Quantec Quanton

Modules
	CMSIS
	USB_OTG_DRIVER

Files
file	pios_board.c
	Board specific initialization for the bootloader.
file	pios_config.h
	Board specific bootloader configuration file for PiOS.
file	board_hw_defs.c
	Defines board specific static initializers for hardware for the Quanton board.
file	cmsis_system.c
	CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. This file contains the system clock configuration for STM32F4xx devices, and is generated by the clock configuration tool stm32f4xx_Clock_Configuration_V1.0.0.xls.
file	pios_board.h
	Board specific defines for Quanton.
file	usb_conf.h
	General low level driver configuration.
file	pios_board.c
	The board specific initialization routines.
file	pios_config.h
	Board specific options that modify PiOS capabilities.

Macros
#define	PIOS_INCLUDE_ANNUNC
#define	PIOS_INCLUDE_SPI
#define	PIOS_INCLUDE_SYS
#define	PIOS_INCLUDE_IAP
#define	PIOS_INCLUDE_USB
#define	PIOS_INCLUDE_USB_HID
#define	PIOS_INCLUDE_COM_MSG
#define	PIOS_INCLUDE_FLASH
#define	PIOS_INCLUDE_FLASH_INTERNAL
#define	PIOS_INCLUDE_FLASH_JEDEC
#define	DEBUG_PRINTF(level,...)
#define	BOARD_READABLE   true
#define	BOARD_WRITABLE   true
#define	MAX_DEL_RETRYS   3
#define	PIOS_LED_ALARM   0
#define	PIOS_LED_HEARTBEAT   1
#define	PIOS_ANNUNCIATOR_BUZZER   2
#define	PIOS_WATCHDOG_TIMEOUT   250
#define	PIOS_WDG_REGISTER   RTC_BKP_DR4
#define	PIOS_COM_GPS   (pios_com_gps_id)
#define	PIOS_COM_TELEM_USB   (pios_com_telem_usb_id)
#define	PIOS_COM_BRIDGE   (pios_com_bridge_id)
#define	PIOS_COM_VCP   (pios_com_vcp_id)
#define	PIOS_COM_MAVLINK   (pios_com_mavlink_id)
#define	PIOS_COM_HOTT   (pios_com_hott_id)
#define	PIOS_COM_FRSKY_SENSOR_HUB   (pios_com_frsky_sensor_hub_id)
#define	PIOS_COM_LIGHTTELEMETRY   (pios_com_lighttelemetry_id)
#define	PIOS_COM_FRSKY_SPORT   (pios_com_frsky_sport_id)
#define	PIOS_COM_OPENLOG   (pios_com_openlog_logging_id)
#define	PIOS_COM_STORM32BGC   (pios_com_storm32bgc_id)
#define	PIOS_SYSCLK   168000000
#define	PIOS_PERIPHERAL_APB1_CLOCK   (PIOS_SYSCLK / 4)
#define	PIOS_PERIPHERAL_APB2_CLOCK   (PIOS_SYSCLK / 2)
#define	PIOS_IRQ_PRIO_LOW   12
#define	PIOS_IRQ_PRIO_MID   8
#define	PIOS_IRQ_PRIO_HIGH   5
#define	PIOS_IRQ_PRIO_HIGHEST   4
#define	PIOS_RCVR_MAX_CHANNELS   12
#define	PIOS_PPM_NUM_INPUTS   12
#define	PIOS_PWM_NUM_INPUTS   8
#define	PIOS_DSM_NUM_INPUTS   12
#define	PIOS_HSUM_MAX_DEVS   2
#define	PIOS_HSUM_NUM_INPUTS   32
#define	PIOS_SBUS_NUM_INPUTS   (16+2)
#define	PIOS_SERVO_UPDATE_HZ   50
#define	PIOS_SERVOS_INITIAL_POSITION   0 /* dont want to start motors, have no pulse till settings loaded */
#define	PIOS_TIM_MAX_DEVS   8
#define	PIOS_ADC_MAX_OVERSAMPLING   2
#define	VREF_PLUS   3.3
#define	PIOS_USB_ENABLED   1 /* Should remove all references to this */
#define	STABILIZATION_LQG
#define	PIOS_INCLUDE_FLASH_JEDEC
#define	PIOS_INCLUDE_I2C
#define	PIOS_INCLUDE_SPI
#define	PIOS_INCLUDE_FASTHEAP
#define	PIOS_INCLUDE_WS2811
#define	PIOS_INCLUDE_HMC5883
#define	PIOS_INCLUDE_HMC5983_I2C
#define	PIOS_INCLUDE_MPU
#define	PIOS_INCLUDE_MPXV5004
#define	PIOS_INCLUDE_MPXV7002
#define	PIOS_INCLUDE_MS5611
#define	PIOS_INCLUDE_OPTICALFLOW
#define	PIOS_INCLUDE_RANGEFINDER
#define	PIOS_INCLUDE_PX4FLOW
#define	PIOS_TOLERATE_MISSING_SENSORS
#define	PIOS_INCLUDE_MAVLINK
#define	PIOS_INCLUDE_LIGHTTELEMETRY
#define	PIOS_INCLUDE_PWM
#define	SYSTEMMOD_RGBLED_SUPPORT
#define	CAMERASTAB_POI_MODE
#define	IDLE_COUNTS_PER_SEC_AT_NO_LOAD   (9873737)
#define	PIOS_INCLUDE_LOG_TO_FLASH
#define	PIOS_LOGFLASH_SECT_SIZE   0x1000 /* 4kb */

