[boards] start adding files for pixhawk (px4fmu_2.4)

conf/boards/px4fmu_2.4.makefile

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+# 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. <configure name="ACTUATORS" value="actuators_ppm/>
+# and by setting the correct "driver" attribute in servo section
+# e.g. <servo driver="Ppm">
+#
+ACTUATORS ?= actuators_pwm

sw/airborne/arch/stm32/px4fmu_2.4.ld

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+/*
+ * 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

sw/airborne/boards/px4fmu_2.4.h

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+#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 */