mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-31 03:57:45 +08:00
[boards] start support for openpilot revo nano (#1968)
- While the STM32F411 can run at up to 100MHz, this is not supported out-of-the-box with libopencm3 yet. So we use the 84MHz clock setup from the STM32F401. - ADC pins not set up yet
This commit is contained in:
Felix Ruess
GitHub
@@ -6,8 +6,8 @@
|
|||||||
radio="radios/dummy.xml"
|
radio="radios/dummy.xml"
|
||||||
telemetry="telemetry/default_rotorcraft.xml"
|
telemetry="telemetry/default_rotorcraft.xml"
|
||||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||||
settings="settings/rotorcraft_basic.xml settings/nps.xml settings/persistent_settings.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml"
|
settings="settings/rotorcraft_basic.xml settings/nps.xml settings/persistent_settings.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml settings/superbitrf.xml"
|
||||||
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml"
|
settings_modules="modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/gps.xml modules/imu_common.xml"
|
||||||
gui_color="blue"
|
gui_color="blue"
|
||||||
/>
|
/>
|
||||||
<aircraft
|
<aircraft
|
||||||
@@ -17,8 +17,8 @@
|
|||||||
radio="radios/dummy.xml"
|
radio="radios/dummy.xml"
|
||||||
telemetry="telemetry/default_rotorcraft.xml"
|
telemetry="telemetry/default_rotorcraft.xml"
|
||||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||||
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
|
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int_quat.xml"
|
||||||
settings_modules="modules/gps.xml modules/geo_mag.xml modules/air_data.xml"
|
settings_modules="modules/video_rtp_stream.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
|
||||||
gui_color="blue"
|
gui_color="blue"
|
||||||
/>
|
/>
|
||||||
<aircraft
|
<aircraft
|
||||||
@@ -28,8 +28,8 @@
|
|||||||
radio="radios/cockpitSX.xml"
|
radio="radios/cockpitSX.xml"
|
||||||
telemetry="telemetry/demo.xml"
|
telemetry="telemetry/demo.xml"
|
||||||
flight_plan="flight_plans/dummy.xml"
|
flight_plan="flight_plans/dummy.xml"
|
||||||
settings=" settings/test_actuators_pwm.xml"
|
settings="settings/test_actuators_pwm.xml"
|
||||||
settings_modules="modules/imu_common.xml"
|
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
|
||||||
gui_color="blue"
|
gui_color="blue"
|
||||||
/>
|
/>
|
||||||
<aircraft
|
<aircraft
|
||||||
@@ -40,7 +40,7 @@
|
|||||||
telemetry="telemetry/default_fixedwing_imu.xml"
|
telemetry="telemetry/default_fixedwing_imu.xml"
|
||||||
flight_plan="flight_plans/basic.xml"
|
flight_plan="flight_plans/basic.xml"
|
||||||
settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
|
settings="settings/fixedwing_basic.xml settings/control/ctl_new.xml"
|
||||||
settings_modules="modules/gps.xml modules/switch_servo.xml"
|
settings_modules="modules/switch_servo.xml modules/gps.xml modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml"
|
||||||
gui_color="blue"
|
gui_color="blue"
|
||||||
/>
|
/>
|
||||||
<aircraft
|
<aircraft
|
||||||
@@ -50,8 +50,8 @@
|
|||||||
radio="radios/dummy.xml"
|
radio="radios/dummy.xml"
|
||||||
telemetry="telemetry/default_rotorcraft.xml"
|
telemetry="telemetry/default_rotorcraft.xml"
|
||||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||||
settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_guidance.xml"
|
settings="settings/rotorcraft_basic.xml settings/setup_actuators.xml settings/estimation/ahrs_secondary.xml settings/control/rotorcraft_guidance.xml"
|
||||||
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
|
settings_modules="modules/air_data.xml modules/geo_mag.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/gps.xml modules/imu_common.xml"
|
||||||
gui_color="blue"
|
gui_color="blue"
|
||||||
/>
|
/>
|
||||||
<aircraft
|
<aircraft
|
||||||
@@ -61,8 +61,8 @@
|
|||||||
radio="radios/TGY9x_jeti.xml"
|
radio="radios/TGY9x_jeti.xml"
|
||||||
telemetry="telemetry/default_rotorcraft.xml"
|
telemetry="telemetry/default_rotorcraft.xml"
