diff --git a/conf/boards/px4fmu_2.4.makefile b/conf/boards/px4fmu_2.4.makefile new file mode 100644 index 0000000000..9301b7424a --- /dev/null +++ b/conf/boards/px4fmu_2.4.makefile @@ -0,0 +1,57 @@ +# Hey Emacs, this is a -*- makefile -*- +# +# px4fmu_2.4.makefile +# +# This is for the main MCU (STM32F427) on the pixhawk board +# See https://pixhawk.org/modules/pixhawk for details +# + +BOARD=px4fmu +BOARD_VERSION=2.4 +BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" + +ARCH=stm32 +ARCH_L=f4 +ARCH_DIR=stm32 +SRC_ARCH=arch/$(ARCH_DIR) +$(TARGET).ARCHDIR = $(ARCH) +$(TARGET).LDSCRIPT=$(SRC_ARCH)/px4fmu_2.4.ld + +HARD_FLOAT=yes + +# default flash mode is via usb dfu bootloader +# possibilities: DFU, SWD +FLASH_MODE ?= SWD + + +# +# default LED configuration +# +RADIO_CONTROL_LED ?= none +BARO_LED ?= none +AHRS_ALIGNER_LED ?= none +GPS_LED ?= none +SYS_TIME_LED ?= 1 + +# +# default UART configuration (modem, gps, spektrum) +# + +MODEM_PORT ?= UART2 +MODEM_BAUD ?= B57600 + +GPS_PORT ?= UART4 +GPS_BAUD ?= B38400 + +RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2 + + +# +# default actuator configuration +# +# you can use different actuators by adding a configure option to your firmware section +# e.g. +# +ACTUATORS ?= actuators_pwm diff --git a/sw/airborne/arch/stm32/px4fmu_2.4.ld b/sw/airborne/arch/stm32/px4fmu_2.4.ld new file mode 100644 index 0000000000..c75ae6f361 --- /dev/null +++ b/sw/airborne/arch/stm32/px4fmu_2.4.ld @@ -0,0 +1,34 @@ +/* + * Copyright (C) 2015 Felix Ruess + * + * 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. + */ + +/* Linker script for Pixhawk PX4FMU v2.4 (STM32F427, 2048K flash, 256K RAM). */ + +/* Define memory regions. */ +MEMORY +{ + /* only 192K (SRAM1 and SRAM2) are accessible by all AHB masters. */ + ram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K + /* Reserving 128kb flash for persistent settings. */ + rom (rx) : ORIGIN = 0x08000000, LENGTH = 1920K +} + +/* Include the common ld script. */ +INCLUDE libopencm3_stm32f4.ld diff --git a/sw/airborne/boards/px4fmu_2.4.h b/sw/airborne/boards/px4fmu_2.4.h new file mode 100644 index 0000000000..4e9cd7853f --- /dev/null +++ b/sw/airborne/boards/px4fmu_2.4.h @@ -0,0 +1,395 @@ +#ifndef CONFIG_PX4FMU_2_4_H +#define CONFIG_PX4FMU_2_4_H + +#define BOARD_PX4FMU_v2 + +/* Pixhawk board (PX4FMUv2 has a 24MHz external clock and 168MHz internal. */ +#define EXT_CLK 24000000 +#define AHB_CLK 168000000 + + +/* + * Onboard LEDs + */ +/* red/amber , on PE12 */ +#ifndef USE_LED_1 +#define USE_LED_1 1 +#endif +#define LED_1_GPIO GPIOE +#define LED_1_GPIO_PIN GPIO12 +#define LED_1_GPIO_ON gpio_clear +#define LED_1_GPIO_OFF gpio_set +#define LED_1_AFIO_REMAP ((void)0) + +/* + * UART + */ +/* +#define UART1_GPIO_AF GPIO_AF7 +#define UART1_GPIO_PORT_RX GPIOA +#define UART1_GPIO_RX GPIO9 +#define UART1_GPIO_PORT_TX GPIOA +#define UART1_GPIO_TX GPIO10 +*/ + +//OK // conector telem1 +#define UART2_GPIO_AF GPIO_AF7 +#define UART2_GPIO_PORT_RX GPIOD +#define UART2_GPIO_RX GPIO6 +#define UART2_GPIO_PORT_TX GPIOD +#define UART2_GPIO_TX GPIO5 +//#define UART2_CTS PD3 +//#define UART2_RTS PD4 + +//OK-2 //conector telem2 +#define UART3_GPIO_AF GPIO_AF7 +#define UART3_GPIO_PORT_RX GPIOD +#define UART3_GPIO_RX GPIO9 +#define UART3_GPIO_PORT_TX GPIOD +#define UART3_GPIO_TX GPIO8 +//CTS - P11 +//RTS - P12 + +//OK-2 // GPS +#define UART4_GPIO_AF GPIO_AF8 +#define UART4_GPIO_PORT_RX GPIOA +#define UART4_GPIO_RX GPIO1 +#define UART4_GPIO_PORT_TX GPIOA +#define UART4_GPIO_TX GPIO0 + +//OK-2 debug ligado no processador IO +#define UART6_GPIO_AF GPIO_AF8 +#define UART6_GPIO_PORT_RX GPIOC +#define UART6_GPIO_RX GPIO7 +#define UART6_GPIO_PORT_TX GPIOC +#define UART6_GPIO_TX GPIO6 + +//OK-2 //conector serial5 +#define UART7_GPIO_AF GPIO_AF8 +#define UART7_GPIO_PORT_RX GPIOE +#define UART7_GPIO_RX GPIO7 +#define UART7_GPIO_PORT_TX GPIOE +#define UART7_GPIO_TX GPIO8 + +//OK-2 //conector serial4 +#define UART8_GPIO_AF GPIO_AF8 +#define UART8_GPIO_PORT_RX GPIOE +#define UART8_GPIO_RX GPIO0 +#define UART8_GPIO_PORT_TX GPIOE +#define UART8_GPIO_TX GPIO1 + +/* + * SPI + */ + +/* SPI1 for MPU and accel/gyro if populated */ +//OK-2 +#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 + +/* SPI2 for FRAM */ +//OK-2 +#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 + +/* SPI4 Ext SPI connector */ +//OK-2 +#define SPI4_GPIO_AF GPIO_AF5 +#define SPI4_GPIO_PORT_MISO GPIOE +#define SPI4_GPIO_MISO GPIO5 +#define SPI4_GPIO_PORT_MOSI GPIOE +#define SPI4_GPIO_MOSI GPIO6 +#define SPI4_GPIO_PORT_SCK GPIOE +#define SPI4_GPIO_SCK GPIO2 + +/* + * SPI slave pin declaration + */ +/* GYRO_CS on SPI1 */ +//OK-2 +#define SPI_SELECT_SLAVE0_PORT GPIOC +#define SPI_SELECT_SLAVE0_PIN GPIO13 + +/* ACCEL_MAG_CS on SPI1 */ +//OK-2 +#define SPI_SELECT_SLAVE1_PORT GPIOC +#define SPI_SELECT_SLAVE1_PIN GPIO15 + +/* MPU_CS on SPI1 */ +//OK-2 +#define SPI_SELECT_SLAVE2_PORT GPIOC +#define SPI_SELECT_SLAVE2_PIN GPIO2 + +/* BARO_CS on SPI1 */ +//OK-2 +#define SPI_SELECT_SLAVE3_PORT GPIOD +#define SPI_SELECT_SLAVE3_PIN GPIO7 + +/* FRAM_CS on SPI2 */ +//OK-2 +#define SPI_SELECT_SLAVE4_PORT GPIOD +#define SPI_SELECT_SLAVE4_PIN GPIO10 + +/* SPI3 NSS on microSD connector */ +/* +#define SPI_SELECT_SLAVE3_PORT GPIOA +#define SPI_SELECT_SLAVE3_PIN GPIO4 +*/ + +// SDIO on microSD connector +//#define SDIO_AF