mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-23 21:36:28 +08:00
[boards] Add the new OPA board
This commit is contained in:
Freek van Tienen
@@ -208,6 +208,17 @@
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settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/light.xml modules/digital_cam.xml"
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gui_color="white"
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/>
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<aircraft
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name="Outback"
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ac_id="6"
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airframe="airframes/TUDELFT/tudelft_outback.xml"
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radio="radios/dummy.xml"
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telemetry="telemetry/rotorcraft_with_logger.xml"
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flight_plan="flight_plans/dummy.xml"
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settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
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settings_modules="modules/geo_mag.xml modules/air_data.xml modules/temp_adc.xml modules/logger_sd_spi_direct.xml modules/gps_ubx_ucenter.xml"
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gui_color="#ffffdffac31f"
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/>
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<aircraft
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name="Quad_Navstik"
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ac_id="50"
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@@ -342,7 +353,7 @@
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/>
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<aircraft
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name="quadshot"
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ac_id="6"
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ac_id="7"
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airframe="airframes/examples/quadshot_asp21_spektrum.xml"
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radio="radios/cockpitSX.xml"
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telemetry="telemetry/default_rotorcraft.xml"
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@@ -0,0 +1,236 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a helicopter with a double wing as frame
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* Autopilot: OPA/FTD 1.0 and OPA/AP 1.0 with STM32F4
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* IMU: MPU6000 (FTD), MPU6000 (AP)
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* Baro: MS5611 (AP)
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* Actuators: 10 PWM (FTD)
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* GPS: UBlox ??
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* RC: Spektrum sats (2x)
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* Telemetry: Iridium (FTD), 900Mhz ??? (AP)
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-->
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<airframe name="Outback">
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<firmware name="rotorcraft">
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<!-- AP (autopilot) part of the board -->
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<target name="ap" board="opa_ap_1.0">
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<!--target name="nps" board="pc">
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<subsystem name="fdm" type="jsbsim"/>
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</target-->
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<module name="telemetry" type="xbee_api"/>
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<module name="imu" type="mpu6000"/>
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<module name="gps" type="ublox"/>
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<module name="stabilization" type="int_quat"/>
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<module name="ahrs" type="int_cmpl_quat"/>
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<module name="ins" type="hff"/>
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<module name="guidance" type="indi"/>
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<module name="intermcu" type="uart"/>
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<module name="current_sensor"/>
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<module name="geo_mag"/>
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<module name="air_data"/>
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<module name="temp_adc"/>
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<module name="logger_sd_spi_direct">
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<define name="SDLOGGER_DIRECT_CONTROL_SWITCH" value="AUX3"/>
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</module>
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<module name="gps_ubx_ucenter"/>
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</target>
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<!-- FBW (Flight by Wire) part of the board -->
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<target name="fbw" board="opa_ftd_1.0">