|
||||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||||
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml "
|
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
|
||||||
settings_modules="modules/gps.xml modules/gps_ubx_ucenter.xml"
|
settings_modules="modules/gps_ubx_ucenter.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
|
||||||
gui_color="blue"
|
gui_color="blue"
|
||||||
/>
|
/>
|
||||||
<aircraft
|
<aircraft
|
||||||
@@ -98,6 +98,17 @@
|
|||||||
settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
|
settings_modules="modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
|
||||||
gui_color="blue"
|
gui_color="blue"
|
||||||
/>
|
/>
|
||||||
|
<aircraft
|
||||||
|
name="quad_revo_nano"
|
||||||
|
ac_id="4"
|
||||||
|
airframe="airframes/untested/quad_revo_nano.xml"
|
||||||
|
radio="radios/TGY9x_jeti.xml"
|
||||||
|
telemetry="telemetry/default_rotorcraft.xml"
|
||||||
|
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||||
|
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/control/rotorcraft_guidance.xml"
|
||||||
|
settings_modules="modules/air_data.xml modules/gps_ubx_ucenter.xml modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml modules/gps.xml"
|
||||||
|
gui_color="blue"
|
||||||
|
/>
|
||||||
<aircraft
|
<aircraft
|
||||||
name="test_bbb"
|
name="test_bbb"
|
||||||
ac_id="1"
|
ac_id="1"
|
||||||
|
|||||||
@@ -0,0 +1,195 @@
|
|||||||
|
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||||
|
|
||||||
|
<!-- this is a quadrotor frame with the OpenPilot Revo Nano board:
|
||||||
|
* Autopilot: OpenPilot Revo Nano https://librepilot.atlassian.net/wiki/display/LPDOC/OpenPilot+Revolution+Nano
|
||||||
|
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
|
||||||
|
-->
|
||||||
|
|
||||||
|
<airframe name="QuadRevoNano">
|
||||||
|
|
||||||
|
<firmware name="rotorcraft">
|
||||||
|
<target name="ap" board="openpilot_revo_nano">
|
||||||
|
</target>
|
||||||
|
|
||||||
|
<target name="nps" board="pc">
|
||||||
|
<module name="fdm" type="jsbsim"/>
|
||||||
|
</target>
|
||||||
|
|
||||||
|
<module name="radio_control" type="ppm"/>
|
||||||
|
<module name="motor_mixing"/>
|
||||||
|
<module name="actuators" type="pwm">
|
||||||
|
<define name="SERVO_HZ" value="400"/>
|
||||||
|
</module>
|
||||||
|
<module name="telemetry" type="transparent"/>
|
||||||
|
<module name="stabilization" type="int_quat"/>
|
||||||
|
<module name="gps" type="ublox"/>
|
||||||
|
<module name="imu" type="openpilot_revo_nano"/>
|
||||||
|
<module name="ahrs" type="int_cmpl_quat">
|
||||||
|
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
|
||||||
|
<configure name="AHRS_ALIGNER_LED" value="2"/>
|
||||||
|
</module>
|
||||||
|
<module name="ins"/>
|
||||||
|
|
||||||
|
<module name="gps" type="ubx_ucenter"/>
|
||||||
|
<module name="air_data"/>
|
||||||
|
</firmware>
|
||||||
|
|
||||||
|
<firmware name="setup">
|
||||||
|
<target name="tunnel" board="openpilot_revo_nano"/>
|
||||||
|
</firmware>
|
||||||
|
|
||||||
|
<firmware name="test_progs">
|
||||||
|
<target name="test_sys_time_timer" board="openpilot_revo_nano">
|
||||||
|
<define name="LED_BLUE" value="1"/>
|
||||||
|
<define name="LED_RED" value="2"/>
|
||||||
|
</target>
|
||||||
|
<target name="test_sys_time_usleep" board="openpilot_revo_nano">
|
||||||
|
<define name="LED_BLUE" value="1"/>
|
||||||
|
<define name="LED_RED" value="2"/>
|
||||||
|
</target>
|
||||||
|
<target name="test_telemetry" board="openpilot_revo_nano"/>
|
||||||
|
<target name="test_imu" board="openpilot_revo_nano">
|
||||||
|
<module name="imu" type="openpilot_revo_nano"/>
|
||||||
|
</target>
|
||||||
|
<target name="test_ahrs" board="openpilot_revo_nano">
|
||||||
|
<module name="imu" type="openpilot_revo_nano"/>
|
||||||
|
<module name="ahrs" type="int_cmpl_quat"/>
|
||||||
|
</target>
|
||||||
|
<target name="test_actuators_pwm" board="openpilot_revo_nano"/>
|
||||||
|
</firmware>
|
||||||
|
|
||||||
|
<servos driver="Pwm">
