mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
[boards] Added Lisa/M and Lisa/MX V2.1.
The only major change to v2.0 related to software is the fact that we have a dedicated Bind button now and are not misusing the ADC1 pin any more. Otherwise the changes are mostly mechanical including the integration of Aspirin V2.2 into the board design. closes #813
This commit is contained in:
Piotr Esden-Tempski
committed by
Felix Ruess
Felix Ruess
parent
61f76f34e5
commit
8aada53e25
@@ -1,17 +1,17 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- this is a quadrotor frame in X-configuration equiped with
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* Autopilot: Lisa/MX 2.0 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v20
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* IMU: Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
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* Autopilot: Lisa/MX 2.1 with STM32F4 http://wiki.paparazziuav.org/wiki/Lisa/M_v21
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* IMU: Integrated Aspirin 2.2 http://wiki.paparazziuav.org/wiki/AspirinIMU
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* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
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* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
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* RC: two Spektrum sats http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
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-->
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<airframe name="Quadrotor LisaMX_2.0 pwm">
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<airframe name="Quadrotor LisaMX_2.1 pwm">
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<firmware name="rotorcraft">
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<target name="ap" board="lisa_mx_2.0">
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<target name="ap" board="lisa_mx_2.1">
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<subsystem name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_AUX1"/>
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/>
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@@ -40,13 +40,13 @@
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</firmware>
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<firmware name="test_progs">
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<target name="test_sys_time_timer" board="lisa_mx_2.0"/>
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<target name="test_adc" board="lisa_mx_2.0"/>
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<target name="test_telemetry" board="lisa_mx_2.0"/>
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<target name="test_baro_board" board="lisa_mx_2.0">
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<target name="test_sys_time_timer" board="lisa_mx_2.1"/>
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<target name="test_adc" board="lisa_mx_2.1"/>
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<target name="test_telemetry" board="lisa_mx_2.1"/>
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<target name="test_baro_board" board="lisa_mx_2.1">
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<configure name="BARO_LED" value="5"/>
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</target>
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<target name="test_radio_control" board="lisa_mx_2.0">
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<target name="test_radio_control" board="lisa_mx_2.1">
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<subsystem name="radio_control" type="spektrum">
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<define name="RADIO_MODE" value="RADIO_AUX1"/>
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<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
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@@ -0,0 +1,69 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# lisa_m_2.1.makefile
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#
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# http://paparazzi.enac.fr/wiki/Lisa/M_v21
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#
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BOARD=lisa_m
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BOARD_VERSION=2.1
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BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
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ARCH=stm32
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$(TARGET).ARCHDIR = $(ARCH)
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# not needed?
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$(TARGET).OOCD_INTERFACE=flossjtag
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#$(TARGET).OOCD_INTERFACE=jtagkey-tiny
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$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-m.ld
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# -----------------------------------------------------------------------
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# default flash mode is via usb dfu bootloader (luftboot)
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# other possibilities: DFU-UTIL, JTAG, SWD, STLINK, SERIAL
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FLASH_MODE ?= DFU
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HAS_LUFTBOOT ?= 1
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ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
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$(TARGET).CFLAGS+=-DLUFTBOOT
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$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8002000
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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 ?= 4
