 108 #ifndef PIOS_INCLUDE_FREERTOS
 109 #error PiOS CallbackScheduler requires PIOS_INCLUDE_FREERTOS to be defined
 110 #endif
 111 #include <pios_callbackscheduler.h>
 112 #endif
 113
 114 /* PIOS bootloader helper */
 115 #ifdef PIOS_INCLUDE_BL_HELPER
 116 /* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
 117 #include <pios_bl_helper.h>
 118 #endif
 119
 120 /* PIOS system functions */
 121 #ifdef PIOS_INCLUDE_DELAY
 122 #include <pios_delay.h>
 123 #include <pios_deltatime.h>
 124 #endif
 125
 126 #ifdef PIOS_INCLUDE_INITCALL
 127 #include "pios_initcall.h"
 128 #endif
 129
 130 #ifdef PIOS_INCLUDE_SYS
 131 #include <pios_sys.h>
 132 #endif
 133
 134 /* PIOS hardware peripherals */
 135 #ifdef PIOS_INCLUDE_IRQ
 136 #include <pios_irq.h>
 137 #endif
 138
 139 #ifdef PIOS_INCLUDE_RTC
 140 #include <pios_rtc.h>
 141 #endif
 142
 143 #ifdef PIOS_INCLUDE_TIM
 144 #include <pios_tim.h>
 145 #endif
 146
 147 #ifdef PIOS_INCLUDE_USART
 148 #include <pios_usart.h>
 149 #endif
 150
 151 #ifdef PIOS_INCLUDE_ADC
 152 #include <pios_adc.h>
 153 #endif
 154
 155 #ifdef PIOS_INCLUDE_I2C
 156 #include <pios_i2c.h>
 157 #endif
 158
 159 #ifdef PIOS_INCLUDE_SPI
 160 #include <pios_spi.h>
 161 #endif
 162
 163 #ifdef PIOS_INCLUDE_GPIO
 164 #include <pios_gpio.h>
 165 #endif
 166
 167 #ifdef PIOS_INCLUDE_EXTI
 168 #include <pios_exti.h>
 169 #endif
 170
 171 #ifdef PIOS_INCLUDE_WDG
 172 #include <pios_wdg.h>
 173 #endif
 174
 175 /* PIOS USB functions */
 176 #ifdef PIOS_INCLUDE_USB
 177 /* #define PIOS_INCLUDE_USB_HID */
 178 /* #define PIOS_INCLUDE_USB_CDC */
 179 /* #define PIOS_INCLUDE_USB_RCTX */
 180 #include <pios_usb.h>
 181 #ifdef PIOS_INCLUDE_USB_HID
 182 #include <pios_usb_hid.h>
 183 #endif
 184 #ifdef PIOS_INCLUDE_USB_RCTX
 185 #include <pios_usb_rctx.h>
 186 #endif
 187 #endif
 188
 189 #ifdef PIOS_INCLUDE_MPXV
 190 /* MPXV5004, MPXV7002 based Airspeed Sensor */
 191 #include <pios_mpxv.h>
 192 #endif
 193
 194 #ifdef PIOS_INCLUDE_ETASV3
 195 /* Eagle Tree Systems Airspeed MicroSensor V3 */
 196 #include <pios_etasv3.h>
 197 #endif
 198
 199 #ifdef PIOS_INCLUDE_MS4525DO
 200 /* PixHawk Airspeed Sensor based on MS4525DO */
 201 #include <pios_ms4525do.h>
 202 #endif
 203
 204
 205 #ifdef PIOS_INCLUDE_HCSR04
 206 /* HC-SR04 Ultrasonic Sensor */
 207 #include <pios_hcsr04.h>
 208 #endif
 209
 210 /* PIOS receiver drivers */
 211 #ifdef PIOS_INCLUDE_PWM
 212 #include <pios_pwm.h>
 213 #endif
 214
 215 #ifdef PIOS_INCLUDE_PPM
 216 #include <pios_ppm.h>
 217 #endif
 218
 219 #ifdef PIOS_INCLUDE_PPM_FLEXI
 220 /* PPM on CC flexi port */
 221 #endif
 222
 223 #ifdef PIOS_INCLUDE_DSM
 224 #include <pios_dsm.h>
 225 #endif
 226
 227 #ifdef PIOS_INCLUDE_SBUS
 228 #include <pios_sbus.h>