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<module name="radio_control" type="spektrum">
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
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<define name="RADIO_CONTROL_SPEKTRUM_NO_SIGN" value="1"/>
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</module>
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<module name="actuators" type="pwm"/>
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<module name="intermcu" type="uart"/>
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<module name="heli_throttle_curve"/>
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<module name="heli_swashplate_mixing"/>
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<define name="RC_LOST_FBW_MODE" value="FBW_MODE_FAILSAFE"/><!-- Switch to Failsafe or to Autopilot on RC loss? -->
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<define name="RC_LOST_IN_AUTO_FBW_MODE" value="FBW_MODE_FAILSAFE"/><!-- Switch to Failsafe with a working autopilot on RC loss? -->
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<define name="AP_LOST_FBW_MODE" value="FBW_MODE_MANUAL"/><!-- Switch to Failsafe or to Manual on AP loss? -->
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</target>
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</firmware>
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<!-- This should be different for AP and FBW -->
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<section name="BAT">
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<define name="CATASTROPHIC_BAT_LEVEL" value="21.0" unit="V"/>
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<define name="CRITIC_BAT_LEVEL" value="21.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="22.2" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="25.2" unit="V"/>
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</section>
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<servos driver="Pwm">
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<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
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<servo name="SW_BACK" no="1" min="1900" neutral="1500" max="1100"/>
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<servo name="SW_LEFTFRONT" no="2" min="1100" neutral="1500" max="1900"/>
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<servo name="SW_RIGHTFRONT" no="3" min="1900" neutral="1500" max="1100"/>
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<servo name="TAIL_LEFT" no="4" min="1100" neutral="1500" max="1900"/>
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<servo name="TAIL_RIGHT" no="5" min="1100" neutral="1500" max="1900"/>
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<servo name="AIL_LEFTFRONT" no="6" min="1100" neutral="1500" max="1900"/>
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<servo name="AIL_LEFTBACK" no="7" min="1100" neutral="1500" max="1900"/>
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<servo name="AIL_RIGHTFRONT" no="8" min="1100" neutral="1500" max="1900"/>
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<servo name="AIL_RIGHTBACK" no="9" min="1100" neutral="1500" max="1900"/>
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</servos>
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<rc_commands>
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<set command="THRUST" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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<set command="FMODE" value="@AUX2"/>
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</rc_commands>
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<commands>
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<axis name="THRUST" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="0"/>
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<axis name="FMODE" failsafe_value="0"/>
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</commands>
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<section name="MIXING" prefix="SW_MIXING_">
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<define name="TYPE" value="HR120"/>
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<define name="TRIM_ROLL" value="0"/>
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<define name="TRIM_PITCH" value="0"/>
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<define name="TRIM_COLL" value="0"/>
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</section>
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<command_laws>
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<call fun="throttle_curve_run(autopilot_motors_on, values)"/>
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<call fun="swashplate_mixing_run(values)"/>
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<set servo="THROTTLE" value="throttle_curve.throttle"/>
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<set servo="SW_BACK" value="swashplate_mixing.commands[SW_BACK]"/>
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<set servo="SW_LEFTFRONT" value="swashplate_mixing.commands[SW_LEFTFRONT]"/>
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<set servo="SW_RIGHTFRONT" value="swashplate_mixing.commands[SW_RIGHTFRONT]"/>
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<set servo="TAIL_LEFT" value="@YAW"/>