|
||||||
|
<servo name="FL" no="0" min="1000" neutral="1100" max="2000"/>
|
||||||
|
<servo name="FR" no="1" min="1000" neutral="1100" max="2000"/>
|
||||||
|
<servo name="BR" no="2" min="1000" neutral="1100" max="2000"/>
|
||||||
|
<servo name="BL" no="3" min="1000" neutral="1100" max="2000"/>
|
||||||
|
</servos>
|
||||||
|
|
||||||
|
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||||
|
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
|
||||||
|
<define name="TYPE" value="QUAD_X"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<commands>
|
||||||
|
<axis name="PITCH" failsafe_value="0"/>
|
||||||
|
<axis name="ROLL" failsafe_value="0"/>
|
||||||
|
<axis name="YAW" failsafe_value="0"/>
|
||||||
|
<axis name="THRUST" failsafe_value="0"/>
|
||||||
|
</commands>
|
||||||
|
|
||||||
|
<command_laws>
|
||||||
|
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||||
|
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||||
|
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||||
|
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||||
|
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||||
|
</command_laws>
|
||||||
|
|
||||||
|
<section name="IMU" prefix="IMU_">
|
||||||
|
<define name="MAG_X_NEUTRAL" value="344"/>
|
||||||
|
<define name="MAG_Y_NEUTRAL" value="-114"/>
|
||||||
|
<define name="MAG_Z_NEUTRAL" value="-221"/>
|
||||||
|
<define name="MAG_X_SENS" value="7.13840383063" integer="16"/>
|
||||||
|
<define name="MAG_Y_SENS" value="7.07298310496" integer="16"/>
|
||||||
|
<define name="MAG_Z_SENS" value="6.23392912181" integer="16"/>
|
||||||
|
|
||||||
|
<define name="BODY_TO_IMU_PHI" value="180." unit="deg"/>
|
||||||
|
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||||
|
<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="AHRS" prefix="AHRS_">
|
||||||
|
<define name="H_X" value="0.3770441"/>
|
||||||
|
<define name="H_Y" value="0.0193986"/>
|
||||||
|
<define name="H_Z" value="0.9259921"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="INS" prefix="INS_">
|
||||||
|
</section>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||||
|
<!-- setpoints -->
|
||||||
|
<define name="SP_MAX_PHI" value="60." unit="deg"/>
|
||||||
|
<define name="SP_MAX_THETA" value="60." unit="deg"/>
|
||||||
|
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||||
|
<define name="DEADBAND_A" value="0"/>
|
||||||
|
<define name="DEADBAND_E" value="0"/>
|
||||||
|
<define name="DEADBAND_R" value="250"/>
|
||||||
|
|
||||||
|
<!-- reference -->
|
||||||
|
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
|
||||||
|
<define name="REF_ZETA_P" value="0.85"/>
|
||||||
|
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||||
|
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||||
|
|
||||||
|
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
|
||||||
|
<define name="REF_ZETA_Q" value="0.85"/>
|
||||||
|
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||||
|
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||||
|
|
||||||
|
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
|
||||||
|
<define name="REF_ZETA_R" value="0.85"/>
|
||||||
|
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||||
|
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||||
|
|
||||||
|
<!-- feedback -->
|
||||||
|
<define name="PHI_PGAIN" value="1000"/>
|
||||||
|
<define name="PHI_DGAIN" value="400"/>
|
||||||
|
<define name="PHI_IGAIN" value="200"/>
|
||||||
|
|
||||||
|
<define name="THETA_PGAIN" value="1000"/>
|
||||||
|
<define name="THETA_DGAIN" value="400"/>
|
||||||
|
<define name="THETA_IGAIN" value="200"/>
|
||||||
|
|
||||||
|
<define name="PSI_PGAIN" value="500"/>
|
||||||
|
<define name="PSI_DGAIN" value="300"/>
|
||||||
|
<define name="PSI_IGAIN" value="10"/>
|
||||||
|
|
||||||
|
<!-- feedforward -->
|
||||||
|
<define name="PHI_DDGAIN" value="300"/>
|
||||||
|
<define name="THETA_DDGAIN" value="300"/>
|
||||||
|
<define name="PSI_DDGAIN" value="300"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||||