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BARO_LED ?= none
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AHRS_ALIGNER_LED ?= 2
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GPS_LED ?= 3
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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 ?= UART5
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MODEM_PORT ?= UART2
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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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@@ -19,7 +19,7 @@ $(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld
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# default flash mode is via usb dfu bootloader (luftboot)
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# other possibilities: DFU-UTIL, SWD, JTAG_BMP, STLINK, SERIAL
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FLASH_MODE ?= DFU-UTIL
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FLASH_MODE ?= SWD
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#
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@@ -0,0 +1,63 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# lisa_mx_2.1.makefile
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#
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# http://paparazzi.enac.fr/wiki/Lisa/M_v20
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#
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BOARD=lisa_mx
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BOARD_VERSION=2.1
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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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# default flash mode is via usb dfu bootloader (luftboot)
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# other possibilities: DFU-UTIL, SWD, JTAG_BMP, STLINK, SERIAL
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FLASH_MODE ?= SWD
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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 ?= 4
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BARO_LED ?= none
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AHRS_ALIGNER_LED ?= 2
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GPS_LED ?= 3
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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 ?= UART5
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MODEM_PORT ?= UART2
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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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@@ -37,6 +37,9 @@ else ifeq ($(BOARD), lisa_m)
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else ifeq ($(BOARD_VERSION), 2.0)
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# on lisa_m_2.0: defaults to MS5611 baro connected via SPI on Aspirin2.2
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LISA_M_BARO ?= BARO_MS5611_SPI
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else ifeq ($(BOARD_VERSION), 2.1)
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# on lisa_m_2.1: defaults to MS5611 baro connected via SPI on the integrated Aspirin2.2
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LISA_M_BARO ?= BARO_MS5611_SPI
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endif
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ifeq ($(LISA_M_BARO), BARO_MS5611_SPI)
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BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
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@@ -69,6 +69,12 @@
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#define LED_BODY_GPIO_OFF gpio_clear
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#define LED_BODY_AFIO_REMAP ((void)0)
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/*
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* Spektrum
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*/
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/* The line that is pulled low at power up to initiate the bind process */
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#define SPEKTRUM_BIND_PIN GPIO3
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#define SPEKTRUM_BIND_PIN_PORT GPIOC
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/* Default actuators driver */
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#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
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@@ -109,6 +109,12 @@
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#define LED_12_GPIO_OFF gpio_set
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#define LED_12_AFIO_REMAP ((void)0)
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/*
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* Spektrum
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*/
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/* The line that is pulled low at power up to initiate the bind process */
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#define SPEKTRUM_BIND_PIN GPIO3
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#define SPEKTRUM_BIND_PIN_PORT GPIOC
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/* Default actuators driver */
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#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
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@@ -0,0 +1,134 @@
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#ifndef CONFIG_LISA_M_2_1_H
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#define CONFIG_LISA_M_2_1_H
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#include "boards/lisa_m_common.h"
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#define BOARD_LISA_M