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<set servo="TAIL_RIGHT" value="-@YAW"/>
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<set servo="AIL_LEFTFRONT" value="@YAW"/>
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<set servo="AIL_LEFTBACK" value="@YAW"/>
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<set servo="AIL_RIGHTFRONT" value="@YAW"/>
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<set servo="AIL_RIGHTBACK" value="@YAW"/>
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</command_laws>
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<heli_curves>
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<curve throttle="0,4800,7200,8400,9600" collective="-1000,750,2500,4250,6000"/>
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<curve throttle="9600,7200,9600" collective="-7500,0,7500"/>
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</heli_curves>
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<section name="MISC">
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<define name="NAV_CLIMB_VSPEED" value="2.5"/>
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<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
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<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="ACCEL_X_NEUTRAL" value="11"/>
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<define name="ACCEL_Y_NEUTRAL" value="11"/>
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<define name="ACCEL_Z_NEUTRAL" value="-25"/>
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<!-- replace this with your own calibration -->
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<define name="MAG_X_NEUTRAL" value="-2"/>
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<define name="MAG_Y_NEUTRAL" value="484"/>
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<define name="MAG_Z_NEUTRAL" value="53"/>
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<define name="MAG_X_SENS" value="4.02836351262" integer="16"/>
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<define name="MAG_Y_SENS" value="3.97184580645" integer="16"/>
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<define name="MAG_Z_SENS" value="4.08689235615" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
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</section>
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<section name="AHRS" prefix="AHRS_">
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<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
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<define name="H_X" value="0.3770441"/>
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<define name="H_Y" value="0.0193986"/>
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<define name="H_Z" value="0.9259921"/>
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</section>
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<section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
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<!-- setpoints -->
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<define name="SP_MAX_P" unit="deg/s" value="280"/>
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<define name="SP_MAX_Q" unit="deg/s" value="280"/>
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<define name="SP_MAX_R" unit="deg/s" value="140"/>
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<define name="DEADBAND_P" value="20"/>
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<define name="DEADBAND_Q" value="20"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- feedback -->
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<define name="GAIN_P" value="400"/>
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<define name="GAIN_Q" value="400"/>
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<define name="GAIN_R" value="350"/>
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<define name="IGAIN_P" value="75"/>
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<define name="IGAIN_Q" value="75"/>
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<define name="IGAIN_R" value="50"/>
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</section>
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<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
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<!-- setpoints -->
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<define name="SP_MAX_PHI" value="45." unit="deg"/>
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<define name="SP_MAX_THETA" value="45." unit="deg"/>
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<define name="SP_MAX_R" value="150." unit="deg/s"/>
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<define name="DEADBAND_R" value="200"/>
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<!-- reference -->
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<define name="REF_OMEGA_P" value="800" unit="deg/s"/>
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<define name="REF_ZETA_P" value="0.85"/>
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<define name="REF_MAX_P" value="300." unit="deg/s"/>
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<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_Q" value="800" unit="deg/s"/>