|
<define name="HOVER_KP" value="150"/>
|
||||||
|
<define name="HOVER_KD" value="80"/>
|
||||||
|
<define name="HOVER_KI" value="20"/>
|
||||||
|
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
|
||||||
|
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||||
|
<define name="APPROX_FORCE_BY_THRUST" value="TRUE"/>
|
||||||
|
<define name="MAX_BANK" value="30" unit="deg"/>
|
||||||
|
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||||
|
<define name="PGAIN" value="50"/>
|
||||||
|
<define name="DGAIN" value="100"/>
|
||||||
|
<define name="AGAIN" value="70"/>
|
||||||
|
<define name="IGAIN" value="20"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="SIMULATOR" prefix="NPS_">
|
||||||
|
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
|
||||||
|
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
|
||||||
|
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||||
|
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||||
|
<define name="JS_AXIS_MODE" value="4"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="AUTOPILOT">
|
||||||
|
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||||
|
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
|
||||||
|
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
<section name="BAT">
|
||||||
|
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||||
|
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||||
|
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
|
||||||
|
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||||
|
</section>
|
||||||
|
|
||||||
|
</airframe>
|
||||||
@@ -0,0 +1,62 @@
|
|||||||
|
# Hey Emacs, this is a -*- makefile -*-
|
||||||
|
#
|
||||||
|
# openpilot_revo_nano.makefile
|
||||||
|
#
|
||||||
|
# https://librepilot.atlassian.net/wiki/display/LPDOC/OpenPilot+Revolution+Nano
|
||||||
|
#
|
||||||
|
|
||||||
|
BOARD=openpilot_revo
|
||||||
|
BOARD_VERSION=nano
|
||||||
|
BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
|
||||||
|
|
||||||
|
ARCH=stm32
|
||||||
|
ARCH_L=f4
|
||||||
|
HARD_FLOAT=yes
|
||||||
|
$(TARGET).ARCHDIR = $(ARCH)
|
||||||
|
$(TARGET).LDSCRIPT=$(SRC_ARCH)/openpilot_revo_nano.ld
|
||||||
|
|
||||||
|
# -----------------------------------------------------------------------
|
||||||
|
|
||||||
|
# default flash mode is via DFU-UTIL (short the two SBL pads at power up to get into DFU mode)
|
||||||
|
# other possibilities: DFU, DFU-UTIL, SWD, STLINK
|
||||||
|
FLASH_MODE ?= DFU-UTIL
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#
|
||||||
|
# default LED configuration
|
||||||
|
#
|
||||||
|
RADIO_CONTROL_LED ?= none
|
||||||
|
BARO_LED ?= none
|
||||||
|
AHRS_ALIGNER_LED ?= 2
|
||||||
|
GPS_LED ?= none
|
||||||
|
SYS_TIME_LED ?= 1
|
||||||
|
|
||||||
|
|
||||||
|
#
|
||||||
|
# default uart configuration
|
||||||
|
#
|
||||||
|
# on the revo nano:
|
||||||
|
# UART1 -> flexi port shared with I2C1
|
||||||
|
# UART2 -> main port
|
||||||
|
|
||||||
|
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2
|
||||||
|
|
||||||
|
MODEM_PORT ?= UART2
|
||||||
|
MODEM_BAUD ?= B57600
|
||||||
|
|
||||||
|
GPS_PORT ?= UART1
|
||||||
|
GPS_BAUD ?= B38400
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#
|
||||||
|
# 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
|
||||||
@@ -213,9 +213,15 @@ else ifeq ($(BOARD), opa_ap)
|
|||||||
|
|
||||||
# OpenPilot Revo
|
# OpenPilot Revo
|
||||||
else ifeq ($(BOARD), openpilot_revo)
|
else ifeq ($(BOARD), openpilot_revo)
|
||||||
|
ifeq ($(BOARD_VERSION), nano)
|
||||||
|
BARO_BOARD_CFLAGS += -DUSE_I2C3
|
||||||
|
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c3
|
||||||
|
#BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_ADDR=0xEC
|
||||||
|
else
|
||||||
|
BARO_BOARD_CFLAGS += -DUSE_I2C1
|
||||||
|
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c1
|
||||||
|
endif
|
||||||
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
|
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
