mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-21 03:43:26 +08:00
removed default values for PPM_CRI, PPM_CCR_CRF, PPM_CCR_CRR, PPM_CCR_CRI, PPM_CR and updated the different board headers accordingly
This commit is contained in:
Antoine Drouin
@@ -1,160 +0,0 @@
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#ifndef CONFIG_TINY_H
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#define CONFIG_TINY_H
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/* Master oscillator freq. */
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#define FOSC (12000000)
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/* PLL multiplier */
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#define PLL_MUL (5)
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/* CPU clock freq. */
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#define CCLK (FOSC * PLL_MUL)
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/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2 */
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#define PBSD_BITS 0x00
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#define PBSD_VAL 4
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/* Peripheral bus clock freq. */
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#define PCLK (CCLK / PBSD_VAL)
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/* Onboard leds */
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#define LED_1_BANK 1
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#define LED_1_PIN 28
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#define LED_2_BANK 1
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#define LED_2_PIN 19
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/* Switch pin */
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#define LED_3_BANK 0
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#define LED_3_PIN 11
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#define POWER_SWITCH_LED 3
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/* daugther board leds */
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#define LED_4_BANK 0
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#define LED_4_PIN 15
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#define LED_5_BANK 0
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#define LED_5_PIN 13
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#define LED_5_INVERTED
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#define LED_6_BANK 0
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#define LED_6_PIN 12
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#define LED_7_BANK 0
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#define LED_7_PIN 22
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/* P0.5 aka MAT0.1 */
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#define SERVO_CLOCK_PIN 5
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#define SERVO_CLOCK_PINSEL PINSEL0
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#define SERVO_CLOCK_PINSEL_VAL 0x02
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#define SERVO_CLOCK_PINSEL_BIT 10
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/* p1.23 */
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#define SERVO_DATA_PIN 23
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/* p1.24 */
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#define SERVO_RESET_PIN 24
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/* PPM : rc rx on P0.6*/
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#define PPM_PINSEL PINSEL0
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 12
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/* ADC */
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#define ADC_0 AdcBank0(3)
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#ifdef USE_ADC_0
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#ifndef USE_AD0
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#define USE_AD0
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#endif
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#define USE_AD0_3
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#endif
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#define ADC_1 AdcBank0(2)
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#ifdef USE_ADC_1
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#ifndef USE_AD0
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#define USE_AD0
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#endif
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#define USE_AD0_2
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#endif
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#define ADC_2 AdcBank0(1)
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#ifdef USE_ADC_2
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#ifndef USE_AD0
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#define USE_AD0
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#endif
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#define USE_AD0_1
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#endif
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#define ADC_3 AdcBank0(4)
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#ifdef USE_ADC_3
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#ifndef USE_AD0
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#define USE_AD0
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#endif
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#define USE_AD0_4
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#endif
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#define ADC_4 AdcBank1(7)
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#ifdef USE_ADC_4
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_7
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#endif
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#define ADC_5 AdcBank1(3)
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#ifdef USE_ADC_5
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_3
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#endif
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#define ADC_6 AdcBank1(4)
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#ifdef USE_ADC_6
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_4
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#endif
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#define ADC_7 AdcBank1(5)
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#ifdef USE_ADC_7
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_5
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#endif
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#define ADC_CHANNEL_VSUPPLY AdcBank1(6)
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#ifndef USE_AD1
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#define USE_AD1
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#endif
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#define USE_AD1_6
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#ifndef VoltageOfAdc
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#define VoltageOfAdc(adc) (0.01787109375*adc)
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#endif
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#define SPI_SELECT_SLAVE0_PORT 0
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#define SPI_SELECT_SLAVE0_PIN 20
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#define SPI1_DRDY_PINSEL PINSEL0
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#define SPI1_DRDY_PINSEL_BIT 14
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#define SPI1_DRDY_PINSEL_VAL 3
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#define SPI1_DRDY_EINT 2
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#define SPI1_DRDY_VIC_IT VIC_EINT2
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/* pressure : P0.28 AD0.1 */
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#define ANALOG_BARO_PINSEL PINSEL1
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#define ANALOG_BARO_PINSEL_VAL 0x01
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#define ANALOG_BARO_PINSEL_BIT 24
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#define ANALOG_BARO_ADC 0
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#endif /* CONFIG_TINY_H */
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@@ -36,6 +36,12 @@
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#define PPM_PINSEL PINSEL1
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 24
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#define PPM_CRI TIR_CR2I
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#define PPM_CCR_CRF TCCR_CR2_F
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#define PPM_CCR_CRR TCCR_CR2_R
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#define PPM_CCR_CRI TCCR_CR2_I
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#define PPM_CR T0CR2
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/* ADC */
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@@ -34,6 +34,11 @@
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#define PPM_PINSEL PINSEL0
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 12
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#define PPM_CRI TIR_CR2I
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#define PPM_CCR_CRF TCCR_CR2_F
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#define PPM_CCR_CRR TCCR_CR2_R
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#define PPM_CCR_CRI TCCR_CR2_I
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#define PPM_CR T0CR2
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/* SERVOS : 4017 on FBW_RC0 connector */
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@@ -1,36 +0,0 @@
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#ifndef CONFIG_DISCBOARD_H
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#define CONFIG_DISCBOARD_H
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#define LED_1_BANK A
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#define LED_1_PIN 7
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#define LED_2_BANK A
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#define LED_2_PIN 6
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#define LED_3_BANK A
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#define LED_3_PIN 5