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<define name="REF_ZETA_Q" value="0.85"/>
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<define name="REF_MAX_Q" value="300." unit="deg/s"/>
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<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
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<define name="REF_OMEGA_R" value="500" unit="deg/s"/>
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<define name="REF_ZETA_R" value="0.85"/>
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<define name="REF_MAX_R" value="180." unit="deg/s"/>
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<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
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<!-- feedback -->
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<define name="PHI_PGAIN" value="500"/>
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<define name="PHI_DGAIN" value="100"/>
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<define name="PHI_IGAIN" value="0"/>
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<define name="THETA_PGAIN" value="500"/>
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<define name="THETA_DGAIN" value="100"/>
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<define name="THETA_IGAIN" value="0"/>
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<define name="PSI_PGAIN" value="200"/>
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<define name="PSI_DGAIN" value="0"/>
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<define name="PSI_IGAIN" value="0"/>
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<!-- feedforward -->
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<define name="PHI_DDGAIN" value="0"/>
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<define name="THETA_DDGAIN" value="0"/>
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<define name="PSI_DDGAIN" value="0"/>
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</section>
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<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
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<define name="HOVER_KP" value="150"/>
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<define name="HOVER_KD" value="80"/>
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<define name="HOVER_KI" value="20"/>
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<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
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<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
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</section>
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<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
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<define name="MAX_BANK" value="35" unit="deg"/>
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<define name="USE_SPEED_REF" value="TRUE"/>
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<define name="PGAIN" value="50"/>
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<define name="DGAIN" value="100"/>
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<define name="AGAIN" value="70"/>
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<define name="IGAIN" value="20"/>
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</section>
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<section name="AUTOPILOT">
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<define name="MODE_MANUAL" value="AP_MODE_RATE_DIRECT"/>
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<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_DIRECT"/>
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<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
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</section>
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</airframe>
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@@ -0,0 +1,70 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# Oversized Paparazzi (AP) Board
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#
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# http://wiki.paparazziuav.org/wiki/OPA
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#
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BOARD=opa_ap
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BOARD_VERSION=1.0
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BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
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ARCH=stm32
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ARCH_L=f4
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HARD_FLOAT=yes
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$(TARGET).ARCHDIR = $(ARCH)
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$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld
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# -----------------------------------------------------------------------
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#
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# default flash mode is via SWD (JTAG)
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#
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FLASH_MODE ?= SWD