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/* Lisa/M has a 12MHz external clock and 72MHz internal. */
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#define EXT_CLK 12000000
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#define AHB_CLK 72000000
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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_PIN GPIO8
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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 GPIOB
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#define LED_2_GPIO_PIN GPIO4
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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 { \
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rcc_periph_clock_enable(RCC_AFIO); \
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AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST; \
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}
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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 GPIOC
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#define LED_3_GPIO_PIN GPIO2
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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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/* red, shared with ADC15 (ADC_4 on connector ANALOG2) */
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#ifndef USE_LED_4
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#define USE_LED_4 1
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#endif
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#define LED_4_GPIO GPIOC
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#define LED_4_GPIO_PIN GPIO5
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#define LED_4_GPIO_ON gpio_clear
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#define LED_4_GPIO_OFF gpio_set
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#define LED_4_AFIO_REMAP ((void)0)
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/* green, on PC15 */
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#ifndef USE_LED_5
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#define USE_LED_5 1
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#endif
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#define LED_5_GPIO GPIOC
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#define LED_5_GPIO_PIN GPIO15
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#define LED_5_GPIO_ON gpio_clear
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#define LED_5_GPIO_OFF gpio_set
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#define LED_5_AFIO_REMAP ((void)0)
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/*
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* LEDs not populated by default
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*/
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/* PC3, ADC13 on ADC_1 */
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#define LED_6_GPIO GPIOC
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#define LED_6_GPIO_PIN GPIO3
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#define LED_6_GPIO_ON gpio_clear
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#define LED_6_GPIO_OFF gpio_set
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#define LED_6_AFIO_REMAP ((void)0)
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/* PC0, ADC10 on ADC_2 */
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#define LED_7_GPIO GPIOC
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#define LED_7_GPIO_PIN GPIO0
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#define LED_7_GPIO_ON gpio_clear
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#define LED_7_GPIO_OFF gpio_set
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#define LED_7_AFIO_REMAP ((void)0)
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/* PC1, ADC11 on ADC_3 */
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#define LED_8_GPIO GPIOC
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#define LED_8_GPIO_PIN GPIO1
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#define LED_8_GPIO_ON gpio_clear
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#define LED_8_GPIO_OFF gpio_set
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#define LED_8_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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/* PB1, DRDY on EXT SPI connector*/
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#define LED_BODY_GPIO GPIOB
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#define LED_BODY_GPIO_PIN GPIO1
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#define LED_BODY_GPIO_ON gpio_set
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#define LED_BODY_GPIO_OFF gpio_clear
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#define LED_BODY_AFIO_REMAP ((void)0)
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/* PC12, on GPIO connector*/
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#define LED_12_GPIO GPIOC
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#define LED_12_GPIO_PIN GPIO12
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#define LED_12_GPIO_ON gpio_clear
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#define LED_12_GPIO_OFF gpio_set
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#define LED_12_AFIO_REMAP ((void)0)
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/*
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* Spektrum
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*/
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/* The line that is pulled low at power up to initiate the bind process */
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#define SPEKTRUM_BIND_PIN GPIO2
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#define SPEKTRUM_BIND_PIN_PORT GPIOB