GPIO_AF12 +// SDIO_D0 pc8 +// SDIO_D1 pc9 +// SDIO_D2 pc10 +// SDIO_D3 pc11 +// SDIO_CK pc12 +// SDIO_CMD pd2 + +/* Onboard ADCs */ +#define USE_AD_TIM4 1 + +#define BOARD_ADC_CHANNEL_1 11 +#define BOARD_ADC_CHANNEL_2 12 +#define BOARD_ADC_CHANNEL_3 13 +#define BOARD_ADC_CHANNEL_4 10 + +/* provide defines that can be used to access the ADC_x in the code or airframe file + * these directly map to the index number of the 4 adc channels defined above + * 4th (index 3) is used for bat monitoring by default + */ + +#if USE_ADC_1 +#define AD1_1_CHANNEL 11 +#define ADC_1 AD1_1 +#define ADC_1_GPIO_PORT GPIOC +#define ADC_1_GPIO_PIN GPIO1 +#endif +/* +#if USE_ADC_2 +#define AD1_2_CHANNEL 12 +#define ADC_2 AD1_2 +#define ADC_2_GPIO_PORT GPIOC +#define ADC_2_GPIO_PIN GPIO2 +#endif +*/ + +//OK current sens +#if USE_ADC_3 +#define AD1_3_CHANNEL 13 +#define ADC_3 AD1_3 +#define ADC_3_GPIO_PORT GPIOA +#define ADC_3_GPIO_PIN GPIO3 +#endif + +// Internal ADC for battery enabled by default +#ifndef USE_ADC_4 +#define USE_ADC_4 1 +#endif +#if USE_ADC_4 +#define AD1_4_CHANNEL 10 +#define ADC_4 AD1_4 +#define ADC_4_GPIO_PORT GPIOA +#define ADC_4_GPIO_PIN GPIO2 +#endif + +/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ +#ifndef ADC_CHANNEL_VSUPPLY +#define ADC_CHANNEL_VSUPPLY ADC_4 +#endif +#define DefaultVoltageOfAdc(adc) (0.006185*adc) + + +/* + * I2C mapping + */ +//OK +#define I2C1_GPIO_PORT GPIOB +#define I2C1_GPIO_SCL GPIO8 +#define I2C1_GPIO_SDA GPIO9 + +//OK +#define I2C2_GPIO_PORT GPIOB +#define I2C2_GPIO_SCL GPIO10 +#define I2C2_GPIO_SDA GPIO11 + +/* +#define I2C3_GPIO_PORT_SCL GPIOA +#define I2C3_GPIO_SCL GPIO8 +#define I2C3_GPIO_PORT_SDA GPIOC +#define I2C3_GPIO_SDA GPIO9 +*/ + +/* + * 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 +// Capture/Compare InteruptEnable and InterruptFlag +#define PPM_CC_IE TIM_DIER_CC1IE +#define PPM_CC_IF TIM_SR_CC1IF +#define PPM_GPIO_PORT GPIOA +#define PPM_GPIO_PIN GPIO10 +#define PPM_GPIO_AF GPIO_AF1 + +/* + * Spektrum + */ +/* The line that is pulled low at power up to initiate the bind process */ +/* GPIO_EXT1 on PX4FMU */ + +/* +#define SPEKTRUM_BIND_PIN GPIO4 +#define SPEKTRUM_BIND_PIN_PORT GPIOC +*/ +/* +#define SPEKTRUM_UART2_RCC RCC_USART2 +#define SPEKTRUM_UART2_BANK GPIOA +#define SPEKTRUM_UART2_PIN GPIO3 +#define SPEKTRUM_UART2_AF GPIO_AF7 +#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ +#define SPEKTRUM_UART2_ISR usart2_isr +#define SPEKTRUM_UART2_DEV USART2 +*/ + + +/* Activate onboard baro by default */ +#ifndef USE_BARO_BOARD +#define USE_BARO_BOARD 1 +#endif + + +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" +#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) +#define