Functions
void	PIOS_Board_Init ()

Variables
uintptr_t	pios_com_telem_usb_id
static const TIM_TimeBaseInitTypeDef	tim_2_5_time_base
static const TIM_TimeBaseInitTypeDef	tim_1_8_time_base
static const struct pios_tim_clock_cfg	tim_2_cfg
static const struct pios_tim_clock_cfg	tim_5_cfg
static const struct pios_tim_clock_cfg	tim_1_cfg
static const struct pios_tim_clock_cfg	tim_8_cfg
static const TIM_TimeBaseInitTypeDef	tim_3_12_time_base
static const TIM_TimeBaseInitTypeDef	tim_10_11_time_base
static const struct pios_tim_clock_cfg	tim_3_cfg
static const struct pios_tim_clock_cfg	tim_10_cfg
static const struct pios_tim_clock_cfg	tim_11_cfg
static const struct pios_tim_clock_cfg	tim_12_cfg
static const struct pios_tim_channel	pios_tim_servoport_all_pins []
static const struct pios_tim_channel	pios_tim_servoport_rcvrport_PPM_pins []
static const struct pios_tim_channel	pios_tim_servoport_rcvrport_pins []
static const struct pios_tim_channel	pios_tim_rcvrport_all_channels []
uintptr_t	pios_com_telem_serial_id
uintptr_t	pios_com_gps_id
uintptr_t	pios_com_telem_usb_id
uintptr_t	pios_com_bridge_id
uintptr_t	pios_com_vcp_id
uintptr_t	pios_com_mavlink_id
uintptr_t	pios_com_hott_id
uintptr_t	pios_com_frsky_sensor_hub_id
uintptr_t	pios_com_lighttelemetry_id
uintptr_t	pios_com_frsky_sport_id
uintptr_t	pios_com_openlog_logging_id
uintptr_t	pios_com_storm32bgc_id
uintptr_t	pios_com_openlog_logging_id
uintptr_t	pios_uavo_settings_fs_id
uintptr_t	pios_internal_adc_id
pios_i2c_t	external_i2c_adapter_id

Detailed Description

Macro Definition Documentation

#define BOARD_READABLE   true

Definition at line 78 of file pios_board.h.

#define BOARD_WRITABLE   true

Definition at line 79 of file pios_board.h.

#define CAMERASTAB_POI_MODE

Definition at line 71 of file pios_config.h.

#define DEBUG_PRINTF	(		level,
			...
	)

Definition at line 39 of file pios_board.h.

#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD   (9873737)

Definition at line 86 of file pios_config.h.

#define MAX_DEL_RETRYS   3

Definition at line 80 of file pios_board.h.

#define PIOS_ADC_MAX_OVERSAMPLING   2

Definition at line 215 of file pios_board.h.

#define PIOS_ANNUNCIATOR_BUZZER   2

Definition at line 88 of file pios_board.h.