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#define LED_4_BANK A
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#define LED_4_PIN 4
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#define LED_5_BANK A
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#define LED_5_PIN 3
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#define LED_6_BANK A
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#define LED_6_PIN 2
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#define LED_7_BANK A
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#define LED_7_PIN 1
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#define LED_8_BANK A
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#define LED_8_PIN 0
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/* clock in MHz */
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#define CLOCK 16
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/* PPM input on mega128 ICP */
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#define PPM_DDR DDRD
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#define PPM_PORT PORTD
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#define PPM_PIN PD4
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#endif /* CONFIG_DISCBOARD_H */
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@@ -1,25 +0,0 @@
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ARCHI=avr
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ap.ARCHDIR = $(ARCHI)
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ap.ARCH = atmega128
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ap.TARGET = autopilot
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ap.TARGETDIR = autopilot
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# 16MHz resonator
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#ap.LOW_FUSE = CF
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#ap.HIGH_FUSE = 89
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#ap.EXT_FUSE = ff
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#ap.LOCK_FUSE = ff
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# default values
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#ap.LOW_FUSE = E1
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#ap.HIGH_FUSE = 99
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#ap.EXT_FUSE = ff
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#ap.LOCK_FUSE = ff
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ap.CFLAGS += -DFBW -DCONFIG=\"gorrazoptere_091.h\"
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ap.srcs = $(SRC_ARCH)/adc_hw.c sys_time.c main_fbw.c main.c
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ap.CFLAGS += -DANTON_QUAD -DLED
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# pid.c estimator.c if_calib.c nav.c main_ap.c mainloop.c main.c
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@@ -1,21 +0,0 @@
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#ifndef CONFIG_ROBOSTIX_H
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#define CONFIG_ROBOSTIX_H
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#define LED_1_BANK G
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#define LED_1_PIN 4
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#define LED_2_BANK G
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#define LED_2_PIN 3
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#define LED_3_BANK B
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#define LED_3_PIN 4
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/* clock in MHz */
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#define CLOCK 16
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/* PPM input on mega128 ICP (PD4) */
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#define PPM_DDR DDRD
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#define PPM_PORT PORTD
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#define PPM_PIN PD4
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#endif /* CONFIG_ROBOSTIX_H */
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@@ -43,6 +43,11 @@
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#define PPM_PINSEL PINSEL0
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 12
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#define PPM_CRI TIR_CR2I
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#define PPM_CCR_CRF TCCR_CR2_F
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#define PPM_CCR_CRR TCCR_CR2_R
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#define PPM_CCR_CRI TCCR_CR2_I
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#define PPM_CR T0CR2
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/* ADC */
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@@ -44,6 +44,11 @@
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#define PPM_PINSEL PINSEL0
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 12
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#define PPM_CRI TIR_CR2I
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#define PPM_CCR_CRF TCCR_CR2_F
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#define PPM_CCR_CRR TCCR_CR2_R
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#define PPM_CCR_CRI TCCR_CR2_I
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#define PPM_CR T0CR2
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/* ADC */
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@@ -49,6 +49,11 @@
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#define PPM_PINSEL PINSEL0
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 12
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#define PPM_CRI TIR_CR2I
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#define PPM_CCR_CRF TCCR_CR2_F
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#define PPM_CCR_CRR TCCR_CR2_R
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#define PPM_CCR_CRI TCCR_CR2_I
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#define PPM_CR T0CR2
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/* ADC */
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@@ -61,6 +61,11 @@
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#define PPM_PINSEL PINSEL0
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 12
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#define PPM_CRI TIR_CR2I
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#define PPM_CCR_CRF TCCR_CR2_F
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#define PPM_CCR_CRR TCCR_CR2_R
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#define PPM_CCR_CRI TCCR_CR2_I
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#define PPM_CR T0CR2
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/* ADC */
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@@ -61,6 +61,11 @@
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#define PPM_PINSEL PINSEL0
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 12
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#define PPM_CRI TIR_CR2I
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#define PPM_CCR_CRF TCCR_CR2_F
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#define PPM_CCR_CRR TCCR_CR2_R
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#define PPM_CCR_CRI TCCR_CR2_I
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#define PPM_CR T0CR2
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/* ADC */
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@@ -69,6 +69,11 @@
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#define PPM_PINSEL PINSEL0
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#define PPM_PINSEL_VAL 0x02
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#define PPM_PINSEL_BIT 12
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#define PPM_CRI TIR_CR2I
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#define PPM_CCR_CRF TCCR_CR2_F
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#define PPM_CCR_CRR TCCR_CR2_R
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#define PPM_CCR_CRI TCCR_CR2_I
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#define PPM_CR T0CR2
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/* ADC */
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@@ -13,31 +13,11 @@
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#include "LPC21xx.h"
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#include CONFIG
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#ifndef PPM_CRI
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#define PPM_CRI TIR_CR2I
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#endif
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#ifndef PPM_CCR_CRF
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#define PPM_CCR_CRF TCCR_CR2_F
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#endif
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#ifndef PPM_CCR_CRR
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#define PPM_CCR_CRR TCCR_CR2_R
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#endif
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#ifndef PPM_CCR_CRI
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#define PPM_CCR_CRI TCCR_CR2_I
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#endif
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#ifndef PPM_CR
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#define PPM_CR T0CR2
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#endif
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static inline void ppm_init ( void ) {
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/* select pin for capture */
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PPM_PINSEL |= PPM_PINSEL_VAL << PPM_PINSEL_BIT;
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/* enable capture 0.2 on falling edge + trigger interrupt */
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/* enable capture 0.2 on falling or rising edge + trigger interrupt */
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#if defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_POSITIVE
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T0CCR = PPM_CCR_CRF | PPM_CCR_CRI;
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#elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE
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