ActuatorsDefaultInit() ActuatorsPwmInit() +#define ActuatorsDefaultCommit() ActuatorsPwmCommit() + +/* PWM */ +#define PWM_USE_TIM1 1 +#define PWM_USE_TIM4 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 + +// Servo numbering on the PX4 starts with 1 +// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array + +//servo AUX1 +#if USE_PWM1 +#define PWM_SERVO_1 0 +#define PWM_SERVO_1_TIMER TIM1 +#define PWM_SERVO_1_GPIO GPIOE +#define PWM_SERVO_1_PIN GPIO14 +#define PWM_SERVO_1_AF GPIO_AF1 +#define PWM_SERVO_1_OC TIM_OC4 +#define PWM_SERVO_1_OC_BIT (1<<3) +#else +#define PWM_SERVO_1_OC_BIT 0 +#endif + +//servo AUX2 +#if USE_PWM2 +#define PWM_SERVO_2 1 +#define PWM_SERVO_2_TIMER TIM1 +#define PWM_SERVO_2_GPIO GPIOE +#define PWM_SERVO_2_PIN GPIO13 +#define PWM_SERVO_2_AF GPIO_AF1 +#define PWM_SERVO_2_OC TIM_OC3 +#define PWM_SERVO_2_OC_BIT (1<<2) +#else +#define PWM_SERVO_2_OC_BIT 0 +#endif + +//servo AUX3 +#if USE_PWM3 +#define PWM_SERVO_3 2 //#define PWM_SERVO_3_IDX 2 +#define PWM_SERVO_3_TIMER TIM1 +#define PWM_SERVO_3_GPIO GPIOE +#define PWM_SERVO_3_PIN GPIO11 +#define PWM_SERVO_3_AF GPIO_AF1 +#define PWM_SERVO_3_OC TIM_OC2 +#define PWM_SERVO_3_OC_BIT (1<<1) +#else +#define PWM_SERVO_3_OC_BIT 0 +#endif + +//servo AUX4 +#if USE_PWM4 +#define PWM_SERVO_4 3 +#define PWM_SERVO_4_TIMER TIM1 +#define PWM_SERVO_4_GPIO GPIOE +#define PWM_SERVO_4_PIN GPIO9 +#define PWM_SERVO_4_AF GPIO_AF1 +#define PWM_SERVO_4_OC TIM_OC1 +#define PWM_SERVO_4_OC_BIT (1<<0) +#else +#define PWM_SERVO_4_OC_BIT 0 +#endif + +//servo AUX5 +#if USE_PWM5 +#define PWM_SERVO_5 4 +#define PWM_SERVO_5_TIMER TIM4 +#define PWM_SERVO_5_GPIO GPIOD +#define PWM_SERVO_5_PIN GPIO13 +#define PWM_SERVO_5_AF GPIO_AF2 +#define PWM_SERVO_5_OC TIM_OC2 +#define PWM_SERVO_5_OC_BIT (1<<1) +#else +#define PWM_SERVO_5_OC_BIT 0 +#endif + +//servo AUX6 +#if USE_PWM6 +#define PWM_SERVO_6 5 +#define PWM_SERVO_6_TIMER TIM4 +#define PWM_SERVO_6_GPIO GPIOD +#define PWM_SERVO_6_PIN GPIO14 +#define PWM_SERVO_6_AF GPIO_AF2 +#define PWM_SERVO_6_OC TIM_OC3 +#define PWM_SERVO_6_OC_BIT (1<<2) +#else +#define PWM_SERVO_6_OC_BIT 0 +#endif + +//Buzzer +/* +#if USE_BUZZER +#define PWM_BUZZER +#define PWM_BUZZER_TIMER TIM2 +#define PWM_BUZZER_GPIO GPIOA +#define PWM_BUZZER_PIN GPIO15 +#define PWM_BUZZER_AF GPIO_AF1 +#define PWM_BUZZER_OC TIM_OC1 +#define PWM_BUZZER_OC_BIT (1<<0) +#else +#define PWM_BUZZER_OC_BIT 0 +#endif +*/ + + +#define PWM_TIM1_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT) +//#define PWM_TIM2_CHAN_MASK (PWM_BUZZER_OC_BIT) +#define PWM_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT) + +#endif /* CONFIG_PX4FMU_2_4_H */