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#
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# default LED configuration
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#
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SYS_TIME_LED ?= 1
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RADIO_CONTROL_LED ?= none
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BARO_LED ?= none
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AHRS_ALIGNER_LED ?= none
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GPS_LED ?= none
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LOGGER_LED ?= none
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#
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# default uart configuration
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#
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MODEM_PORT ?= UART2
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MODEM_BAUD ?= B57600
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GPS_PORT ?= UART1
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GPS_BAUD ?= B57600
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INTERMCU_PORT ?= UART3
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INTERMCU_BAUD ?= B230400
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#
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# default IMU configuration
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#
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IMU_MPU_SPI_DEV ?= spi2
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IMU_MPU_SPI_SLAVE_IDX ?= SPI_SLAVE1
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#
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# BARO configuration
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#
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# See baro_board.makefile
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#
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# default SPI logger configuration
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#
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SDLOGGER_DIRECT_SPI ?= spi1
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SDLOGGER_DIRECT_SPI_SLAVE ?= SPI_SLAVE0
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HS_LOG_SPI_DEV ?= spi1
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HS_LOG_SPI_SLAVE_IDX ?= SPI_SLAVE0
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|
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#
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# default Current Sensor configuration
|
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#
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||||
ADC_CURRENT_SENSOR ?= ADC_2
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@@ -0,0 +1,48 @@
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# Hey Emacs, this is a -*- makefile -*-
|
||||
#
|
||||
# Oversized Paparazzi (AP) Board
|
||||
#
|
||||
# http://wiki.paparazziuav.org/wiki/OPA
|
||||
#
|
||||
|
||||
BOARD=opa_ftd
|
||||
BOARD_VERSION=1.0
|
||||
BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
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||||
|
||||
ARCH=stm32
|
||||
ARCH_L=f4
|
||||
HARD_FLOAT=yes
|
||||
$(TARGET).ARCHDIR = $(ARCH)
|
||||
$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld
|
||||
|
||||
# -----------------------------------------------------------------------
|
||||
|
||||
#
|
||||
# default flash mode is via SWD (JTAG)
|
||||
#
|
||||
FLASH_MODE ?= SWD
|
||||
|
||||
#
|
||||
# default LED configuration
|
||||
#
|
||||
SYS_TIME_LED ?= 1
|
||||
RADIO_CONTROL_LED ?= 2
|
||||
ARMING_LED ?= 3
|
||||
FBW_MODE_LED ?= none
|
||||
|
||||
#
|
||||
# default uart configuration
|
||||
#
|
||||
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1
|
||||
RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5
|
||||
|
||||
MODEM_PORT ?= UART3
|
||||
MODEM_BAUD ?= B57600
|
||||
|
||||
INTERMCU_PORT ?= UART2
|
||||
INTERMCU_BAUD ?= B230400
|
||||
|
||||
#
|
||||
# default actuator configuration
|
||||
#
|
||||
ACTUATORS ?= actuators_pwm
|
||||
@@ -194,15 +194,25 @@ else ifeq ($(BOARD), umarim)
|
||||
|
||||
# Naze32
|
||||
else ifeq ($(BOARD), naze32)
|
||||
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
|
||||
BARO_BOARD_CFLAGS += -DUSE_I2C2
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
|
||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
|
||||
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
|
||||
BARO_BOARD_CFLAGS += -DUSE_I2C2
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
|
||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
|
||||
|
||||
# OPA (AP)
|
||||
else ifeq ($(BOARD), opa_ap)
|
||||
include $(CFG_SHARED)/spi_master.makefile
|
||||
BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE2
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE2
|
||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
|
||||
endif # check board
|
||||
|
||||
BARO_LED ?= none
|
||||
ifneq ($(BARO_LED),none)
|
||||
BARO_BOARD_CFLAGS += -DBARO_LED=$(BARO_LED)
|
||||
endif
|
||||
|
||||
@@ -9,7 +9,7 @@
|
||||
<file name="swashplate_mixing.h"/>
|
||||
</header>
|
||||
<init fun="swashplate_mixing_init()"/>
|
||||
<makefile>
|
||||
<makefile target="ap|fbw">
|
||||
<file name="swashplate_mixing.c"/>
