From 99ebce7b5faa19b29df0cbda024c1e52a911f046 Mon Sep 17 00:00:00 2001 From: Developer Date: Mon, 3 Apr 2017 12:27:45 +0200 Subject: [PATCH] clean up a bit --- conf/airframes/OPENUAS/openuas_eflite_t28.xml | 12 +-- sw/airborne/boards/px4fmu_4.0.h | 86 ++++++++++--------- 2 files changed, 50 insertions(+), 48 deletions(-) diff --git a/conf/airframes/OPENUAS/openuas_eflite_t28.xml b/conf/airframes/OPENUAS/openuas_eflite_t28.xml index 71fe290f00..647f2dda40 100644 --- a/conf/airframes/OPENUAS/openuas_eflite_t28.xml +++ b/conf/airframes/OPENUAS/openuas_eflite_t28.xml @@ -43,9 +43,9 @@ NOTES: - - - + + + @@ -155,8 +155,8 @@ NOTES: - - + + @@ -169,7 +169,7 @@ NOTES: - + diff --git a/sw/airborne/boards/px4fmu_4.0.h b/sw/airborne/boards/px4fmu_4.0.h index f60fc7158c..fe23b9a7ab 100644 --- a/sw/airborne/boards/px4fmu_4.0.h +++ b/sw/airborne/boards/px4fmu_4.0.h @@ -6,15 +6,15 @@ /* PX4FMU_V4 a.k.a. Pixracer board has a 24MHz external clock and 168MHz internal. */ /* STM32F4 STM32F427VIT6 */ -#define EXT_CLK 24000000 //OK -#define AHB_CLK 168000000 //OK +#define EXT_CLK 24000000 +#define AHB_CLK 168000000 //#define STM32F4 //to debug ADC on F4 does no work //#define ADC_SAMPLE_TIME ADC_SMPR_SMP_56CYC //to debug ADC on F4 does no work -/* On PCB Multicolor LED */ +/* On PCB there is a Multicolor LED */ + /* Red */ -//OK #ifndef USE_LED_1 #define USE_LED_1 1 #endif @@ -25,7 +25,6 @@ #define LED_1_AFIO_REMAP ((void)0) /* Green */ -//OK #ifndef USE_LED_2 #define USE_LED_2 1 #endif @@ -36,7 +35,6 @@ #define LED_2_AFIO_REMAP ((void)0) /* Blue */ -//OK #ifndef USE_LED_3 #define USE_LED_3 1 #endif @@ -52,6 +50,7 @@ /* UART SCHTUFFFF*/ /* -WiFi ESP Connector, it is just a serial port*/ +//TODO: Test #define UART1_GPIO_AF GPIO_AF7 #define UART1_GPIO_PORT_RX GPIOB #define UART1_GPIO_RX GPIO7 @@ -87,12 +86,12 @@ #define UART4_GPIO_PORT_TX GPIOA #define UART4_GPIO_TX GPIO0 -/* Spektrum (only rx)*/ +/* e.g. for a Spektrum satellite receiver rx only)*/ #define UART6_GPIO_AF GPIO_AF8 #define UART6_GPIO_PORT_RX GPIOC #define UART6_GPIO_RX GPIO7 -/* Serial Debugging Connector, not used with PPRZ, use JTAG, can be put to other good use */ +/* Serial Debugging Connector, not used with PPRZ as of now, use JTAG, can be put to other good use */ #define UART7_GPIO_AF GPIO_AF8 #define UART7_GPIO_PORT_RX GPIOE #define UART7_GPIO_RX GPIO7 @@ -100,6 +99,7 @@ #define UART7_GPIO_TX GPIO8 /* Connector -FRS FrSky */ +//TODO: Test #define UART8_GPIO_AF GPIO_AF8 #define UART8_GPIO_PORT_RX GPIOE #define UART8_GPIO_RX GPIO0 @@ -107,24 +107,23 @@ #define UART8_GPIO_TX GPIO1 /* Soft binding Spektrum */ -//ok +//TODO: Test and or FIXME: #define RADIO_CONTROL_POWER_PORT GPIOE #define RADIO_CONTROL_POWER_PIN GPIO4 //SPEKTRUM POWER #define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted #define RADIO_CONTROL_POWER_OFF gpio_set -//A sat +//A receiver on powered on 3.3v #define PERIPHERAL3V3_ENABLE_PORT GPIOC //VDD_3V3_PERIPHERAL_EN #define PERIPHERAL3V3_ENABLE_PIN GPIO5 #define PERIPHERAL3V3_ENABLE_ON gpio_set #define PERIPHERAL3V3_ENABLE_OFF gpio_clear /* Turn SBUS invert */ -//ok +//TODO: Test #define RC_POLARITY_GPIO_PORT GPIOC #define RC_POLARITY_GPIO_PIN GPIO13 -//ok #define SPEKTRUM_UART6_RCC RCC_USART6 #define SPEKTRUM_UART6_BANK GPIOC #define SPEKTRUM_UART6_PIN GPIO7 @@ -136,7 +135,6 @@ /* SPI */ /* SPI1 for MPU and extra accel/gyro/mag */ -// OK #define SPI1_GPIO_AF GPIO_AF5 #define SPI1_GPIO_PORT_MISO GPIOA #define SPI1_GPIO_MISO GPIO6 @@ -146,7 +144,6 @@ #define SPI1_GPIO_SCK GPIO5 /* SPI2 for FRAM, connects to BARO */ -// OK #define SPI2_GPIO_AF GPIO_AF5 #define SPI2_GPIO_PORT_MISO GPIOB #define SPI2_GPIO_MISO GPIO14 @@ -167,8 +164,9 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi * SPI slave pin declaration */ -//So use best speced sensors as second or ref the other or determine it on task type? +//So use best spec'd sensors as second or ref the other or determine it on task type? /* EXTRA ACC_GYRO_CS on SPI1 ICM 20609-G*/ +// TODO: Make it useful #define SPI_SELECT_SLAVE0_PORT GPIOC #define SPI_SELECT_SLAVE0_PIN GPIO15 @@ -177,17 +175,16 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define SPI_SELECT_SLAVE1_PORT GPIOE #define SPI_SELECT_SLAVE1_PIN GPIO15 -/* MDL +/* MDL */ +// FIXME: Test n fix of not working #define SPI_SELECT_SLAVE1_PORT GPIOE #define SPI_SELECT_SLAVE1_PIN GPIO15 */ /* MPU_9250_CS on SPI1 */ -//OK #define SPI_SELECT_SLAVE2_PORT GPIOC #define SPI_SELECT_SLAVE2_PIN GPIO2 /* MS5611 BARO_CS on SPI2 - FRAM*/ -//OK #define SPI_SELECT_SLAVE3_PORT GPIOD #define SPI_SELECT_SLAVE3_PIN GPIO7 @@ -196,11 +193,13 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define SPI_SELECT_SLAVE4_PIN GPIO10 /* SPI3 NSS on microSD connector */ +//FIXME: not tested //#define SPI_SELECT_SLAVE4_PORT GPIOA //#define SPI_SELECT_SLAVE4_PIN GPIO4 /* SDIO to microSD card connector */ +//FIXME: Fix and test #define SDIO_AF GPIO_AF12 #define SDIO_D0_PORT GPIOC #define SDIO_D0_PIN GPIO8 @@ -222,6 +221,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define USE_AD_TIM3 1 // Internal ADC for voltage level measurement +////FIXME: test and fix if still not working #ifndef USE_ADC_1 #define USE_ADC_1 1 #endif @@ -233,11 +233,11 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define ADC_1_GPIO_PIN GPIO4 #endif -// Sense voltage level via external sensor on ADC +// Per default for the board to sense voltage level via external sensor on ADC +//FIXME: test and fix if still not working #ifndef USE_ADC_2 #define USE_ADC_2 1 #endif - #if USE_ADC_2 #define AD1_2_CHANNEL 2 // ADC123_IN2 (--> IN2 corresponds to channel 2) #define ADC_2 AD1_2 // ADC123 means it can be used by ADC 1 and 2 and 3 (the f4 supports 3 adc's), does not matter which. Each ADC can address 4 pins, so in this case we are using ADC 1, on its second pin. @@ -245,34 +245,35 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define ADC_2_GPIO_PIN GPIO2 #endif -// Sense current via external sensor on ADC +// Per default for the board to sense current via external sensor on ADC #ifndef USE_ADC_3 #define USE_ADC_3 1 #endif - #if USE_ADC_3 #define AD1_3_CHANNEL 3 // ADC123_IN3 #define ADC_3 AD1_3 #define ADC_3_GPIO_PORT GPIOA #define ADC_3_GPIO_PIN GPIO3 #endif -#define MilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f) +#define MilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f) //TODO: test if valid -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -//#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_1 -//#endif +/* Allow to define ADC_CHANNEL_VSUPPLY in the airframe file */ +#ifndef ADC_CHANNEL_VSUPPLY +#define ADC_CHANNEL_VSUPPLY ADC_2 +#endif +/* Allow to define another ADC for Current measurement in the airframe file */ +#ifndef ADC_CHANNEL_CURRENT +#define ADC_CHANNEL_CURRENT ADC_3 +#endif //??FT = Five-volt tolerant. In order to sustain a voltage higher than VDD+0.3 the internal pull-up/pull-down resistors must be disabled. -//#define DefaultVoltageOfAdc(adc) (0.0045*adc) - -//Set stock values -//#if USE_ADC_2 -//#define DefaultVoltageOfAdc(adc) (0.0005f * (float)adc)//FIXME: Value... -//#else -#define DefaultVoltageOfAdc(adc) (0.004 * adc) // scale internal vdd to 5V -//#endif +//FIXME: Determine best stock values +#if USE_ADC_2 +#define DefaultVoltageOfAdc(adc) (0.004f * (float)adc) // FIXME: Value scale for a common PowerBrick +#else +#define DefaultVoltageOfAdc(adc) (0.004f * (float)adc) // FIXME: Value scale internal vdd to 5V +#endif /* I2C mapping */ #define I2C1_GPIO_PORT GPIOB @@ -285,7 +286,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #endif /* Another Magnetometer on board a HMC5983 not the one in the IMU 9250*/ -//TODO: +//FIXME: better default option for use of maybe fuse data #ifndef USE_MAGNETOMETER_B #define USE_MAGNETOMETER_B 0 #endif @@ -307,7 +308,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define USE_PWM5 1 #define USE_PWM6 1 -/* -ESC Servo 1 */ +/* Servo 1 */ #if USE_PWM1 #define PWM_SERVO_1 0 #define PWM_SERVO_1_TIMER TIM1 @@ -320,7 +321,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define PWM_SERVO_1_OC_BIT 0 #endif -/* -ESC Servo 2 */ +/* Servo 2 */ #if USE_PWM2 #define PWM_SERVO_2 1 #define PWM_SERVO_2_TIMER TIM1 @@ -333,7 +334,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define PWM_SERVO_2_OC_BIT 0 #endif -/* -ESC Servo 3 */ +/* Servo 3 */ #if USE_PWM3 #define PWM_SERVO_3 2 //#define PWM_SERVO_3_IDX 2 #define PWM_SERVO_3_TIMER TIM1 @@ -346,7 +347,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define PWM_SERVO_3_OC_BIT 0 #endif -/* -ESC Servo 4 */ +/* Servo 4 */ #if USE_PWM4 #define PWM_SERVO_4 3 #define PWM_SERVO_4_TIMER TIM1 @@ -359,7 +360,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define PWM_SERVO_4_OC_BIT 0 #endif -/* -ESC or Servo 5 */ +/* Servo 5 */ #if USE_PWM5 #define PWM_SERVO_5 4 #define PWM_SERVO_5_TIMER TIM4 @@ -372,7 +373,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define PWM_SERVO_5_OC_BIT 0 #endif -/* -ESC or Servo 6 */ +/* Servo 6 */ #if USE_PWM6 #define PWM_SERVO_6 5 #define PWM_SERVO_6_TIMER TIM4 @@ -389,6 +390,7 @@ When a read-operation of an RTD resistance data register occurs, DRDY returns hi #define PWM_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT) /* Buzzer (A.k.a. Alarm) */ +//TODO: Test #if USE_BUZZER #define PWM_BUZZER #define PWM_BUZZER_TIMER TIM2