diff --git a/conf/boards/px4io_2.4.makefile b/conf/boards/px4io_2.4.makefile new file mode 100644 index 0000000000..42406c6d1d --- /dev/null +++ b/conf/boards/px4io_2.4.makefile @@ -0,0 +1,48 @@ +# Hey Emacs, this is a -*- makefile -*- +# +# px4io_2.4.makefile +# +# This is for the main MCU (STM32F427) on the PX4 board +# See https://pixhawk.org/modules/pixhawk for details +# + +BOARD=px4io +BOARD_VERSION=2.4 +BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" + +ARCH=stm32 +$(TARGET).ARCHDIR = $(ARCH) +$(TARGET).LDSCRIPT=$(SRC_ARCH)/px4io_2.4.ld + +# default flash mode is via usb dfu bootloader +# possibilities: DFU, SWD, PX4_BOOTLOADER +PX4_BL_PORT ?= "/dev/serial/by-id/usb-FTDI_*" +PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/px4io-v2.prototype" + +FLASH_MODE ?= PX4_BOOTLOADER +$(TARGET).MAKEFILE = stm32 + +# +# default LED configuration +# +RADIO_CONTROL_LED ?= none +BARO_LED ?= none +AHRS_ALIGNER_LED ?= none +GPS_LED ?= none +SYS_TIME_LED ?= 1 +FBW_MODE_LED ?= 3 + +# +# default UART configuration (modem, gps, spektrum) +# +RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1 + +# +# default actuator configuration +# +# you can use different actuators by adding a configure option to your firmware section +# e.g. +# +ACTUATORS ?= actuators_pwm diff --git a/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile index 7bb2ce981b..2c220b3971 100644 --- a/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile +++ b/conf/firmwares/subsystems/fixedwing/intermcu_uart.makefile @@ -11,6 +11,7 @@ ifeq ($(TARGET),fbw) INTERMCU_PORT ?= UART2 INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z) fbw.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT_LOWER) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B57600 + fbw.CFLAGS += -DFBW_MODE_LED=$(FBW_MODE_LED) else INTERMCU_PORT ?= UART5 INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z) diff --git a/conf/firmwares/subsystems/rotorcraft/intermcu_uart.makefile b/conf/firmwares/subsystems/rotorcraft/intermcu_uart.makefile index 3199bbd3fd..8b2feea188 100644 --- a/conf/firmwares/subsystems/rotorcraft/intermcu_uart.makefile +++ b/conf/firmwares/subsystems/rotorcraft/intermcu_uart.makefile @@ -4,18 +4,24 @@ ifeq ($(TARGET),fbw) INTERMCU_PORT ?= UART3 + INTERMCU_BAUD ?= B230400 INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z) - fbw.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT_LOWER) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B230400 + fbw.CFLAGS += -DINTERMCU_LINK=$(INTERMCU_PORT_LOWER) -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=$(INTERMCU_BAUD) fbw.CFLAGS += -DINTER_MCU_FBW -DDOWNLINK + fbw.CFLAGS += -DFBW_MODE_LED=$(FBW_MODE_LED) fbw.srcs += pprzlink/src/pprz_transport.c fbw.srcs += subsystems/intermcu/intermcu_fbw.c else INTERMCU_PORT ?= UART3 + INTERMCU_BAUD ?= B230400 INTERMCU_PORT_LOWER = $(shell echo $(INTERMCU_PORT) | tr A-Z a-z) ap.CFLAGS += -DINTER_MCU_AP -DINTERMCU_LINK=$(INTERMCU_PORT_LOWER) - ap.CFLAGS += -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=B230400 + ap.CFLAGS += -DUSE_$(INTERMCU_PORT) -D$(INTERMCU_PORT)_BAUD=$(INTERMCU_BAUD) $(TARGET).CFLAGS += -DRADIO_CONTROL_TYPE_H=\"subsystems/intermcu/intermcu_ap.h\" -DRADIO_CONTROL - $(TARGET).CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED) + RADIO_CONTROL_LED ?