mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
[stm32] add (incomplete) board files for krooz
still needs in krooz_1.0.h: - checking of PWM_SERVO_x_AF - add UART defines - correct ADC channels/gpios
This commit is contained in:
Felix Ruess
@@ -0,0 +1,67 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# krooz_1.0.makefile
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#
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#
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#
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BOARD=krooz
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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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ARCH_DIR=stm32
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SRC_ARCH=arch/$(ARCH_DIR)
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$(TARGET).ARCHDIR = $(ARCH)
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$(TARGET).LDSCRIPT=$(SRC_ARCH)/krooz.ld
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HARD_FLOAT=yes
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# -----------------------------------------------------------------------
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# default flash mode is via usb dfu bootloader
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FLASH_MODE ?= DFU
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ifndef NO_LUFTBOOT
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$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8004000
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endif
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#
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#
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# some default values shared between different firmwares
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#
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#
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#
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# default LED configuration
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#
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RADIO_CONTROL_LED ?= none
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BARO_LED ?= none
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AHRS_ALIGNER_LED ?= 2
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GPS_LED ?= none
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SYS_TIME_LED ?= 1
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#
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# default uart configuration
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#
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RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1
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RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART2
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MODEM_PORT ?= UART5
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MODEM_BAUD ?= B57600
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GPS_PORT ?= UART3
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GPS_BAUD ?= B38400
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#
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# default actuator configuration
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#
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# you can use different actuators by adding a configure option to your firmware section
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# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
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# and by setting the correct "driver" attribute in servo section
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# e.g. <servo driver="Ppm">
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#
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ACTUATORS ?= actuators_pwm
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@@ -0,0 +1,35 @@
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/*
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* Hey Emacs, this is a -*- makefile -*-
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*
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* Copyright (C) 2012 Sergey Krukowski <softsr@yahoo.de>
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*
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* This file is part of Paparazzi.
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*
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* Paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* Paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*/
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/* Linker script for Krooz (STM32F405, 1024K flash, 192K RAM). */
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/* Define memory regions. */
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MEMORY
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{
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ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
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/* Leaving 2k of space at the end of rom for stored settings */
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rom (rx) : ORIGIN = 0x08004000, LENGTH = 1022K
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}
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/* Include the common ld script. */
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INCLUDE libopencm3_stm32f4.ld
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@@ -0,0 +1,387 @@
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#ifndef CONFIG_KROOZ_1_0_H
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#define CONFIG_KROOZ_1_0_H
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#define BOARD_KROOZ
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/* Krooz/M has a 12MHz external clock and 168MHz internal. */
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#define EXT_CLK 12000000
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#define AHB_CLK 168000000
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/*
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* Onboard LEDs
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*/
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/* red, on PA8 */
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#ifndef USE_LED_1
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#define USE_LED_1 1
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#endif
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#define LED_1_GPIO GPIOA
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#define LED_1_GPIO_CLK RCC_AHB1ENR_IOPAEN
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#define LED_1_GPIO_PIN GPIO13
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#define LED_1_GPIO_ON gpio_clear
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#define LED_1_GPIO_OFF gpio_set
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#define LED_1_AFIO_REMAP ((void)0)
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/* green, shared with JTAG_TRST */
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#ifndef USE_LED_2
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#define USE_LED_2 1