|
||||
<define name="ROTORCRAFT_IS_HELI" value="TRUE"/>
|
||||
</makefile>
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
<file name="throttle_curve.h"/>
|
||||
</header>
|
||||
<init fun="throttle_curve_init()"/>
|
||||
<makefile>
|
||||
<makefile target="ap|fbw">
|
||||
<file name="throttle_curve.c"/>
|
||||
</makefile>
|
||||
</module>
|
||||
|
||||
@@ -0,0 +1,18 @@
|
||||
|
||||
/*
|
||||
* board specific functions for the opa_ap board
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef BOARDS_OPA_AP_BARO_H
|
||||
#define BOARDS_OPA_AP_BARO_H
|
||||
|
||||
// only for printing the baro type during compilation
|
||||
#ifndef BARO_BOARD
|
||||
#define BARO_BOARD BARO_MS5611_SPI
|
||||
#endif
|
||||
|
||||
extern void baro_event(void);
|
||||
#define BaroEvent baro_event
|
||||
|
||||
#endif /* BOARDS_OPA_AP_BARO_H */
|
||||
@@ -0,0 +1,210 @@
|
||||
/*
|
||||
* Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef CONFIG_OPA_FTD_1_0_H
|
||||
#define CONFIG_OPA_FTD_1_0_H
|
||||
|
||||
#define BOARD_OPA_AP
|
||||
|
||||
/* OPA/FTD has a 12MHz external clock and 168MHz internal. */
|
||||
#define EXT_CLK 12000000
|
||||
#define AHB_CLK 168000000
|
||||
|
||||
/*
|
||||
* Power control
|
||||
*/
|
||||
|
||||
/* VISION power */
|
||||
#define VISION_PWR GPIOA
|
||||
#define VISION_PWR_PIN GPIO1
|
||||
#define VISION_PWR_ON gpio_set
|
||||
#define VISION_PWR_OFF gpio_clear
|
||||
|
||||
/*
|
||||
* Onboard LEDs
|
||||
*/
|
||||
|
||||
/* Status (red), on PA8 */
|
||||
#ifndef USE_LED_1
|
||||
#define USE_LED_1 1
|
||||
#endif
|
||||
#define LED_1_GPIO GPIOA
|
||||
#define LED_1_GPIO_PIN GPIO8
|
||||
#define LED_1_GPIO_ON gpio_set
|
||||
#define LED_1_GPIO_OFF gpio_clear
|
||||
#define LED_1_AFIO_REMAP ((void)0)
|
||||
|
||||
|
||||
/* UART */
|
||||
#define UART1_GPIO_AF GPIO_AF7
|
||||
#define UART1_GPIO_PORT_RX GPIOA
|
||||
#define UART1_GPIO_RX GPIO10
|
||||
#define UART1_GPIO_PORT_TX GPIOA
|
||||
#define UART1_GPIO_TX GPIO9
|
||||
|
||||
#define UART2_GPIO_AF GPIO_AF7
|
||||
#define UART2_GPIO_PORT_RX GPIOA
|
||||
#define UART2_GPIO_RX GPIO3
|
||||
#define UART2_GPIO_PORT_TX GPIOA
|
||||
#define UART2_GPIO_TX GPIO2
|
||||
|
||||
#define UART3_GPIO_AF GPIO_AF7
|
||||
#define UART3_GPIO_PORT_RX GPIOB
|
||||
#define UART3_GPIO_RX GPIO11
|
||||
#define UART3_GPIO_PORT_TX GPIOB
|
||||
#define UART3_GPIO_TX GPIO10
|
||||
|
||||
#define UART4_GPIO_AF GPIO_AF8
|
||||
#define UART4_GPIO_PORT_RX GPIOC
|
||||
#define UART4_GPIO_RX GPIO11
|
||||
#define UART4_GPIO_PORT_TX GPIOC
|
||||
#define UART4_GPIO_TX GPIO10
|
||||
|
||||
#define UART5_GPIO_AF GPIO_AF8
|
||||
#define UART5_GPIO_PORT_RX GPIOD
|
||||
#define UART5_GPIO_RX GPIO2
|
||||
|
||||
/* SPI */
|
||||
#define SPI1_GPIO_AF GPIO_AF5
|
||||
#define SPI1_GPIO_PORT_MISO GPIOA
|
||||
#define SPI1_GPIO_MISO GPIO6
|
||||
#define SPI1_GPIO_PORT_MOSI GPIOA
|
||||
#define SPI1_GPIO_MOSI GPIO7
|
||||
#define SPI1_GPIO_PORT_SCK GPIOA
|
||||
#define SPI1_GPIO_SCK GPIO5
|
||||
#define SPI1_GPIO_PORT_NSS GPIOA
|
||||
#define SPI1_GPIO_NSS GPIO4
|
||||
|
||||
#define SPI2_GPIO_AF GPIO_AF5
|
||||
#define SPI2_GPIO_PORT_MISO GPIOB
|
||||
#define SPI2_GPIO_MISO GPIO14
|
||||
#define SPI2_GPIO_PORT_MOSI GPIOB
|
||||
#define SPI2_GPIO_MOSI GPIO15
|
||||
#define SPI2_GPIO_PORT_SCK GPIOB
|
||||
#define SPI2_GPIO_SCK GPIO13
|
||||
#define SPI2_GPIO_PORT_NSS GPIOB
|
||||
#define SPI2_GPIO_NSS GPIO12
|
||||
|
||||
#define SPI_SELECT_SLAVE0_PORT GPIOA // SD CARD (on spi1)
|
||||
#define SPI_SELECT_SLAVE0_PIN GPIO4
|
||||
|
||||
#define SPI_SELECT_SLAVE1_PORT GPIOB // IMU (on spi2)
|
||||
#define SPI_SELECT_SLAVE1_PIN GPIO12
|
||||
|
||||
#define SPI_SELECT_SLAVE2_PORT GPIOC // BARO (on spi2)
|
||||
#define SPI_SELECT_SLAVE2_PIN GPIO13
|
||||
|
||||
/*
|
||||
* ADC
|
||||
*/
|
||||
|
||||
/* BATT PC4/ADC14 */
|
||||
#ifndef USE_ADC_1
|
||||
#define USE_ADC_1 1
|
||||
#endif
|
||||
#if USE_ADC_1
|
||||
#define AD1_1_CHANNEL 14
|
||||
#define ADC_1 AD1_1
|
||||
#define ADC_1_GPIO_PORT GPIOC
|
||||
#define ADC_1_GPIO_PIN GPIO4
|
||||
#endif
|
||||
|
||||
/* CURRENT PC3/ADC13 */
|
||||
#if USE_ADC_2
|
||||
#define AD1_2_CHANNEL 13
|
||||
#define ADC_2 AD1_2
|
||||
#define ADC_2_GPIO_PORT GPIOC
|
||||
#define ADC_2_GPIO_PIN GPIO3
|
||||
#endif
|
||||
|
||||
/* TEMP_MOTOR PC0/ADC10 */
|
||||
#ifndef USE_ADC_3
|
||||
#define USE_ADC_3 1
|
||||
#endif
|
||||
#if USE_ADC_3
|
||||
#define AD1_3_CHANNEL 10
|
||||
#define ADC_3 AD1_3
|
||||
#define ADC_3_GPIO_PORT GPIOC
|
||||
#define ADC_3_GPIO_PIN GPIO0
|
||||
#endif
|
||||
|
||||
/* TEMP_BATT PC1/ADC11 */
|
||||
#ifndef USE_ADC_4
|
||||
#define USE_ADC_4 1
|
||||
#endif
|
||||
#if USE_ADC_4
|
||||
#define AD1_4_CHANNEL 11
|
||||
#define ADC_4 AD1_4
|
||||
#define ADC_4_GPIO_PORT GPIOC
|
||||
#define ADC_4_GPIO_PIN GPIO1
|
||||
#endif
|
||||
|
||||
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
|
||||
#ifndef ADC_CHANNEL_VSUPPLY
|
||||
#define ADC_CHANNEL_VSUPPLY ADC_1
|
||||
#endif
|
||||
|
||||
// Default: 10k / 2k2
|
||||
// #define DefaultVoltageOfAdc(adc) (0.0045*adc)
|
||||
// Opa: 31k6 / 4k7
|
||||
#define DefaultVoltageOfAdc(adc) (0.0063*adc)
|
||||
|
||||
// ADC756-B050: +/-50Amp range bidirectional
|
||||
// 40 mV / Ampere
|
||||
// 1 ADC-count = 0,000805664 Volt, 0.040 V = 1 Ampere -> 1 Ampere = 49,6484887 ADC ticks: 1 ADC-tck = 20mA
|
||||
// 5.0/3.3 from datasheet
|