= none +ifneq ($(RADIO_CONTROL_LED),none) + $(TARGET).CFLAGS += -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED) +endif ap.srcs += subsystems/intermcu/intermcu_ap.c ap.srcs += pprzlink/src/pprz_transport.c diff --git a/conf/firmwares/subsystems/shared/baro_board.makefile b/conf/firmwares/subsystems/shared/baro_board.makefile index a6f9839cbd..096a079e4f 100644 --- a/conf/firmwares/subsystems/shared/baro_board.makefile +++ b/conf/firmwares/subsystems/shared/baro_board.makefile @@ -167,8 +167,8 @@ else ifeq ($(BOARD), krooz) BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c # PX4FMU -else ifeq ($(BOARD), px4fmu) - BARO_BOARD_CFLAGS += -DUSE_I2C2 +else ifeq ($(BOARD),$(filter $(BOARD),px4fmu)) + BARO_BOARD_CFLAGS += -DUSE_I2C2 BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2 BARO_BOARD_SRCS += peripherals/ms5611.c BARO_BOARD_SRCS += peripherals/ms5611_i2c.c diff --git a/sw/airborne/arch/stm32/mcu_arch.c b/sw/airborne/arch/stm32/mcu_arch.c index e9c4683dd3..30a810dadd 100644 --- a/sw/airborne/arch/stm32/mcu_arch.c +++ b/sw/airborne/arch/stm32/mcu_arch.c @@ -42,50 +42,115 @@ #if defined(STM32F4) /* untested, should go into libopencm3 */ const clock_scale_t hse_24mhz_3v3[CLOCK_3V3_END] = { - { /* 48MHz */ - .pllm = 24, - .plln = 96, - .pllp = 2, - .pllq = 2, - .hpre = RCC_CFGR_HPRE_DIV_NONE, - .ppre1 = RCC_CFGR_PPRE_DIV_4, - .ppre2 = RCC_CFGR_PPRE_DIV_2, - .power_save = 1, - .flash_config = FLASH_ACR_ICE | FLASH_ACR_DCE | - FLASH_ACR_LATENCY_3WS, - .apb1_frequency = 12000000, - .apb2_frequency = 24000000, - }, - { /* 120MHz */ - .pllm = 24, - .plln = 240, - .pllp = 2, - .pllq = 5, - .hpre = RCC_CFGR_HPRE_DIV_NONE, - .ppre1 = RCC_CFGR_PPRE_DIV_4, - .ppre2 = RCC_CFGR_PPRE_DIV_2, - .power_save = 1, - .flash_config = FLASH_ACR_ICE | FLASH_ACR_DCE | - FLASH_ACR_LATENCY_3WS, - .apb1_frequency = 30000000, - .apb2_frequency = 60000000, - }, - { /* 168MHz */ - .pllm = 24, - .plln = 336, - .pllp = 2, - .pllq = 7, - .hpre = RCC_CFGR_HPRE_DIV_NONE, - .ppre1 = RCC_CFGR_PPRE_DIV_4, - .ppre2 = RCC_CFGR_PPRE_DIV_2, - .flash_config = FLASH_ACR_ICE | FLASH_ACR_DCE | - FLASH_ACR_LATENCY_5WS, - .apb1_frequency = 42000000, - .apb2_frequency = 84000000, - }, + { /* 48MHz */ + .pllm = 24, + .plln = 96, + .pllp = 2, + .pllq = 2, + .hpre = RCC_CFGR_HPRE_DIV_NONE, + .ppre1 = RCC_CFGR_PPRE_DIV_4, + .ppre2 = RCC_CFGR_PPRE_DIV_2, + .power_save = 1, + .flash_config = FLASH_ACR_ICE | FLASH_ACR_DCE | + FLASH_ACR_LATENCY_3WS, + .apb1_frequency = 12000000, + .apb2_frequency = 24000000, + }, + { /* 120MHz */ + .pllm = 24, + .plln = 240, + .pllp = 2, + .pllq = 5, + .hpre = RCC_CFGR_HPRE_DIV_NONE, + .ppre1 = RCC_CFGR_PPRE_DIV_4, + .ppre2 = RCC_CFGR_PPRE_DIV_2, + .power_save = 1, + .flash_config = FLASH_ACR_ICE | FLASH_ACR_DCE | + FLASH_ACR_LATENCY_3WS, + .apb1_frequency = 30000000, + .apb2_frequency = 60000000, + }, + { /* 168MHz */ + .pllm = 24, + .plln = 336, + .pllp = 2, + .pllq = 7, + .hpre = RCC_CFGR_HPRE_DIV_NONE, + .ppre1 = RCC_CFGR_PPRE_DIV_4, + .ppre2 = RCC_CFGR_PPRE_DIV_2, + .flash_config = FLASH_ACR_ICE | FLASH_ACR_DCE | + FLASH_ACR_LATENCY_5WS, + .apb1_frequency = 42000000, + .apb2_frequency = 84000000, + }, }; #endif +#if defined(STM32F1) +/*---------------------------------------------------------------------------*/ +/** @brief RCC Set System Clock HSE at 24MHz from HSE at 24MHz + +*/ +void rcc_clock_setup_in_hse_24mhz_out_24mhz_pprz(void); +void rcc_clock_setup_in_hse_24mhz_out_24mhz_pprz(void) +{ + /* Enable internal high-speed oscillator. */ + rcc_osc_on(HSI); + rcc_wait_for_osc_ready(HSI); + + /* Select HSI as SYSCLK source. */ + rcc_set_sysclk_source(RCC_CFGR_SW_SYSCLKSEL_HSICLK); + + /* Enable external high-speed oscillator 24MHz. */ + rcc_osc_on(HSE); + rcc_wait_for_osc_ready(HSE); + rcc_set_sysclk_source(RCC_CFGR_SW_SYSCLKSEL_HSECLK); + + /* + * Set prescalers for AHB, ADC, ABP1, ABP2. + * Do this before touching