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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) (0.0045*adc)
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/* by default activate onboard baro */
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#ifndef USE_BARO_BOARD
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#define USE_BARO_BOARD 1
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#endif
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#endif /* CONFIG_LISA_M_2_1_H */
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@@ -56,8 +56,9 @@
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* Spektrum
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*/
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/* The line that is pulled low at power up to initiate the bind process */
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#define SPEKTRUM_BIND_PIN GPIO3
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#define SPEKTRUM_BIND_PIN_PORT GPIOC
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/* It was common for all Lisa/M up to version 2.1. */
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/* #define SPEKTRUM_BIND_PIN GPIO3 */
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/* #define SPEKTRUM_BIND_PIN_PORT GPIOC */
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#define SPEKTRUM_UART1_RCC RCC_USART1
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#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX
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@@ -23,143 +23,7 @@
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#ifndef CONFIG_LISA_MX_2_0_H
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#define CONFIG_LISA_MX_2_0_H
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/* #include "boards/lisa_m_common.h" */
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#define BOARD_LISA_MX
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/* Lisa/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_PIN GPIO8
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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 GPIOB
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#define LED_2_GPIO_PIN GPIO4
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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 GPIOC
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#define LED_3_GPIO_PIN GPIO2
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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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/* red, shared with ADC15 (ADC_4 on connector ANALOG2) */
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#ifndef USE_LED_4
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#define USE_LED_4 1
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#endif
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#define LED_4_GPIO GPIOC
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#define LED_4_GPIO_PIN GPIO5
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#define LED_4_GPIO_ON gpio_clear
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#define LED_4_GPIO_OFF gpio_set
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#define LED_4_AFIO_REMAP ((void)0)
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/* green, on PC15 */
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#ifndef USE_LED_5
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#define USE_LED_5 1
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#endif
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#define LED_5_GPIO GPIOC
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#define LED_5_GPIO_PIN GPIO15
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#define LED_5_GPIO_ON gpio_clear
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#define LED_5_GPIO_OFF gpio_set
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#define LED_5_AFIO_REMAP ((void)0)
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/*
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* LEDs not populated by default
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*/
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/* PC3, ADC13 on ADC_1 */
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#define LED_6_GPIO GPIOC
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#define LED_6_GPIO_PIN GPIO3
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#define LED_6_GPIO_ON gpio_clear
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#define LED_6_GPIO_OFF gpio_set
|
||||
#define LED_6_AFIO_REMAP ((void)0)
|
||||
|
||||
/* PC0, ADC10 on ADC_2 */
|
||||
#define LED_7_GPIO GPIOC
|
||||
#define LED_7_GPIO_PIN GPIO0
|
||||
#define LED_7_GPIO_ON gpio_clear
|
||||
#define LED_7_GPIO_OFF gpio_set
|
||||
#define LED_7_AFIO_REMAP ((void)0)
|
||||
|
||||
/* PC1, ADC11 on ADC_3 */
|
||||
#define LED_8_GPIO GPIOC
|
||||
#define LED_8_GPIO_PIN GPIO1
|
||||
#define LED_8_GPIO_ON gpio_clear
|
||||
#define LED_8_GPIO_OFF gpio_set
|
||||
#define LED_8_AFIO_REMAP ((void)0)
|
||||
|
||||
|
||||
/*
|
||||
* not actual LEDS, used as GPIOs
|
||||
*/
|
||||
|
||||
/* PB1, DRDY on EXT SPI connector*/
|
||||
#define LED_BODY_GPIO GPIOB
|
||||
#define LED_BODY_GPIO_PIN GPIO1
|
||||
#define LED_BODY_GPIO_ON gpio_set
|
||||
#define LED_BODY_GPIO_OFF gpio_clear
|
||||
#define LED_BODY_AFIO_REMAP ((void)0)
|
||||
|
||||
/* PC12, on GPIO connector*/
|
||||
#define LED_12_GPIO GPIOC
|
||||
#define LED_12_GPIO_PIN GPIO12
|
||||
#define LED_12_GPIO_ON gpio_clear
|
||||
#define LED_12_GPIO_OFF gpio_set
|
||||
#define LED_12_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 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 GPIOC
|
||||
#define UART3_GPIO_RX GPIO11
|
||||
#define UART3_GPIO_PORT_TX GPIOC
|
||||
#define UART3_GPIO_TX GPIO10
|
||||
|
||||
#define UART5_GPIO_AF GPIO_AF8