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#endif
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#define LED_2_GPIO GPIOA
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#define LED_2_GPIO_CLK RCC_AHB1ENR_IOPAEN
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#define LED_2_GPIO_PIN GPIO14
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#define LED_2_GPIO_ON gpio_clear
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#define LED_2_GPIO_OFF gpio_set
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#define LED_2_AFIO_REMAP ((void)0)
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/* green, shared with ADC12 (ADC_6 on connector ANALOG2) */
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#ifndef USE_LED_3
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#define USE_LED_3 1
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#endif
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#define LED_3_GPIO GPIOA
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#define LED_3_GPIO_CLK RCC_AHB1ENR_IOPAEN
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#define LED_3_GPIO_PIN GPIO15
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#define LED_3_GPIO_ON gpio_clear
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#define LED_3_GPIO_OFF gpio_set
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#define LED_3_AFIO_REMAP ((void)0)
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/*
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* not actual LEDS, used as GPIOs
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*/
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/* PB4, Camera power On/Off */
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#define CAM_SW_GPIO GPIOB
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#define CAM_SW_GPIO_CLK RCC_AHB1ENR_IOPBEN
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#define CAM_SW_GPIO_PIN GPIO4
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#define CAM_SW_AFIO_REMAP ((void)0)
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/* PC2, Camera shot */
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#define CAM_SH_GPIO GPIOC
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#define CAM_SH_GPIO_CLK RCC_AHB1ENR_IOPCEN
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#define CAM_SH_GPIO_PIN GPIO2
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#define CAM_SH_AFIO_REMAP ((void)0)
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/* PC15, Camera video */
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#define CAM_V_GPIO GPIOC
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#define CAM_V_GPIO_CLK RCC_AHB1ENR_IOPCEN
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#define CAM_V_GPIO_PIN GPIO15
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#define CAM_V_AFIO_REMAP ((void)0)
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#define BEEPER_GPIO GPIOC
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#define BEEPER_GPIO_CLK RCC_AHB1ENR_IOPCEN
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#define BEEPER_GPIO_PIN GPIO14
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#define BEEPER_AFIO_REMAP ((void)0)
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/* Default actuators driver */
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#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
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#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
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#define ActuatorsDefaultInit() ActuatorsPwmInit()
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#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
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//#define DefaultVoltageOfAdc(adc) (0.006185*adc)
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#define DefaultVoltageOfAdc(adc) (0.008874*adc)
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/* Onboard ADCs */
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#define USE_AD_TIM4 1
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/*
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ADC1 PC3/ADC13
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ADC2 PC0/ADC10
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ADC3 PC1/ADC11
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ADC4 PC5/ADC15
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ADC6 PC2/ADC12
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BATT PC4/ADC14
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*/
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#define BOARD_ADC_CHANNEL_1 12
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#define BOARD_ADC_CHANNEL_2 10
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#define BOARD_ADC_CHANNEL_3 11
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#define BOARD_ADC_CHANNEL_4 13 //15
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#define BOARD_ADC_CHANNEL_5 14
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// we can only use ADC1,2,3; the last channel is for bat monitoring
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#define BOARD_ADC_CHANNEL_6 15 //13
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/* provide defines that can be used to access the ADC_x in the code or airframe file
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* these directly map to the index number of the 4 adc channels defined above
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* 4th (index 3) is used for bat monitoring by default
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*/
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#define ADC_1 0
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#define ADC_2 1
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#define ADC_3 2
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#define ADC_4 3
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#define ADC_5 4
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#define ADC_6 5
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/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
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#ifndef ADC_CHANNEL_VSUPPLY
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#define ADC_CHANNEL_VSUPPLY ADC_4
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#endif
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#define ADC_CHANNEL_CAM1 ADC_1
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#ifndef USE_AD1
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#define USE_AD1 1
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#endif
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/* provide defines that can be used to access the ADC_x in the code or airframe file
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* these directly map to the index number of the 4 adc channels defined above
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* 4th (index 3) is used for bat monitoring by default
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*/
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#define ADC_1 ADC1_C1
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#ifdef USE_ADC_1
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#ifndef ADC_1_GPIO_CLOCK_PORT