|
||||||
BARO_BOARD_CFLAGS += -DUSE_I2C1
|
|
||||||
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c1
|
|
||||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||||
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
|
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
|
||||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
|
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
|
||||||
|
|||||||
@@ -141,7 +141,7 @@ endif
|
|||||||
ifeq ($(BOARD), naze32)
|
ifeq ($(BOARD), naze32)
|
||||||
LED_DEFINES = -DLED_RED=1 -DLED_GREEN=2
|
LED_DEFINES = -DLED_RED=1 -DLED_GREEN=2
|
||||||
endif
|
endif
|
||||||
LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
|
//LED_DEFINES ?= -DLED_RED=2 -DLED_GREEN=3
|
||||||
|
|
||||||
test_sys_time_timer.ARCHDIR = $(ARCH)
|
test_sys_time_timer.ARCHDIR = $(ARCH)
|
||||||
test_sys_time_timer.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
|
test_sys_time_timer.CFLAGS += $(COMMON_TEST_CFLAGS) $(LED_DEFINES)
|
||||||
|
|||||||
@@ -0,0 +1,50 @@
|
|||||||
|
<!DOCTYPE module SYSTEM "module.dtd">
|
||||||
|
|
||||||
|
<module name="imu_openpilot_revo_nano" dir="imu">
|
||||||
|
<doc>
|
||||||
|
<description>
|
||||||
|
IMU driver for OpenPilot Revo Nano.
|
||||||
|
MPU9250 via SPI2.
|
||||||
|
Reads the internal AK8963 mag as I2C slave of the MPU.
|
||||||
|
</description>
|
||||||
|
<define name="IMU_MPU9250_GYRO_LOWPASS_FILTER" value="MPU9250_DLPF_GYRO_250HZ" description="gyro DigitalLowPassFilter setting of the MPU"/>
|
||||||
|
<define name="IMU_MPU9250_ACCEL_LOWPASS_FILTER" value="MPU9250_DLPF_ACCEL_184HZ" description="accelerometer DigitalLowPassFilter setting of the MPU"/>
|
||||||
|
<define name="IMU_MPU9250_SMPLRT_DIV" value="3" description="sample rate divider setting of the MPU"/>
|
||||||
|
<define name="IMU_MPU9250_GYRO_RANGE" value="MPU9250_GYRO_RANGE_1000" description="gyroscope range setting of the MPU"/>
|
||||||
|
<define name="IMU_MPU9250_ACCEL_RANGE" value="MPU9250_ACCEL_RANGE_8G" description="accelerometer range setting of the MPU"/>
|
||||||
|
<define name="IMU_MPU9250_READ_MAG" value="TRUE" description="set to FALSE to disable mag"/>
|
||||||
|
<define name="IMU_MPU9250_STARTUP_DELAY" value="1.0" description="startup delay in seconds until mag slave is configured"/>
|
||||||
|
|
||||||
|
<define name="IMU_MPU9250_CHAN_X" value="0" description="channel index"/>
|
||||||
|
<define name="IMU_MPU9250_CHAN_Y" value="1" description="channel index"/>
|
||||||
|
<define name="IMU_MPU9250_CHAN_Z" value="2" description="channel index"/>
|
||||||
|
<define name="IMU_MPU9250_X_SIGN" value="1" description="axis sign"/>
|
||||||
|
<define name="IMU_MPU9250_Y_SIGN" value="1" description="axis sign"/>
|
||||||
|
<define name="IMU_MPU9250_Z_SIGN" value="1" description="axis sign"/>
|
||||||
|
</doc>
|
||||||
|
<autoload name="imu_common"/>
|
||||||
|
<autoload name="imu_nps"/>
|
||||||
|
<header>
|
||||||
|
<file name="imu_mpu9250_spi.h" dir="subsystems/imu"/>
|
||||||
|
</header>
|
||||||
|
|
||||||
|
<init fun="imu_mpu9250_init()"/>
|
||||||
|
<periodic fun="imu_mpu9250_periodic()"/>
|
||||||
|
<event fun="imu_mpu9250_event()"/>
|
||||||
|
|
||||||
|
<makefile target="!sim|nps|fbw">
|
||||||
|
<define name="IMU_MPU9250_SPI_DEV" value="spi2"/>
|
||||||
|
<define name="USE_SPI2"/>
|
||||||
|
<define name="IMU_MPU9250_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
|
||||||
|
<define name="USE_SPI_SLAVE0"/>
|
||||||
|
|
||||||
|
<define name="IMU_TYPE_H" value="imu/imu_mpu9250_spi.h" type="string"/>
|
||||||
|
|
||||||
|
<file name="mpu9250.c" dir="peripherals"/>
|
||||||
|
<file name="mpu9250_spi.c" dir="peripherals"/>
|
||||||
|
<file name="imu_mpu9250_spi.c" dir="subsystems/imu"/>
|
||||||
|
<raw>
|
||||||
|
include $(CFG_SHARED)/spi_master.makefile
|
||||||
|
</raw>
|
||||||
|
</makefile>
|
||||||
|
</module>
|
||||||
@@ -180,9 +180,14 @@ void mcu_arch_init(void)
|
|||||||
PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 72MHz.")