|
||||
#define UART5_GPIO_PORT_RX GPIOD
|
||||
#define UART5_GPIO_RX GPIO2
|
||||
#define UART5_GPIO_PORT_TX GPIOC
|
||||
#define UART5_GPIO_TX GPIO12
|
||||
#include "boards/lisa_mx_common.h"
|
||||
|
||||
/*
|
||||
* Spektrum
|
||||
@@ -168,324 +32,4 @@
|
||||
#define SPEKTRUM_BIND_PIN GPIO3
|
||||
#define SPEKTRUM_BIND_PIN_PORT GPIOC
|
||||
|
||||
#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_AF7
|
||||
#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
|
||||
#define SPEKTRUM_UART5_ISR uart5_isr
|
||||
#define SPEKTRUM_UART5_DEV UART5
|
||||
|
||||
/* PPM
|
||||
*
|
||||
* Default is PPM config 2, input on GPIOA1 (Servo pin 6)
|
||||
*/
|
||||
|
||||
#ifndef PPM_CONFIG
|
||||
#define PPM_CONFIG 2
|
||||
#endif
|
||||
|
||||
#if PPM_CONFIG == 1
|
||||
/* input on PA10 (UART1_RX) */
|
||||
#define USE_PPM_TIM1 1
|
||||
#define PPM_CHANNEL TIM_IC3
|
||||
#define PPM_TIMER_INPUT TIM_IC_IN_TI3
|
||||
#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_CC3IE
|
||||
#define PPM_CC_IF TIM_SR_CC3IF
|
||||
#define PPM_GPIO_PORT GPIOA
|
||||
#define PPM_GPIO_PIN GPIO10
|
||||
#define PPM_GPIO_AF GPIO_AF1
|
||||
|
||||
#elif PPM_CONFIG == 2
|
||||
/* input on PA01 (Servo 6 pin) */
|
||||
#define USE_PPM_TIM2 1
|
||||
#define PPM_CHANNEL TIM_IC2
|
||||
#define PPM_TIMER_INPUT TIM_IC_IN_TI2
|
||||
#define PPM_IRQ NVIC_TIM2_IRQ
|
||||
// Capture/Compare InteruptEnable and InterruptFlag
|
||||
#define PPM_CC_IE TIM_DIER_CC2IE
|
||||
#define PPM_CC_IF TIM_SR_CC2IF
|
||||
#define PPM_GPIO_PORT GPIOA
|
||||
#define PPM_GPIO_PIN GPIO1
|
||||
#define PPM_GPIO_AF GPIO_AF1
|
||||
|
||||
// Move default ADC timer
|
||||
#if USE_AD_TIM2
|
||||
#undef USE_AD_TIM2
|
||||
#endif
|
||||
#define USE_AD_TIM1 1
|
||||
|
||||
#else
|
||||
#error "Unknown PPM config"
|
||||
|
||||
#endif // PPM_CONFIG
|
||||
|
||||
/* 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 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 SPI_SELECT_SLAVE0_PORT GPIOA
|
||||
#define SPI_SELECT_SLAVE0_PIN GPIO15
|
||||
|
||||
#define SPI_SELECT_SLAVE1_PORT GPIOA
|
||||
#define SPI_SELECT_SLAVE1_PIN GPIO4
|
||||
|
||||
#define SPI_SELECT_SLAVE2_PORT GPIOB
|
||||
#define SPI_SELECT_SLAVE2_PIN GPIO12
|
||||
|
||||
#define SPI_SELECT_SLAVE3_PORT GPIOC
|
||||
#define SPI_SELECT_SLAVE3_PIN GPIO13
|
||||
|
||||
#define SPI_SELECT_SLAVE4_PORT GPIOC
|
||||
#define SPI_SELECT_SLAVE4_PIN GPIO12
|
||||
|
||||
#define SPI_SELECT_SLAVE5_PORT GPIOC
|
||||
#define SPI_SELECT_SLAVE5_PIN GPIO4
|
||||
|
||||
|
||||
/* I2C mapping */
|
||||
#define I2C1_GPIO_PORT GPIOB
|
||||
#define I2C1_GPIO_SCL GPIO6
|
||||
#define I2C1_GPIO_SDA GPIO7
|
||||
|
||||
#define I2C2_GPIO_PORT GPIOB
|
||||
#define I2C2_GPIO_SCL GPIO10
|
||||
#define I2C2_GPIO_SDA GPIO11
|
||||
|
||||
|
||||
/*
|
||||
* ADC
|
||||
*/
|
||||
|
||||
/* Onboard ADCs */
|
||||
/*
|
||||
ADC1 PC3/ADC13
|
||||
ADC2 PC0/ADC10
|
||||
ADC3 PC1/ADC11
|
||||
ADC4 PC5/ADC15
|
||||
ADC6 PC2/ADC12
|
||||
BATT PC4/ADC14
|
||||
*/
|
||||
|
||||
/* 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 13
|
||||
#define ADC_1 AD1_1
|
||||
#define ADC_1_GPIO_PORT GPIOC
|
||||
#define ADC_1_GPIO_PIN GPIO3
|
||||
#endif
|
||||
|
||||
#if USE_ADC_2
|
||||
#define AD1_2_CHANNEL 10
|
||||
#define ADC_2 AD1_2
|
||||
#define ADC_2_GPIO_PORT GPIOC
|
||||
#define ADC_2_GPIO_PIN GPIO0
|
||||
#endif
|
||||
|
||||
#if USE_ADC_3
|
||||
#define AD1_3_CHANNEL 11
|
||||
#define ADC_3 AD1_3
|
||||
#define ADC_3_GPIO_PORT GPIOC
|
||||
#define ADC_3_GPIO_PIN GPIO1
|
||||
#endif
|
||||
|
||||
#if USE_ADC_4
|
||||
#define AD2_1_CHANNEL 15
|
||||
#define ADC_4 AD2_1
|
||||
#define ADC_4_GPIO_PORT GPIOC
|
||||
#define ADC_4_GPIO_PIN GPIO5
|
||||
#endif
|
||||
|
||||
// Internal ADC for battery enabled by default
|
||||
#ifndef USE_ADC_5
|
||||
#define USE_ADC_5 1
|
||||
#endif
|
||||
#if USE_ADC_5
|
||||
#define AD1_4_CHANNEL 14
|
||||
#define ADC_5 AD1_4
|
||||
#define ADC_5_GPIO_PORT GPIOC
|
||||
#define ADC_5_GPIO_PIN GPIO4
|
||||
#endif
|
||||
|
||||
#if USE_ADC_6
|
||||
#define AD2_2_CHANNEL 12
|
||||
#define ADC_6 AD2_2
|
||||
#define ADC_6_GPIO_PORT GPIOC
|
||||
#define ADC_6_GPIO_PIN GPIO2
|
||||
#endif
|
||||
|
||||
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
|
||||
#ifndef ADC_CHANNEL_VSUPPLY
|
||||
#define ADC_CHANNEL_VSUPPLY ADC_5
|
||||
#endif
|
||||
|
||||
#define DefaultVoltageOfAdc(adc) (0.0045*adc)
|
||||
|
||||
|
||||
/*
|
||||
* PWM
|
||||
*
|
||||
*/
|
||||
#define PWM_USE_TIM3 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
|
||||
|
||||
#if USE_SERVOS_7AND8
|
||||
#if USE_I2C1
|
||||
#error "You cannot USE_SERVOS_7AND8 and USE_I2C1 at the same time"
|
||||
#else
|
||||
#define ACTUATORS_PWM_NB 8
|
||||
#define USE_PWM7 1
|
||||
#define USE_PWM8 1
|
||||
#define PWM_USE_TIM4 1
|
||||
#endif
|
||||
#else
|
||||
#define ACTUATORS_PWM_NB 6
|
||||
#endif
|
||||
|
||||
// Servo numbering on LisaM silkscreen/docs starts with 1
|
||||
|
||||
// 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
|
||||
|
||||
/* 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 7-8 on TIM4 if USE_SERVOS_7AND8 */
|
||||
#define PWM_TIM4_CHAN_MASK (PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT)
|
||||
|
||||
|
||||
/* by default activate onboard baro */
|
||||
#ifndef USE_BARO_BOARD
|
||||
#define USE_BARO_BOARD 1
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_LISA_MX_2_0_H */
|
||||
|
||||
@@ -0,0 +1,39 @@
|
||||
/*
|
||||
* Copyright (C) 2013-2014 Piotr Esden-Tempski <piotr@esden.net>
|
||||
*
|
||||
* 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_LISA_MX_2_1_H
|
||||
#define CONFIG_LISA_MX_2_1_H
|
||||
|
||||
#include "boards/lisa_mx_common.h"
|
||||
|
||||
/*
|
||||
* Spektrum
|
||||
*/
|
||||
/* The line that is pulled low at power up to initiate the bind process */
|
||||
/* (esden) Note to self. Revision 4 of the board is on GPIO0 not GPIO2.