||||
#define DefaultMilliAmpereOfAdc(adc) (20.142*(adc-2048) * 5.0/3.3)
|
||||
|
||||
/* TEMP MOTOR: NTC with 2k fixed pull up */
|
||||
// R0: 10k (@25C)
|
||||
// T0: 25C -> 298.15K
|
||||
// B: 3976 K
|
||||
// a = (1/T0) - (1/B)*ln(R0) = 0.00103753243
|
||||
// b = 1/B = 0.00025150905
|
||||
// c = 0
|
||||
#define TEMP_ADC_CHANNEL1 ADC_3
|
||||
#define TEMP_ADC_CHANNEL1_TYPE NTC
|
||||
#define TEMP_ADC_CHANNEL1_PU_R 2000
|
||||
#define TEMP_ADC_CHANNEL1_A 0.00103753243
|
||||
#define TEMP_ADC_CHANNEL1_B 0.00025150905
|
||||
#define TEMP_ADC_CHANNEL1_C 0
|
||||
|
||||
/* TEMP BATT: NTC with 2k fixed pull up */
|
||||
// R0: 10k (@25C)
|
||||
// T0: 25C -> 298.15K
|
||||
// B: 3976 K
|
||||
// a = (1/T0) - (1/B)*ln(R0) = 0.00103753243
|
||||
// b = 1/B = 0.00025150905
|
||||
// c = 0
|
||||
#define TEMP_ADC_CHANNEL2 ADC_4
|
||||
#define TEMP_ADC_CHANNEL2_TYPE NTC
|
||||
#define TEMP_ADC_CHANNEL2_PU_R 2000
|
||||
#define TEMP_ADC_CHANNEL2_A 0.00103753243
|
||||
#define TEMP_ADC_CHANNEL2_B 0.00025150905
|
||||
#define TEMP_ADC_CHANNEL2_C 0
|
||||
|
||||
/* by default activate onboard baro */
|
||||
#ifndef USE_BARO_BOARD
|
||||
#define USE_BARO_BOARD 1
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_OPA_AP_1_0_H */
|
||||
@@ -0,0 +1,338 @@
|
||||
/*
|
||||
* Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef CONFIG_OPA_FTD_1_0_H
|
||||
#define CONFIG_OPA_FTD_1_0_H
|
||||
|
||||
#define BOARD_OPA_FTD
|
||||
|
||||
/* OPA/FTD has a 12MHz external clock and 168MHz internal. */
|
||||
#define EXT_CLK 12000000
|
||||
#define AHB_CLK 168000000
|
||||
|
||||
/*
|
||||
* MCU Power control
|
||||
*/
|
||||
#define MCU_PWR GPIOB
|
||||
#define MCU_PWR_PIN GPIO5
|
||||
#define MCU_PWR_ON gpio_set
|
||||
#define MCU_PWR_OFF gpio_clear
|
||||
|
||||
/*
|
||||
* Buttons
|
||||
*/
|
||||
|
||||
/* E-Stop button */
|
||||
#define BTN_ESTOP GPIOB
|
||||
#define BTN_ESTOP_PIN GPIO12
|
||||
|
||||
/*
|
||||
* Onboard LEDs
|
||||
*/
|
||||
|
||||
/* Status (red), on PA8 */
|
||||
#ifndef USE_LED_1
|
||||
#define USE_LED_1 1
|
||||
#endif
|
||||
#define LED_1_GPIO GPIOA
|
||||
#define LED_1_GPIO_PIN GPIO8
|
||||
#define LED_1_GPIO_ON gpio_set
|
||||
#define LED_1_GPIO_OFF gpio_clear
|
||||
#define LED_1_AFIO_REMAP ((void)0)
|
||||
|
||||
/* RC (green), on PC5 */
|
||||
#ifndef USE_LED_2
|
||||
#define USE_LED_2 1
|
||||
#endif
|
||||
#define LED_2_GPIO GPIOC
|
||||
#define LED_2_GPIO_PIN GPIO5
|
||||
#define LED_2_GPIO_ON gpio_set
|
||||
#define LED_2_GPIO_OFF gpio_clear
|
||||
#define LED_2_AFIO_REMAP ((void)0)
|
||||
|
||||
/* Status LED ext, PB13 */
|
||||
#ifndef USE_LED_3
|
||||
#define USE_LED_3 1
|
||||
#endif
|
||||
#define LED_3_GPIO GPIOB
|
||||
#define LED_3_GPIO_PIN GPIO13
|
||||
#define LED_3_GPIO_ON gpio_set
|
||||
#define LED_3_GPIO_OFF gpio_clear
|
||||
#define LED_3_AFIO_REMAP ((void)0)
|
||||
|
||||
|
||||
/* Default actuators driver */
|
||||
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
|
||||
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
|
||||
#define ActuatorsDefaultInit() ActuatorsPwmInit()
|
||||
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
|
||||
|
||||
|
||||
/* UART */
|
||||
#define UART1_GPIO_AF GPIO_AF7
|
||||
#define UART1_GPIO_PORT_RX GPIOA
|
||||
#define UART1_GPIO_RX GPIO10
|
||||
|
||||
#define UART2_GPIO_AF GPIO_AF7
|
||||
#define UART2_GPIO_PORT_RX GPIOA
|
||||
#define UART2_GPIO_RX GPIO3
|
||||
#define UART2_GPIO_PORT_TX GPIOA
|
||||
#define UART2_GPIO_TX GPIO2
|
||||
|
||||
#define UART3_GPIO_AF GPIO_AF7
|
||||
#define UART3_GPIO_PORT_RX GPIOB
|
||||
#define UART3_GPIO_RX GPIO11
|
||||
#define UART3_GPIO_PORT_TX GPIOB
|
||||
#define UART3_GPIO_TX GPIO10
|
||||
|
||||
#define UART4_GPIO_AF GPIO_AF8
|
||||
#define UART4_GPIO_PORT_RX GPIOC
|
||||
#define UART4_GPIO_RX GPIO11
|
||||
#define UART4_GPIO_PORT_TX GPIOC
|
||||
#define UART4_GPIO_TX GPIO10
|
||||
|
||||
#define UART5_GPIO_AF GPIO_AF8
|
||||
#define UART5_GPIO_PORT_RX GPIOD
|
||||
#define UART5_GPIO_RX GPIO2
|
||||
|
||||
/*
|
||||
* Spektrum
|
||||
*/
|
||||
/* Define power pin */
|
||||
#define RADIO_CONTROL_POWER GPIOC
|
||||
#define RADIO_CONTROL_POWER_PIN GPIO13
|
||||
#define RADIO_CONTROL_POWER_ON gpio_set
|
||||
#define RADIO_CONTROL_POWER_OFF gpio_clear
|
||||
|
||||
/* The line that is pulled low at power up to initiate the bind process */
|
||||
#define SPEKTRUM_BIND_PIN GPIO2
|
||||
#define SPEKTRUM_BIND_PIN_PORT GPIOB
|
||||
|
||||
#define SPEKTRUM_UART1_RCC RCC_USART1
|
||||
#define SPEKTRUM_UART1_BANK GPIOA
|
||||
#define SPEKTRUM_UART1_PIN GPIO10
|
||||
#define SPEKTRUM_UART1_AF GPIO_AF7
|
||||
#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
|
||||
#define SPEKTRUM_UART1_ISR usart1_isr
|
||||
#define SPEKTRUM_UART1_DEV USART1
|
||||
|
||||
#define SPEKTRUM_UART5_RCC RCC_UART5
|
||||
#define SPEKTRUM_UART5_BANK GPIOD
|
||||
#define SPEKTRUM_UART5_PIN GPIO2
|
||||
#define SPEKTRUM_UART5_AF GPIO_AF8
|
||||
#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
|
||||
#define SPEKTRUM_UART5_ISR uart5_isr
|
||||
#define SPEKTRUM_UART5_DEV UART5
|
||||
|
||||
/* SPI */
|
||||
#define SPI1_GPIO_AF GPIO_AF5
|
||||
#define SPI1_GPIO_PORT_MISO GPIOA
|
||||
#define SPI1_GPIO_MISO GPIO6
|
||||
#define SPI1_GPIO_PORT_MOSI GPIOA
|
||||
#define SPI1_GPIO_MOSI GPIO7
|
||||
#define SPI1_GPIO_PORT_SCK GPIOA
|
||||
#define SPI1_GPIO_SCK GPIO5
|
||||