#define PIOS_COM_BRIDGE   (pios_com_bridge_id)

Definition at line 116 of file pios_board.h.

#define PIOS_COM_FRSKY_SENSOR_HUB   (pios_com_frsky_sensor_hub_id)

Definition at line 120 of file pios_board.h.

#define PIOS_COM_FRSKY_SPORT   (pios_com_frsky_sport_id)

Definition at line 122 of file pios_board.h.

#define PIOS_COM_GPS   (pios_com_gps_id)

Definition at line 114 of file pios_board.h.

#define PIOS_COM_HOTT   (pios_com_hott_id)

Definition at line 119 of file pios_board.h.

#define PIOS_COM_LIGHTTELEMETRY   (pios_com_lighttelemetry_id)

Definition at line 121 of file pios_board.h.

#define PIOS_COM_MAVLINK   (pios_com_mavlink_id)

Definition at line 118 of file pios_board.h.

#define PIOS_COM_OPENLOG   (pios_com_openlog_logging_id)

Definition at line 123 of file pios_board.h.

#define PIOS_COM_STORM32BGC   (pios_com_storm32bgc_id)

Definition at line 124 of file pios_board.h.

#define PIOS_COM_TELEM_USB   (pios_com_telem_usb_id)

Definition at line 115 of file pios_board.h.

#define PIOS_COM_VCP   (pios_com_vcp_id)

Definition at line 117 of file pios_board.h.

#define PIOS_DSM_NUM_INPUTS   12

Definition at line 187 of file pios_board.h.

#define PIOS_HSUM_MAX_DEVS   2

Definition at line 192 of file pios_board.h.

#define PIOS_HSUM_NUM_INPUTS   32

Definition at line 193 of file pios_board.h.

#define PIOS_INCLUDE_ANNUNC

Definition at line 34 of file pios_config.h.

#define PIOS_INCLUDE_COM_MSG

Definition at line 40 of file pios_config.h.

#define PIOS_INCLUDE_FASTHEAP

Definition at line 42 of file pios_config.h.

#define PIOS_INCLUDE_FLASH

Definition at line 41 of file pios_config.h.

#define PIOS_INCLUDE_FLASH_INTERNAL

Definition at line 42 of file pios_config.h.

#define PIOS_INCLUDE_FLASH_JEDEC

Definition at line 39 of file pios_config.h.

#define PIOS_INCLUDE_FLASH_JEDEC

Definition at line 43 of file pios_config.h.

#define PIOS_INCLUDE_HMC5883

Definition at line 46 of file pios_config.h.

#define PIOS_INCLUDE_HMC5983_I2C

Definition at line 47 of file pios_config.h.

#define PIOS_INCLUDE_I2C

Definition at line 40 of file pios_config.h.

#define PIOS_INCLUDE_IAP

Definition at line 37 of file pios_config.h.

#define PIOS_INCLUDE_LIGHTTELEMETRY

Definition at line 60 of file pios_config.h.

#define PIOS_INCLUDE_LOG_TO_FLASH

Definition at line 88 of file pios_config.h.

#define PIOS_INCLUDE_MAVLINK

Definition at line 59 of file pios_config.h.

#define PIOS_INCLUDE_MPU

Definition at line 48 of file pios_config.h.

#define PIOS_INCLUDE_MPXV5004

Definition at line 50 of file pios_config.h.

#define PIOS_INCLUDE_MPXV7002

Definition at line 51 of file pios_config.h.

#define PIOS_INCLUDE_MS5611

Definition at line 52 of file pios_config.h.

#define PIOS_INCLUDE_OPTICALFLOW

Definition at line 53 of file pios_config.h.

#define PIOS_INCLUDE_PWM

Definition at line 64 of file pios_config.h.

#define PIOS_INCLUDE_PX4FLOW

Definition at line 55 of file pios_config.h.

#define PIOS_INCLUDE_RANGEFINDER

Definition at line 54 of file pios_config.h.

#define PIOS_INCLUDE_SPI

Definition at line 35 of file pios_config.h.

#define PIOS_INCLUDE_SPI

Definition at line 41 of file pios_config.h.

#define PIOS_INCLUDE_SYS

Definition at line 36 of file pios_config.h.