|
||||
* Note to everyone else. Revision 4 was never produced or provided to the
|
||||
* public. :)
|
||||
*/
|
||||
#define SPEKTRUM_BIND_PIN GPIO2
|
||||
#define SPEKTRUM_BIND_PIN_PORT GPIOB
|
||||
|
||||
#endif /* CONFIG_LISA_MX_2_1_H */
|
||||
@@ -0,0 +1,491 @@
|
||||
/*
|
||||
* Copyright (C) 2013 Piotr Esden-Tempski <piotr@esden.net>
|
||||
*
|
||||
* 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_LISA_MX_COMMON_H
|
||||
#define CONFIG_LISA_MX_COMMON_H
|
||||
|
||||
#define BOARD_LISA_MX
|
||||
|
||||
/* Lisa/M has a 12MHz external clock and 168MHz internal. */
|
||||
#define EXT_CLK 12000000
|
||||
#define AHB_CLK 168000000
|
||||
|
||||
/*
|
||||
* Onboard LEDs
|
||||
*/
|
||||
|
||||
/* 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_clear
|
||||
#define LED_1_GPIO_OFF gpio_set
|
||||
#define LED_1_AFIO_REMAP ((void)0)
|
||||
|
||||
/* green, shared with JTAG_TRST */
|
||||
#ifndef USE_LED_2
|
||||
#define USE_LED_2 1
|
||||
#endif
|
||||
#define LED_2_GPIO GPIOB
|
||||
#define LED_2_GPIO_PIN GPIO4
|
||||
#define LED_2_GPIO_ON gpio_clear
|
||||
#define LED_2_GPIO_OFF gpio_set
|
||||
#define LED_2_AFIO_REMAP ((void)0)
|
||||
|
||||
/* green, shared with ADC12 (ADC_6 on connector ANALOG2) */
|
||||
#ifndef USE_LED_3
|
||||
#define USE_LED_3 1
|
||||
#endif
|
||||
#define LED_3_GPIO GPIOC
|
||||
#define LED_3_GPIO_PIN GPIO2
|
||||
#define LED_3_GPIO_ON gpio_clear
|
||||
#define LED_3_GPIO_OFF gpio_set
|
||||
#define LED_3_AFIO_REMAP ((void)0)
|
||||
|
||||
/* red, shared with ADC15 (ADC_4 on connector ANALOG2) */
|
||||
#ifndef USE_LED_4
|
||||
#define USE_LED_4 1
|
||||
#endif
|
||||
#define LED_4_GPIO GPIOC
|
||||
#define LED_4_GPIO_PIN GPIO5
|
||||
#define LED_4_GPIO_ON gpio_clear
|
||||
#define LED_4_GPIO_OFF gpio_set
|
||||
#define LED_4_AFIO_REMAP ((void)0)
|
||||
|
||||
/* green, on PC15 */
|
||||
#ifndef USE_LED_5
|
||||
#define USE_LED_5 1
|
||||
#endif
|
||||
#define LED_5_GPIO GPIOC
|
||||
#define LED_5_GPIO_PIN GPIO15
|
||||
#define LED_5_GPIO_ON gpio_clear
|
||||
#define LED_5_GPIO_OFF gpio_set
|
||||
#define LED_5_AFIO_REMAP ((void)0)
|
||||
|
||||
/*
|
||||
* LEDs not populated by default
|
||||
*/
|
||||
/* PC3, ADC13 on ADC_1 */
|
||||
#define LED_6_GPIO GPIOC
|
||||
#define LED_6_GPIO_PIN GPIO3
|
||||
#define LED_6_GPIO_ON gpio_clear
|
||||
#define LED_6_GPIO_OFF gpio_set
|
||||
#define LED_6_AFIO_REMAP ((void)0)
|
||||
|
||||
/* PC0, ADC10 on ADC_2 */
|
||||
#define LED_7_GPIO GPIOC
|
||||
#define LED_7_GPIO_PIN GPIO0
|
||||
#define LED_7_GPIO_ON gpio_clear
|
||||
#define LED_7_GPIO_OFF gpio_set
|
||||
#define LED_7_AFIO_REMAP ((void)0)
|
||||
|
||||
/* PC1, ADC11 on ADC_3 */
|
||||
#define LED_8_GPIO GPIOC
|
||||
#define LED_8_GPIO_PIN GPIO1
|
||||
#define LED_8_GPIO_ON gpio_clear
|
||||
#define LED_8_GPIO_OFF gpio_set
|
||||
#define LED_8_AFIO_REMAP ((void)0)
|
||||
|
||||
|
||||
/*
|
||||
* not actual LEDS, used as GPIOs
|
||||
*/
|
||||
|
||||
/* PB1, DRDY on EXT SPI connector*/
|
||||
#define LED_BODY_GPIO GPIOB
|
||||
#define LED_BODY_GPIO_PIN GPIO1
|
||||