|
PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 72MHz.")
|
||||||
rcc_clock_setup_in_hse_8mhz_out_72mhz();
|
rcc_clock_setup_in_hse_8mhz_out_72mhz();
|
||||||
#elif defined(STM32F4)
|
#elif defined(STM32F4)
|
||||||
|
#if AHB_CLK == 84000000
|
||||||
|
PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 84MHz.")
|
||||||
|
rcc_clock_setup_hse_3v3(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_84MHZ]);
|
||||||
|
#else
|
||||||
PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 168MHz.")
|
PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 168MHz.")
|
||||||
rcc_clock_setup_hse_3v3(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
|
rcc_clock_setup_hse_3v3(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
|
||||||
#endif
|
#endif
|
||||||
|
#endif
|
||||||
#elif EXT_CLK == 12000000
|
#elif EXT_CLK == 12000000
|
||||||
#if defined(STM32F1)
|
#if defined(STM32F1)
|
||||||
PRINT_CONFIG_MSG("Using 12MHz external clock to PLL it to 72MHz.")
|
PRINT_CONFIG_MSG("Using 12MHz external clock to PLL it to 72MHz.")
|
||||||
|
|||||||
@@ -0,0 +1,35 @@
|
|||||||
|
/*
|
||||||
|
* Hey Emacs, this is a -*- makefile -*-
|
||||||
|
*
|
||||||
|
* Copyright (C) 2016 Felix Ruess <felix.ruess@gmail.com
|
||||||
|
*
|
||||||
|
* 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 OpenPilot Revo Nano (STM32F411CEU6, 512K flash, 128K RAM). */
|
||||||
|
|
||||||
|
/* Define memory regions. */
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||||
|
/* Reserving 128kb flash for persistent settings. */
|
||||||
|
rom (rx) : ORIGIN = 0x08000000, LENGTH = 384K
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Include the common ld script. */
|
||||||
|
INCLUDE libopencm3_stm32f4.ld
|
||||||
@@ -0,0 +1,322 @@
|
|||||||
|
/*
|
||||||
|
* Copyright (C) 2016 Felix Ruess <felix.ruess@gmail.com
|
||||||
|
*
|
||||||
|
* 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_OPENPILOT_REVO_NANO_H
|
||||||
|
#define CONFIG_OPENPILOT_REVO_NANO_H
|
||||||
|
|
||||||
|
/* Some info about this board can be found at:
|
||||||
|
* https://librepilot.atlassian.net/wiki/display/LPDOC/OpenPilot+Revolution+Nano
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/* OpenPilot Revo Nano has a STM32F411 with 8MHz external clock and up to 100MHz internal.
|
||||||
|
* Libopencm3 doesn't explicitly support the STM32F41x yet,
|
||||||
|
* but using the 84MHz clock setup from the STM32F401 should work...