#define PIOS_INCLUDE_USB

Definition at line 38 of file pios_config.h.

#define PIOS_INCLUDE_USB_HID

Definition at line 39 of file pios_config.h.

#define PIOS_INCLUDE_WS2811

Definition at line 43 of file pios_config.h.

#define PIOS_IRQ_PRIO_HIGH   5

Definition at line 165 of file pios_board.h.

#define PIOS_IRQ_PRIO_HIGHEST   4

Definition at line 166 of file pios_board.h.

#define PIOS_IRQ_PRIO_LOW   12

Definition at line 163 of file pios_board.h.

#define PIOS_IRQ_PRIO_MID   8

Definition at line 164 of file pios_board.h.

#define PIOS_LED_ALARM   0

Definition at line 85 of file pios_board.h.

#define PIOS_LED_HEARTBEAT   1

Definition at line 86 of file pios_board.h.

#define PIOS_LOGFLASH_SECT_SIZE   0x1000 /* 4kb */

Definition at line 89 of file pios_config.h.

#define PIOS_PERIPHERAL_APB1_CLOCK   (PIOS_SYSCLK / 4)

Definition at line 148 of file pios_board.h.

#define PIOS_PERIPHERAL_APB2_CLOCK   (PIOS_SYSCLK / 2)

Definition at line 158 of file pios_board.h.

#define PIOS_PPM_NUM_INPUTS   12

Definition at line 177 of file pios_board.h.

#define PIOS_PWM_NUM_INPUTS   8

Definition at line 182 of file pios_board.h.

#define PIOS_RCVR_MAX_CHANNELS   12

Definition at line 172 of file pios_board.h.

#define PIOS_SBUS_NUM_INPUTS   (16+2)

Definition at line 198 of file pios_board.h.

#define PIOS_SERVO_UPDATE_HZ   50

Definition at line 203 of file pios_board.h.

#define PIOS_SERVOS_INITIAL_POSITION   0 /* dont want to start motors, have no pulse till settings loaded */

Definition at line 204 of file pios_board.h.

#define PIOS_SYSCLK   168000000

Definition at line 137 of file pios_board.h.

#define PIOS_TIM_MAX_DEVS   8

Definition at line 209 of file pios_board.h.

#define PIOS_TOLERATE_MISSING_SENSORS

Definition at line 56 of file pios_config.h.

#define PIOS_USB_ENABLED   1 /* Should remove all references to this */

Definition at line 221 of file pios_board.h.

#define PIOS_WATCHDOG_TIMEOUT   250

Definition at line 93 of file pios_board.h.

#define PIOS_WDG_REGISTER   RTC_BKP_DR4

Definition at line 94 of file pios_board.h.

#define STABILIZATION_LQG

Definition at line 36 of file pios_config.h.

#define SYSTEMMOD_RGBLED_SUPPORT

Definition at line 69 of file pios_config.h.

#define VREF_PLUS   3.3

Definition at line 216 of file pios_board.h.

Function Documentation

void PIOS_Board_Init

(

void

)

PIOS_Board_Init() initializes all the core subsystems on this specific hardware called from System/openpilot.c

Definition at line 44 of file pios_board.c.

Variable Documentation

pios_i2c_t external_i2c_adapter_id

Definition at line 53 of file pios_board.c.

uintptr_t pios_com_bridge_id

Definition at line 81 of file pios_hal.c.

uintptr_t pios_com_frsky_sensor_hub_id

uintptr_t pios_com_frsky_sport_id

uintptr_t pios_com_gps_id

Definition at line 80 of file pios_hal.c.

uintptr_t pios_com_hott_id

uintptr_t pios_com_lighttelemetry_id

uintptr_t pios_com_mavlink_id

uintptr_t pios_com_openlog_logging_id

Definition at line 49 of file pios_board.c.

uintptr_t pios_com_openlog_logging_id

Definition at line 49 of file pios_board.c.

uintptr_t pios_com_storm32bgc_id

uintptr_t pios_com_telem_serial_id

Definition at line 127 of file pios_hal.c.

uintptr_t pios_com_telem_usb_id

Definition at line 42 of file pios_board.c.

uintptr_t pios_com_telem_usb_id

Definition at line 42 of file pios_board.c.