#define LED_BODY_GPIO_ON gpio_set
|
||||
#define LED_BODY_GPIO_OFF gpio_clear
|
||||
#define LED_BODY_AFIO_REMAP ((void)0)
|
||||
|
||||
/* PC12, on GPIO connector*/
|
||||
#define LED_12_GPIO GPIOC
|
||||
#define LED_12_GPIO_PIN GPIO12
|
||||
#define LED_12_GPIO_ON gpio_clear
|
||||
#define LED_12_GPIO_OFF gpio_set
|
||||
#define LED_12_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 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 GPIOC
|
||||
#define UART3_GPIO_RX GPIO11
|
||||
#define UART3_GPIO_PORT_TX GPIOC
|
||||
#define UART3_GPIO_TX GPIO10
|
||||
|
||||
#define UART5_GPIO_AF GPIO_AF8
|
||||
#define UART5_GPIO_PORT_RX GPIOD
|
||||
#define UART5_GPIO_RX GPIO2
|
||||
#define UART5_GPIO_PORT_TX GPIOC
|
||||
#define UART5_GPIO_TX GPIO12
|
||||
|
||||
/*
|
||||
* Spektrum
|
||||
*/
|
||||
/* The line that is pulled low at power up to initiate the bind process */
|
||||
/* These are not common between versions of lisa/mx and thus defined in the
|
||||
* version specific header files. */
|
||||
/* #define SPEKTRUM_BIND_PIN GPIO0 */
|
||||
/* #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_AF7
|
||||
#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
|
||||
#define SPEKTRUM_UART5_ISR uart5_isr
|
||||
#define SPEKTRUM_UART5_DEV UART5
|
||||
|
||||
/* PPM
|
||||
*
|
||||
* Default is PPM config 2, input on GPIOA1 (Servo pin 6)
|
||||
*/
|
||||
|
||||
#ifndef PPM_CONFIG
|
||||
#define PPM_CONFIG 2
|
||||
#endif
|
||||
|
||||
#if PPM_CONFIG == 1
|
||||
/* input on PA10 (UART1_RX) */
|
||||
#define USE_PPM_TIM1 1
|
||||
#define PPM_CHANNEL TIM_IC3
|
||||
#define PPM_TIMER_INPUT TIM_IC_IN_TI3
|
||||
#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_CC3IE
|
||||
#define PPM_CC_IF TIM_SR_CC3IF
|
||||
#define PPM_GPIO_PORT GPIOA
|
||||
#define PPM_GPIO_PIN GPIO10
|
||||
#define PPM_GPIO_AF GPIO_AF1
|
||||
|
||||
#elif PPM_CONFIG == 2
|
||||
/* input on PA01 (Servo 6 pin) */
|
||||
#define USE_PPM_TIM2 1
|
||||
#define PPM_CHANNEL TIM_IC2
|
||||
#define PPM_TIMER_INPUT TIM_IC_IN_TI2
|
||||
#define PPM_IRQ NVIC_TIM2_IRQ
|
||||
// Capture/Compare InteruptEnable and InterruptFlag
|
||||
#define PPM_CC_IE TIM_DIER_CC2IE
|
||||
#define PPM_CC_IF TIM_SR_CC2IF
|
||||
#define PPM_GPIO_PORT GPIOA
|
||||
#define PPM_GPIO_PIN GPIO1
|
||||
#define PPM_GPIO_AF GPIO_AF1
|
||||
|
||||
// Move default ADC timer
|
||||
#if USE_AD_TIM2
|
||||
#undef USE_AD_TIM2
|
||||
#endif
|
||||
#define USE_AD_TIM1 1
|
||||
|
||||
#else
|
||||
#error "Unknown PPM config"
|
||||
|
||||
#endif // PPM_CONFIG
|
||||
|
||||
/* 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 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 SPI_SELECT_SLAVE0_PORT GPIOA
|
||||
#define SPI_SELECT_SLAVE0_PIN GPIO15
|
||||
|
||||
#define SPI_SELECT_SLAVE1_PORT GPIOA
|
||||
#define SPI_SELECT_SLAVE1_PIN GPIO4
|
||||
|
||||
#define SPI_SELECT_SLAVE2_PORT GPIOB
|
||||
#define SPI_SELECT_SLAVE2_PIN GPIO12
|
||||
|
||||
#define SPI_SELECT_SLAVE3_PORT GPIOC
|
||||
#define SPI_SELECT_SLAVE3_PIN GPIO13
|
||||
|
||||
#define SPI_SELECT_SLAVE4_PORT GPIOC
|
||||