 229 #endif
 230
 231 #ifdef PIOS_INCLUDE_SRXL
 232 #include <pios_srxl.h>
 233 #endif
 234
 235 /* PIOS abstract receiver interface */
 236 #ifdef PIOS_INCLUDE_RCVR
 237 #include <pios_rcvr.h>
 238 #endif
 239
 240 /* PIOS common peripherals */
 241 #ifdef PIOS_INCLUDE_LED
 242 #include <pios_led.h>
 243 #endif
 244
 245 #ifdef PIOS_INCLUDE_IAP
 246 #include <pios_iap.h>
 247 #endif
 248
 249 #ifdef PIOS_INCLUDE_SERVO
 250 #include <pios_servo.h>
 251 #endif
 252
 253 #ifdef PIOS_INCLUDE_I2C_ESC
 254 #include <pios_i2c_esc.h>
 255 #endif
 256
 257 #ifdef PIOS_INCLUDE_OVERO
 258 /* #define PIOS_OVERO_SPI */
 259 #include <pios_overo.h>
 260 #endif
 261
 262 #ifdef PIOS_INCLUDE_SDCARD
 263 /* #define LOG_FILENAME "startup.log" */
 264 #include <dosfs.h>
 265 #include <pios_sdcard.h>
 266 #endif
 267
 268 #ifdef PIOS_INCLUDE_FLASH
 269 /* #define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS */
 270 /* #define FLASH_FREERTOS */
 271 #include <pios_flash.h>
 272 #include <pios_flashfs.h>
 273 #endif
 274
 275 /* driver for storage on internal flash */
 276 /* #define PIOS_INCLUDE_FLASH_INTERNAL */
 277
 278 #ifdef PIOS_INCLUDE_FLASH_EEPROM
 279 #include <pios_flash_eeprom.h>
 280 #endif
 281
 282 /* PIOS radio modules */
 283 #ifdef PIOS_INCLUDE_RFM22B
 284 /* #define PIOS_INCLUDE_PPM_OUT */
 285 /* #define PIOS_RFM22B_DEBUG_ON_TELEM */
 286 #include <pios_rfm22b.h>
 287 #ifdef PIOS_INCLUDE_RFM22B_COM
 288 #include <pios_rfm22b_com.h>
 289 #endif
 290 #endif /* PIOS_INCLUDE_RFM22B */
 291
 292 /* PIOS misc peripherals */
 293 #ifdef PIOS_INCLUDE_VIDEO
 294 #include <pios_video.h>
 295 #endif
 296
 297 #ifdef PIOS_INCLUDE_WAVE
 298 #include <pios_wavplay.h>
 299 #endif
 300
 301 #ifdef PIOS_INCLUDE_UDP
 302 #include <pios_udp.h>
 303 #endif
 304
 305 /* PIOS abstract comms interface with options */
 306 #ifdef PIOS_INCLUDE_COM
 307 /* #define PIOS_INCLUDE_COM_MSG */
 308 /* #define PIOS_INCLUDE_TELEMETRY_RF */
 309 /* #define PIOS_INCLUDE_COM_TELEM */
 310 /* #define PIOS_INCLUDE_COM_FLEXI */
 311 /* #define PIOS_INCLUDE_COM_AUX */
 312 /* #define PIOS_TELEM_PRIORITY_QUEUE */
 313 /* #define PIOS_INCLUDE_GPS */
 314 /* #define PIOS_GPS_MINIMAL */
 315 /* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
 316 /* #define PIOS_INCLUDE_GPS_UBX_PARSER */
 317 /* #define PIOS_GPS_SETS_HOMELOCATION */
 318 #include <pios_com.h>
 319 #endif
 320
 321 /* Stabilization options */
 322 /* #define PIOS_QUATERNION_STABILIZATION */
 323
 324 /* Performance counters */
 325 /* #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 */
 326
 327 #endif /* USE_SIM_POSIX */
 328
 329
 330 #ifdef __cplusplus
 331 } // closing brace for extern "C"
 332 #endif
 333
 334 #endif /* PIOS_H */