|
||||||
|
*/
|
||||||
|
#define EXT_CLK 8000000
|
||||||
|
#define AHB_CLK 84000000
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Onboard LEDs
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* blue, on PC14 */
|
||||||
|
#ifndef USE_LED_1
|
||||||
|
#define USE_LED_1 1
|
||||||
|
#endif
|
||||||
|
#define LED_1_GPIO GPIOC
|
||||||
|
#define LED_1_GPIO_PIN GPIO14
|
||||||
|
#define LED_1_GPIO_ON gpio_clear
|
||||||
|
#define LED_1_GPIO_OFF gpio_set
|
||||||
|
#define LED_1_AFIO_REMAP ((void)0)
|
||||||
|
|
||||||
|
/* orange, on PC13 */
|
||||||
|
#ifndef USE_LED_2
|
||||||
|
#define USE_LED_2 1
|
||||||
|
#endif
|
||||||
|
#define LED_2_GPIO GPIOC
|
||||||
|
#define LED_2_GPIO_PIN GPIO13
|
||||||
|
#define LED_2_GPIO_ON gpio_clear
|
||||||
|
#define LED_2_GPIO_OFF gpio_set
|
||||||
|
#define LED_2_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 */
|
||||||
|
/* Flexi port, shared with I2C1 */
|
||||||
|
#define UART1_GPIO_AF GPIO_AF7
|
||||||
|
#define UART1_GPIO_PORT_RX GPIOB
|
||||||
|
#define UART1_GPIO_RX GPIO7
|
||||||
|
#define UART1_GPIO_PORT_TX GPIOB
|
||||||
|
#define UART1_GPIO_TX GPIO6
|
||||||
|
|
||||||
|
/* Main port */
|
||||||
|
#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
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Spektrum
|
||||||
|
*/
|
||||||
|
/* The line that is pulled low at power up to initiate the bind process */
|
||||||
|
#define SPEKTRUM_BIND_PIN GPIO0
|
||||||
|
#define SPEKTRUM_BIND_PIN_PORT GPIOB
|
||||||
|
|
||||||
|
#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
|
||||||
|
|
||||||
|
/* S.Bus inverter control on PC15 */
|
||||||
|
#define RC_POLARITY_GPIO_PORT GPIOC
|
||||||
|
#define RC_POLARITY_GPIO_PIN GPIO15
|
||||||
|
|
||||||
|
|
||||||
|
/* PPM
|
||||||
|
*
|
||||||
|
* PPM sum in is on FlexIO pin 4 (blue)
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* input on PB1 */
|
||||||
|
#define USE_PPM_TIM3 1
|
||||||
|
#define PPM_CHANNEL TIM_IC4
|
||||||
|
#define PPM_TIMER_INPUT TIM_IC_IN_TI4
|
||||||
|
#define PPM_IRQ NVIC_TIM3_IRQ
|
||||||
|
// Capture/Compare InteruptEnable and InterruptFlag
|
||||||
|
#define PPM_CC_IE TIM_DIER_CC4IE
|
||||||
|
#define PPM_CC_IF TIM_SR_CC4IF
|
||||||
|
#define PPM_GPIO_PORT GPIOB
|
||||||
|
#define PPM_GPIO_PIN GPIO1
|
||||||
|
#define PPM_GPIO_AF GPIO_AF2
|
||||||
|
|
||||||
|
|
||||||
|
/* SPI */
|
||||||
|
/* MPU9250 */
|
||||||
|
#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 SPI2_GPIO_PORT_NSS GPIOB
|
||||||
|
#define SPI2_GPIO_NSS GPIO12
|
||||||
|
|
||||||
|
/* MPU9250 select */
|
||||||
|
#define SPI_SELECT_SLAVE0_PORT GPIOB
|
||||||
|
#define SPI_SELECT_SLAVE0_PIN GPIO12
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/* I2C mapping */
|
||||||
|
/* I2C1 on flexi port shared with UART1 */
|
||||||
|
#define I2C1_GPIO_PORT GPIOB
|
||||||
|
#define I2C1_GPIO_SCL GPIO6
|
||||||
|
#define I2C1_GPIO_SDA GPIO7
|
||||||
|
|
||||||
|
/* I2C3 for baro and flash */
|
||||||
|
#define I2C3_GPIO_PORT_SCL GPIOA
|
||||||
|
#define I2C3_GPIO_SCL GPIO8
|
||||||
|
#define I2C3_GPIO_PORT_SDA GPIOB
|
||||||
|
#define I2C3_GPIO_SDA GPIO4
|
||||||
|
#define I2C3_GPIO_SDA_AF GPIO_AF9
|
||||||
|
|
||||||
|
/*
|
||||||
|
* ADC
|
||||||
|
*/
|
||||||
|
/* not tested, channels and ADx_1 not correct yet */
|
||||||
|
|
||||||
|
#ifndef USE_ADC_1
|
||||||
|
#define USE_ADC_1 0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Pin 4 on FlexIO, blue */