#define SPI_SELECT_SLAVE4_PIN GPIO12
|
||||
|
||||
#define SPI_SELECT_SLAVE5_PORT GPIOC
|
||||
#define SPI_SELECT_SLAVE5_PIN GPIO4
|
||||
|
||||
|
||||
/* I2C mapping */
|
||||
#define I2C1_GPIO_PORT GPIOB
|
||||
#define I2C1_GPIO_SCL GPIO6
|
||||
#define I2C1_GPIO_SDA GPIO7
|
||||
|
||||
#define I2C2_GPIO_PORT GPIOB
|
||||
#define I2C2_GPIO_SCL GPIO10
|
||||
#define I2C2_GPIO_SDA GPIO11
|
||||
|
||||
|
||||
/*
|
||||
* ADC
|
||||
*/
|
||||
|
||||
/* Onboard ADCs */
|
||||
/*
|
||||
ADC1 PC3/ADC13
|
||||
ADC2 PC0/ADC10
|
||||
ADC3 PC1/ADC11
|
||||
ADC4 PC5/ADC15
|
||||
ADC6 PC2/ADC12
|
||||
BATT PC4/ADC14
|
||||
*/
|
||||
|
||||
/* 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 13
|
||||
#define ADC_1 AD1_1
|
||||
#define ADC_1_GPIO_PORT GPIOC
|
||||
#define ADC_1_GPIO_PIN GPIO3
|
||||
#endif
|
||||
|
||||
#if USE_ADC_2
|
||||
#define AD1_2_CHANNEL 10
|
||||
#define ADC_2 AD1_2
|
||||
#define ADC_2_GPIO_PORT GPIOC
|
||||
#define ADC_2_GPIO_PIN GPIO0
|
||||
#endif
|
||||
|
||||
#if USE_ADC_3
|
||||
#define AD1_3_CHANNEL 11
|
||||
#define ADC_3 AD1_3
|
||||
#define ADC_3_GPIO_PORT GPIOC
|
||||
#define ADC_3_GPIO_PIN GPIO1
|
||||
#endif
|
||||
|
||||
#if USE_ADC_4
|
||||
#define AD2_1_CHANNEL 15
|
||||
#define ADC_4 AD2_1
|
||||
#define ADC_4_GPIO_PORT GPIOC
|
||||
#define ADC_4_GPIO_PIN GPIO5
|
||||
#endif
|
||||
|
||||
// Internal ADC for battery enabled by default
|
||||
#ifndef USE_ADC_5
|
||||
#define USE_ADC_5 1
|
||||
#endif
|
||||
#if USE_ADC_5
|
||||
#define AD1_4_CHANNEL 14
|
||||
#define ADC_5 AD1_4
|
||||
#define ADC_5_GPIO_PORT GPIOC
|
||||
#define ADC_5_GPIO_PIN GPIO4
|
||||
#endif
|
||||
|
||||
#if USE_ADC_6
|
||||
#define AD2_2_CHANNEL 12
|
||||
#define ADC_6 AD2_2
|
||||
#define ADC_6_GPIO_PORT GPIOC
|
||||
#define ADC_6_GPIO_PIN GPIO2
|
||||
#endif
|
||||
|
||||
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
|
||||
#ifndef ADC_CHANNEL_VSUPPLY
|
||||
#define ADC_CHANNEL_VSUPPLY ADC_5
|
||||
#endif
|
||||
|
||||
#define DefaultVoltageOfAdc(adc) (0.0045*adc)
|
||||
|
||||
|
||||
/*
|
||||
* PWM
|
||||
*
|
||||
*/
|
||||
#define PWM_USE_TIM3 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
|
||||
|
||||
#if USE_SERVOS_7AND8
|
||||
#if USE_I2C1
|
||||
#error "You cannot USE_SERVOS_7AND8 and USE_I2C1 at the same time"
|
||||
#else
|
||||
#define ACTUATORS_PWM_NB 8
|
||||
#define USE_PWM7 1
|
||||
#define USE_PWM8 1
|
||||
#define PWM_USE_TIM4 1
|
||||
#endif
|
||||
#else
|
||||
#define ACTUATORS_PWM_NB 6
|
||||
#endif
|
||||
|
||||
// Servo numbering on LisaM silkscreen/docs starts with 1
|
||||
|
||||
// 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
|
||||
|
||||
/* 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 7-8 on TIM4 if USE_SERVOS_7AND8 */
|
||||
#define PWM_TIM4_CHAN_MASK (PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT)
|
||||
|
||||
|
||||
/* by default activate onboard baro */
|
||||
#ifndef USE_BARO_BOARD
|
||||
#define USE_BARO_BOARD 1
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_LISA_MX_COMMON_H */
|
||||
Reference in New Issue
Block a user