#define SPI1_GPIO_PORT_NSS GPIOA
|
||||
#define SPI1_GPIO_NSS GPIO4
|
||||
|
||||
#define SPI_SELECT_SLAVE0_PORT GPIOA
|
||||
#define SPI_SELECT_SLAVE0_PIN GPIO4
|
||||
|
||||
|
||||
/*
|
||||
* ADC
|
||||
*/
|
||||
|
||||
/* BATT PC4/ADC14 */
|
||||
#ifndef USE_ADC_1
|
||||
#define USE_ADC_1 1
|
||||
#endif
|
||||
#if USE_ADC_1
|
||||
#define AD1_1_CHANNEL 14
|
||||
#define ADC_1 AD1_1
|
||||
#define ADC_1_GPIO_PORT GPIOC
|
||||
#define ADC_1_GPIO_PIN GPIO4
|
||||
#endif
|
||||
|
||||
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
|
||||
#ifndef ADC_CHANNEL_VSUPPLY
|
||||
#define ADC_CHANNEL_VSUPPLY ADC_1
|
||||
#endif
|
||||
|
||||
|
||||
// Default: 10k / 2k2 ->
|
||||
// #define DefaultVoltageOfAdc(adc) (0.00446777*adc)
|
||||
|
||||
// Opa-FBW: 10k / 4k7
|
||||
#define DefaultVoltageOfAdc(adc) (00.00252*adc)
|
||||
|
||||
|
||||
/*
|
||||
* PWM
|
||||
*
|
||||
*/
|
||||
#define PWM_USE_TIM3 1
|
||||
#define PWM_USE_TIM4 1
|
||||
#define PWM_USE_TIM5 1
|
||||
|
||||
#define USE_PWM1 1
|
||||
#define USE_PWM2 1
|
||||
#define USE_PWM3 1
|
||||
#define USE_PWM4 1
|
||||
#define USE_PWM5 1
|
||||
#define USE_PWM6 1
|
||||
#define USE_PWM7 1
|
||||
#define USE_PWM8 1
|
||||
#define USE_PWM9 1
|
||||
#define USE_PWM10 1
|
||||
#define ACTUATORS_PWM_NB 10
|
||||
|
||||
|
||||
// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
|
||||
#if USE_PWM1
|
||||
#define PWM_SERVO_1 0
|
||||
#define PWM_SERVO_1_TIMER TIM3
|
||||
#define PWM_SERVO_1_GPIO GPIOC
|
||||
#define PWM_SERVO_1_PIN GPIO6
|
||||
#define PWM_SERVO_1_AF GPIO_AF2
|
||||
#define PWM_SERVO_1_OC TIM_OC1
|
||||
#define PWM_SERVO_1_OC_BIT (1<<0)
|
||||
#else
|
||||
#define PWM_SERVO_1_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM2
|
||||
#define PWM_SERVO_2 1
|
||||
#define PWM_SERVO_2_TIMER TIM3
|
||||
#define PWM_SERVO_2_GPIO GPIOC
|
||||
#define PWM_SERVO_2_PIN GPIO7
|
||||
#define PWM_SERVO_2_AF GPIO_AF2
|
||||
#define PWM_SERVO_2_OC TIM_OC2
|
||||
#define PWM_SERVO_2_OC_BIT (1<<1)
|
||||
#else
|
||||
#define PWM_SERVO_2_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM3
|
||||
#define PWM_SERVO_3 2
|
||||
#define PWM_SERVO_3_TIMER TIM3
|
||||
#define PWM_SERVO_3_GPIO GPIOC
|
||||
#define PWM_SERVO_3_PIN GPIO8
|
||||
#define PWM_SERVO_3_AF GPIO_AF2
|
||||
#define PWM_SERVO_3_OC TIM_OC3
|
||||
#define PWM_SERVO_3_OC_BIT (1<<2)
|
||||
#else
|
||||
#define PWM_SERVO_3_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM4
|
||||
#define PWM_SERVO_4 3
|
||||
#define PWM_SERVO_4_TIMER TIM3
|
||||
#define PWM_SERVO_4_GPIO GPIOC
|
||||
#define PWM_SERVO_4_PIN GPIO9
|
||||
#define PWM_SERVO_4_AF GPIO_AF2
|
||||
#define PWM_SERVO_4_OC TIM_OC4
|
||||
#define PWM_SERVO_4_OC_BIT (1<<3)
|
||||
#else
|
||||
#define PWM_SERVO_4_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM5
|
||||
#define PWM_SERVO_5 4
|
||||
#define PWM_SERVO_5_TIMER TIM5
|
||||
#define PWM_SERVO_5_GPIO GPIOA
|
||||
#define PWM_SERVO_5_PIN GPIO0
|
||||
#define PWM_SERVO_5_AF GPIO_AF2
|
||||
#define PWM_SERVO_5_OC TIM_OC1
|
||||
#define PWM_SERVO_5_OC_BIT (1<<0)
|
||||
#else
|
||||
#define PWM_SERVO_5_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM6
|
||||
#define PWM_SERVO_6 5
|
||||
#define PWM_SERVO_6_TIMER TIM5
|
||||
#define PWM_SERVO_6_GPIO GPIOA
|
||||
#define PWM_SERVO_6_PIN GPIO1
|
||||
#define PWM_SERVO_6_AF GPIO_AF2
|
||||
#define PWM_SERVO_6_OC TIM_OC2
|
||||
#define PWM_SERVO_6_OC_BIT (1<<1)
|
||||
#else
|
||||
#define PWM_SERVO_6_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM7
|
||||
#define PWM_SERVO_7 6
|
||||
#define PWM_SERVO_7_TIMER TIM4
|
||||
#define PWM_SERVO_7_GPIO GPIOB
|
||||
#define PWM_SERVO_7_PIN GPIO6
|
||||
#define PWM_SERVO_7_AF GPIO_AF2
|
||||
#define PWM_SERVO_7_OC TIM_OC1
|
||||
#define PWM_SERVO_7_OC_BIT (1<<0)
|
||||
#else
|
||||
#define PWM_SERVO_7_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM8
|
||||
#define PWM_SERVO_8 7
|
||||
#define PWM_SERVO_8_TIMER TIM4
|
||||
#define PWM_SERVO_8_GPIO GPIOB
|
||||
#define PWM_SERVO_8_PIN GPIO7
|
||||
#define PWM_SERVO_8_AF GPIO_AF2
|
||||
#define PWM_SERVO_8_OC TIM_OC2
|
||||
#define PWM_SERVO_8_OC_BIT (1<<1)
|
||||
#else
|
||||
#define PWM_SERVO_8_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM9
|
||||
#define PWM_SERVO_9 8
|
||||
#define PWM_SERVO_9_TIMER TIM4
|
||||
#define PWM_SERVO_9_GPIO GPIOB
|
||||
#define PWM_SERVO_9_PIN GPIO8
|
||||
#define PWM_SERVO_9_AF GPIO_AF2
|
||||
#define PWM_SERVO_9_OC TIM_OC3
|
||||
#define PWM_SERVO_9_OC_BIT (1<<2)
|
||||
#else
|
||||
#define PWM_SERVO_9_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM10
|
||||
#define PWM_SERVO_10 9
|
||||
#define PWM_SERVO_10_TIMER TIM4
|
||||
#define PWM_SERVO_10_GPIO GPIOB
|
||||
#define PWM_SERVO_10_PIN GPIO9
|
||||
#define PWM_SERVO_10_AF GPIO_AF2
|
||||
#define PWM_SERVO_10_OC TIM_OC4
|
||||
#define PWM_SERVO_10_OC_BIT (1<<3)
|
||||
#else
|
||||
#define PWM_SERVO_10_OC_BIT 0
|
||||
#endif
|
||||
|
||||
/* servos 1-4 on TIM3 */
|
||||
#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)
|
||||
/* servos 5-6 on TIM5 */
|
||||
#define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
|
||||
/* servos 7-10 on TIM4 */
|
||||
#define PWM_TIM4_CHAN_MASK (PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT|PWM_SERVO_9_OC_BIT|PWM_SERVO_10_OC_BIT)
|
||||
|
||||
#endif /* CONFIG_OPA_FTD_1_0_H */
|
||||
Reference in New Issue
Block a user