|
||||||
|
#if USE_ADC_0
|
||||||
|
#define AD1_0_CHANNEL 12
|
||||||
|
#define ADC_0 AD1_1
|
||||||
|
#define ADC_0_GPIO_PORT GPIOB
|
||||||
|
#define ADC_0_GPIO_PIN GPIO1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Pin 5 on FlexIO, yellow */
|
||||||
|
#if USE_ADC_1
|
||||||
|
#define AD1_1_CHANNEL 12
|
||||||
|
#define ADC_1 AD1_1
|
||||||
|
#define ADC_1_GPIO_PORT GPIOB
|
||||||
|
#define ADC_1_GPIO_PIN GPIO0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* pin 6 on FlexIO, green */
|
||||||
|
#if USE_ADC_2
|
||||||
|
#define AD1_2_CHANNEL 11
|
||||||
|
#define ADC_2 AD1_2
|
||||||
|
#define ADC_2_GPIO_PORT GPIOA
|
||||||
|
#define ADC_2_GPIO_PIN GPIO7
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* pin 7 on FlexIO, orange */
|
||||||
|
#if USE_ADC_3
|
||||||
|
#define AD1_3_CHANNEL 11
|
||||||
|
#define ADC_3 AD1_2
|
||||||
|
#define ADC_3_GPIO_PORT GPIOA
|
||||||
|
#define ADC_3_GPIO_PIN GPIO6
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* pin 8 on FlexIO, violet */
|
||||||
|
#if USE_ADC_4
|
||||||
|
#define AD1_4_CHANNEL 11
|
||||||
|
#define ADC_4 AD1_2
|
||||||
|
#define ADC_4_GPIO_PORT GPIOA
|
||||||
|
#define ADC_4_GPIO_PIN GPIO5
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
|
||||||
|
//#ifndef ADC_CHANNEL_VSUPPLY
|
||||||
|
//#define ADC_CHANNEL_VSUPPLY ADC_1
|
||||||
|
//#endif
|
||||||
|
|
||||||
|
/* no voltage divider on board, adjust VoltageOfAdc in airframe file */
|
||||||
|
#define DefaultVoltageOfAdc(adc) (0.0045*adc)
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
* PWM
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#define PWM_USE_TIM1 1
|
||||||
|
#define PWM_USE_TIM2 1
|
||||||
|
#define PWM_USE_TIM4 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
|
||||||
|
|
||||||
|
|
||||||
|
#define ACTUATORS_PWM_NB 6
|
||||||
|
|
||||||
|
|
||||||
|
// 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 TIM1
|
||||||
|
#define PWM_SERVO_1_GPIO GPIOA
|
||||||
|
#define PWM_SERVO_1_PIN GPIO10
|
||||||
|
#define PWM_SERVO_1_AF GPIO_AF1
|
||||||
|
#define PWM_SERVO_1_OC TIM_OC3
|
||||||
|
#define PWM_SERVO_1_OC_BIT (1<<2)
|
||||||
|
#else
|
||||||
|
#define PWM_SERVO_1_OC_BIT 0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if USE_PWM2
|
||||||
|
#define PWM_SERVO_2 1
|
||||||
|
#define PWM_SERVO_2_TIMER TIM2
|
||||||
|
#define PWM_SERVO_2_GPIO GPIOB
|
||||||
|
#define PWM_SERVO_2_PIN GPIO3
|
||||||
|
#define PWM_SERVO_2_AF GPIO_AF1
|
||||||
|
#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 TIM4
|
||||||
|
#define PWM_SERVO_3_GPIO GPIOB
|
||||||
|
#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 TIM4
|
||||||
|
#define PWM_SERVO_4_GPIO GPIOB
|
||||||
|
#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
|
||||||
|
|
||||||
|
|
||||||
|
/* servo 1 on TIM1 */
|
||||||
|
#define PWM_TIM1_CHAN_MASK (PWM_SERVO_1_OC_BIT)
|
||||||
|
/* servo 2 on TIM2 */
|
||||||
|
#define PWM_TIM2_CHAN_MASK (PWM_SERVO_2_OC_BIT)
|
||||||
|
/* servos 3-4 on TIM4 */
|
||||||
|
#define PWM_TIM4_CHAN_MASK (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)
|
||||||
|
|
||||||
|
|
||||||
|
/* by default activate onboard baro */
|
||||||
|
#ifndef USE_BARO_BOARD
|
||||||
|
#define USE_BARO_BOARD 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* CONFIG_OPENPILOT_REVO_NANO_H */
|
||||||
Reference in New Issue
Block a user