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#define ADC_1_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPBEN
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#define ADC_1_INIT() gpio_mode_setup(GPIOB, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO0)
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#endif
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#define USE_AD1_1 1
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#else
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#define ADC_1_GPIO_CLOCK_PORT 0
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#define ADC_1_INIT() {}
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#endif
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#define ADC_2 ADC1_C2
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#ifdef USE_ADC_2
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#ifndef ADC_2_GPIO_CLOCK_PORT
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#define ADC_2_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPBEN
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#define ADC_2_INIT() gpio_mode_setup(GPIOB, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO1)
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#endif
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#define USE_AD1_2 1
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#else
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#define ADC_2_GPIO_CLOCK_PORT 0
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#define ADC_2_INIT() {}
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#endif
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#define ADC_3 ADC1_C3
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#ifdef USE_ADC_3
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#ifndef ADC_3_GPIO_CLOCK_PORT
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#define ADC_3_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPCEN
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#define ADC_3_INIT() gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO4)
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#endif
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#define USE_AD1_3 1
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#else
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#define ADC_3_GPIO_CLOCK_PORT 0
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#define ADC_3_INIT() {}
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#endif
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#define ADC_4 ADC1_C4
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//#ifdef USE_ADC_4
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#ifndef ADC_4_GPIO_CLOCK_PORT
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#define ADC_4_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPAEN
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#define ADC_4_INIT() gpio_mode_setup(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO4)
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#endif
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#define USE_AD1_4 1
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//#else
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//#define ADC_4_GPIO_CLOCK_PORT 0
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//#define ADC_4_INIT() {}
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//#endif
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#ifdef USE_AD1
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#define ADC1_GPIO_INIT(gpio) { \
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ADC_1_INIT(); \
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ADC_2_INIT(); \
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ADC_3_INIT(); \
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ADC_4_INIT(); \
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}
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#endif // USE_AD1
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#define BOARD_HAS_BARO 1
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/* I2C mapping */
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#define GPIO_I2C1_SCL GPIO8
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#define GPIO_I2C1_SDA GPIO7
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#define GPIO_I2C2_SCL GPIO10
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#define GPIO_I2C2_SDA GPIO11
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/* PWM */
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#define PWM_USE_TIM2 1
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#define PWM_USE_TIM3 1
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#define PWM_USE_TIM4 1
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#define PWM_USE_TIM5 1
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#define USE_PWM0 1
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#define USE_PWM1 1
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#define USE_PWM2 1
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#define USE_PWM3 1
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#define USE_PWM4 1
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#define USE_PWM5 1
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#define USE_PWM6 1
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#define USE_PWM7 1
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#define USE_PWM8 1
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#define USE_PWM9 1
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#define USE_PWM10 1
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// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
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#if USE_PWM0
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#define PWM_SERVO_0 0
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#define PWM_SERVO_0_TIMER TIM3
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#define PWM_SERVO_0_RCC_IOP RCC_AHB1ENR_IOPCEN
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#define PWM_SERVO_0_GPIO GPIOC
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#define PWM_SERVO_0_PIN GPIO6
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#define PWM_SERVO_0_AF GPIO_AF1
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#define PWM_SERVO_0_OC TIM_OC1
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#define PWM_SERVO_0_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_0_OC_BIT 0
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#endif
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#if USE_PWM1
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#define PWM_SERVO_1 1
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#define PWM_SERVO_1_TIMER TIM3
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#define PWM_SERVO_1_RCC_IOP RCC_AHB1ENR_IOPCEN
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#define PWM_SERVO_1_GPIO GPIOC
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#define PWM_SERVO_1_PIN GPIO7
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#define PWM_SERVO_1_AF GPIO_AF1
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#define PWM_SERVO_1_OC TIM_OC2
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#define PWM_SERVO_1_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_1_OC_BIT 0