uintptr_t pios_com_vcp_id

uintptr_t pios_internal_adc_id

Definition at line 51 of file pios_board.c.

const struct pios_tim_channel pios_tim_rcvrport_all_channels[]

static

Definition at line 1938 of file board_hw_defs.c.

const struct pios_tim_channel pios_tim_servoport_all_pins[]

static

Pios servo configuration structures

Definition at line 1153 of file board_hw_defs.c.

const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[]

static

Definition at line 1567 of file board_hw_defs.c.

const struct pios_tim_channel pios_tim_servoport_rcvrport_PPM_pins[]

static

Definition at line 1304 of file board_hw_defs.c.

uintptr_t pios_uavo_settings_fs_id

Simulation of the flash filesystem

Todo:

something nicer about these

Definition at line 50 of file pios_board.c.

const TIM_TimeBaseInitTypeDef tim_10_11_time_base

static

Initial value:

= {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 1000000) - 1,
        .TIM_ClockDivision = TIM_CKD_DIV1,
        .TIM_CounterMode = TIM_CounterMode_Up,
        .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
        .TIM_RepetitionCounter = 0x0000,
}

Definition at line 1078 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_10_cfg

static

Initial value:

= {
        .timer = TIM10,
        .time_base_init = &tim_10_11_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_UP_TIM10_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 1099 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_11_cfg

static

Initial value:

= {
        .timer = TIM11,
        .time_base_init = &tim_10_11_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_TRG_COM_TIM11_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 1112 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_12_cfg

static

Initial value:

= {
        .timer = TIM12,
        .time_base_init = &tim_3_12_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_BRK_TIM12_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 1125 of file board_hw_defs.c.

const TIM_TimeBaseInitTypeDef tim_1_8_time_base

static

Initial value:

= {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_COUNTER_CLOCK / 1000000) - 1,
        .TIM_ClockDivision = TIM_CKD_DIV1,
        .TIM_CounterMode = TIM_CounterMode_Up,
        .TIM_Period = 0xFFFF,
        .TIM_RepetitionCounter = 0x0000,
}

Definition at line 990 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_1_cfg

static

Initial value:

= {
        .timer = TIM1,
        .time_base_init = &tim_1_8_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_CC_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .irq2 = {
                .init = {
                        .NVIC_IRQChannel                   = TIM1_UP_TIM10_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 1024 of file board_hw_defs.c.

const TIM_TimeBaseInitTypeDef tim_2_5_time_base

static

Initial value:

= {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 1000000) - 1,
        .TIM_ClockDivision = TIM_CKD_DIV1,
        .TIM_CounterMode = TIM_CounterMode_Up,
        .TIM_Period = 0xFFFF,
        .TIM_RepetitionCounter = 0x0000,
}

Definition at line 982 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_2_cfg

static

Initial value:

= {
        .timer = TIM2,
        .time_base_init = &tim_2_5_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM2_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 998 of file board_hw_defs.c.

const TIM_TimeBaseInitTypeDef tim_3_12_time_base

static

Initial value:

= {
        .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_COUNTER_CLOCK / 1000000) - 1,
        .TIM_ClockDivision = TIM_CKD_DIV1,
        .TIM_CounterMode = TIM_CounterMode_Up,
        .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
        .TIM_RepetitionCounter = 0x0000,
}

Definition at line 1069 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_3_cfg

static

Initial value:

= {
        .timer = TIM3,
        .time_base_init = &tim_3_12_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM3_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 1086 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_5_cfg

static

Initial value:

= {
        .timer = TIM5,
        .time_base_init = &tim_2_5_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM5_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 1011 of file board_hw_defs.c.

const struct pios_tim_clock_cfg tim_8_cfg

static

Initial value:

= {
        .timer = TIM8,
        .time_base_init = &tim_1_8_time_base,
        .irq = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_CC_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
        .irq2 = {
                .init = {
                        .NVIC_IRQChannel                   = TIM8_UP_TIM13_IRQn,
                        .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
                        .NVIC_IRQChannelSubPriority        = 0,
                        .NVIC_IRQChannelCmd                = ENABLE,
                },
        },
}

Definition at line 1045 of file board_hw_defs.c.