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#endif
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#if USE_PWM2
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#define PWM_SERVO_2 2
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#define PWM_SERVO_2_TIMER TIM3
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#define PWM_SERVO_2_RCC_IOP RCC_AHB1ENR_IOPCEN
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#define PWM_SERVO_2_GPIO GPIOC
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#define PWM_SERVO_2_PIN GPIO8
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#define PWM_SERVO_2_AF GPIO_AF1
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#define PWM_SERVO_2_OC TIM_OC3
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#define PWM_SERVO_2_OC_BIT (1<<2)
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#else
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#define PWM_SERVO_2_OC_BIT 0
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#endif
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#if USE_PWM3
|
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#define PWM_SERVO_3_IDX 3
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#define PWM_SERVO_3_TIMER TIM3
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#define PWM_SERVO_3_RCC_IOP RCC_AHB1ENR_IOPCEN
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#define PWM_SERVO_3_GPIO GPIOC
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#define PWM_SERVO_3_PIN GPIO9
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#define PWM_SERVO_3_AF GPIO_AF1
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#define PWM_SERVO_3_OC TIM_OC4
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#define PWM_SERVO_3_OC_BIT (1<<3)
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#else
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#define PWM_SERVO_3_OC_BIT 0
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#endif
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#if USE_PWM4
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#define PWM_SERVO_4 4
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#define PWM_SERVO_4_TIMER TIM4
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#define PWM_SERVO_4_RCC_IOP RCC_AHB1ENR_IOPBEN
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#define PWM_SERVO_4_GPIO GPIOB
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#define PWM_SERVO_4_PIN GPIO6
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#define PWM_SERVO_4_AF GPIO_AF1
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#define PWM_SERVO_4_OC TIM_OC1
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#define PWM_SERVO_4_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_4_OC_BIT 0
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#endif
|
||||
|
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#if USE_PWM5
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||||
#define PWM_SERVO_5 5
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#define PWM_SERVO_5_TIMER TIM4
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#define PWM_SERVO_5_RCC_IOP RCC_AHB1ENR_IOPBEN
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#define PWM_SERVO_5_GPIO GPIOB
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||||
#define PWM_SERVO_5_PIN GPIO7
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||||
#define PWM_SERVO_5_AF GPIO_AF1
|
||||
#define PWM_SERVO_5_OC TIM_OC2
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||||
#define PWM_SERVO_5_OC_BIT (1<<1)
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||||
#else
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||||
#define PWM_SERVO_5_OC_BIT 0
|
||||
#endif
|
||||
|
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#if USE_PWM6
|
||||
#define PWM_SERVO_6 6
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#define PWM_SERVO_6_TIMER TIM5
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#define PWM_SERVO_6_RCC_IOP RCC_AHB1ENR_IOPAEN
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||||
#define PWM_SERVO_6_GPIO GPIOA
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||||
#define PWM_SERVO_6_PIN GPIO0
|
||||
#define PWM_SERVO_6_AF GPIO_AF1
|
||||
#define PWM_SERVO_6_OC TIM_OC1
|
||||
#define PWM_SERVO_6_OC_BIT (1<<0)
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||||
#else
|
||||
#define PWM_SERVO_6_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM7
|
||||
#define PWM_SERVO_7 7
|
||||
#define PWM_SERVO_7_TIMER TIM5
|
||||
#define PWM_SERVO_7_RCC_IOP RCC_AHB1ENR_IOPAEN
|
||||
#define PWM_SERVO_7_GPIO GPIOA
|
||||
#define PWM_SERVO_7_PIN GPIO1
|
||||
#define PWM_SERVO_7_AF GPIO_AF1
|
||||
#define PWM_SERVO_7_OC TIM_OC2
|
||||
#define PWM_SERVO_7_OC_BIT (1<<1)
|
||||
#else
|
||||
#define PWM_SERVO_7_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM8
|
||||
#define PWM_SERVO_8 8
|
||||
#define PWM_SERVO_8_TIMER TIM5
|
||||
#define PWM_SERVO_8_RCC_IOP RCC_AHB1ENR_IOPAEN
|
||||
#define PWM_SERVO_8_GPIO GPIOA
|
||||
#define PWM_SERVO_8_PIN GPIO2
|
||||
#define PWM_SERVO_8_AF GPIO_AF1
|
||||
#define PWM_SERVO_8_OC TIM_OC3
|
||||
#define PWM_SERVO_8_OC_BIT (1<<2)
|
||||
#else
|
||||
#define PWM_SERVO_8_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM9
|
||||
#define PWM_SERVO_9 9
|
||||
#define PWM_SERVO_9_TIMER TIM5
|
||||
#define PWM_SERVO_9_RCC_IOP RCC_AHB1ENR_IOPAEN
|
||||
#define PWM_SERVO_9_GPIO GPIOA
|
||||
#define PWM_SERVO_9_PIN GPIO3
|
||||
#define PWM_SERVO_9_AF GPIO_AF1
|
||||
#define PWM_SERVO_9_OC TIM_OC4
|
||||
#define PWM_SERVO_9_OC_BIT (1<<3)
|
||||
#else
|
||||
#define PWM_SERVO_9_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM10
|
||||
#define PWM_SERVO_10 10
|
||||
#define PWM_SERVO_10_TIMER TIM2
|
||||
#define PWM_SERVO_10_RCC_IOP RCC_AHB1ENR_IOPBEN
|
||||
#define PWM_SERVO_10_GPIO GPIOB
|
||||
#define PWM_SERVO_10_PIN GPIO3
|
||||
#define PWM_SERVO_10_AF GPIO_AF1
|
||||
#define PWM_SERVO_10_OC TIM_OC2
|
||||
#define PWM_SERVO_10_OC_BIT (1<<1)
|
||||
#else
|
||||
#define PWM_SERVO_10_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#define PWM_TIM2_CHAN_MASK (PWM_SERVO_10_OC_BIT)
|
||||
#define PWM_TIM3_CHAN_MASK (PWM_SERVO_0_OC_BIT|PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT)
|
||||
#define PWM_TIM4_CHAN_MASK (PWM_SERVO_4_OC_BIT|PWM_SERVO_5_OC_BIT)
|
||||
#define PWM_TIM5_CHAN_MASK (PWM_SERVO_6_OC_BIT|PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT|PWM_SERVO_9_OC_BIT)
|
||||
|
||||
|
||||
/* PPM */
|
||||
|
||||
#define USE_PPM_TIM1 1
|
||||
|
||||
#define PPM_CHANNEL TIM_IC1
|
||||
#define PPM_TIMER_INPUT TIM_IC_IN_TI1
|
||||
#define PPM_IRQ NVIC_TIM1_CC_IRQ
|
||||
#define PPM_IRQ2 NVIC_TIM1_UP_TIM10_IRQ
|
||||
#define PPM_IRQ_FLAGS TIM_DIER_CC1IE
|
||||
#define PPM_IRQ_CCIF TIM_SR_CC1IF
|
||||
#define PPM_GPIO_PERIPHERAL RCC_AHB1ENR_IOPAEN
|
||||
#define PPM_GPIO_PORT GPIOA
|
||||
#define PPM_GPIO_PIN GPIO8
|
||||
#define PPM_GPIO_AF GPIO_AF1
|
||||
|
||||
/*
|
||||
* Spektrum
|
||||
*/
|
||||
/* The line that is pulled low at power up to initiate the bind process */
|
||||
#define SPEKTRUM_BIND_PIN GPIO8
|
||||
#define SPEKTRUM_BIND_PIN_PORT GPIOA
|
||||
#define SPEKTRUM_BIND_PIN_RCC_IOP RCC_AHB1ENR_IOPAEN
|
||||
|
||||
#endif /* CONFIG_KROOZ_1_0_H */
|
||||
Reference in New Issue
Block a user