the PLL (TODO: why?). + */ + rcc_set_hpre(RCC_CFGR_HPRE_SYSCLK_NODIV); /* Set. 24MHz Max. 72MHz */ + rcc_set_adcpre(RCC_CFGR_ADCPRE_PCLK2_DIV2); /* Set. 12MHz Max. 14MHz */ + rcc_set_ppre1(RCC_CFGR_PPRE1_HCLK_NODIV); /* Set. 24MHz Max. 36MHz */ + rcc_set_ppre2(RCC_CFGR_PPRE2_HCLK_NODIV); /* Set. 24MHz Max. 72MHz */ + + /* + * Sysclk runs with 24MHz -> 0 waitstates. + * 0WS from 0-24MHz + * 1WS from 24-48MHz + * 2WS from 48-72MHz + */ + flash_set_ws(FLASH_ACR_LATENCY_0WS); + + /* + * Set the PLL multiplication factor to 2. + * 24MHz (external) * 2 (multiplier) / 2 (RCC_CFGR_PLLXTPRE_HSE_CLK_DIV2) = 24MHz + */ + rcc_set_pll_multiplication_factor(RCC_CFGR_PLLMUL_PLL_CLK_MUL2); + + /* Select HSE as PLL source. */ + rcc_set_pll_source(RCC_CFGR_PLLSRC_HSE_CLK); + + /* + * External frequency divide by 2 before entering PLL + * (only valid/needed for HSE). + */ + rcc_set_pllxtpre(RCC_CFGR_PLLXTPRE_HSE_CLK_DIV2); + + rcc_osc_on(PLL); + rcc_wait_for_osc_ready(PLL); + + /* Select PLL as SYSCLK source. */ + rcc_set_sysclk_source(RCC_CFGR_SW_SYSCLKSEL_PLLCLK); + + /* Set the peripheral clock frequencies used */ + rcc_ahb_frequency = 24000000; + rcc_apb1_frequency = 24000000; + rcc_apb2_frequency = 24000000; +} +#endif + void mcu_arch_init(void) { #if LUFTBOOT @@ -121,6 +186,8 @@ void mcu_arch_init(void) #if defined(STM32F4) PRINT_CONFIG_MSG("Using 24MHz external clock to PLL it to 168MHz.") rcc_clock_setup_hse_3v3(&hse_24mhz_3v3[CLOCK_3V3_168MHZ]); +#elif defined(STM32F1) + rcc_clock_setup_in_hse_24mhz_out_24mhz_pprz(); #endif #elif EXT_CLK == 25000000 #if defined(STM32F4) @@ -142,6 +209,7 @@ void mcu_arch_init(void) } #if defined(STM32F1) + #define RCC_CFGR_PPRE2_SHIFT 11 #define RCC_CFGR_PPRE2 (7 << RCC_CFGR_PPRE2_SHIFT) @@ -191,8 +259,7 @@ uint32_t timer_get_frequency(uint32_t timer_peripheral) #ifdef TIM11 case TIM11: #endif - if (!rcc_get_ppre2()) - { + if (!rcc_get_ppre2()) { /* without APB2 prescaler, runs at APB2 freq */ return rcc_apb2_frequency; } else { @@ -216,8 +283,7 @@ uint32_t timer_get_frequency(uint32_t timer_peripheral) #ifdef TIM14 case TIM14: #endif - if (!rcc_get_ppre1()) - { + if (!rcc_get_ppre1()) { /* without APB1 prescaler, runs at APB1 freq */ return rcc_apb1_frequency; } else { diff --git a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h index 910523b66c..79a9dd16ee 100644 --- a/sw/airborne/arch/stm32/mcu_periph/uart_arch.h +++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h @@ -40,6 +40,7 @@ #define B115200 115200 #define B230400 230400 #define B921600 921600 +#define B1500000 1500000 #define UART_SPEED(_def) _def #endif /* STM32_UART_ARCH_H */ diff --git a/sw/airborne/arch/stm32/px4fmu_2.4.ld b/sw/airborne/arch/stm32/px4fmu_2.4.ld index c75ae6f361..e7158dbb88 100644 --- a/sw/airborne/arch/stm32/px4fmu_2.4.ld +++ b/sw/airborne/arch/stm32/px4fmu_2.4.ld @@ -1,5 +1,5 @@ /* - * Copyright (C) 2015 Felix Ruess + * Copyright (C) 2016 The Paparazzi Team> * * This file is part of Paparazzi. * @@ -19,15 +19,14 @@ * Boston, MA 02111-1307, USA. */ -/* Linker script for Pixhawk PX4FMU v2.4 (STM32F427, 2048K flash, 256K RAM). */ +/* Linker script for Pixhawk PX4FMU v2.4 (STM32F427, 1024K flash, 192K RAM). */ /* Define memory regions. */ MEMORY { - /* only 192K (SRAM1 and SRAM2) are accessible by all AHB masters. */ - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K - /* Reserving 128kb flash for persistent settings. */ - rom (rx) : ORIGIN = 0x08000000, LENGTH = 1920K + ram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K + /* Pixhawk seems to have had a bad badge of f4's, so only use the first 1mb */ + rom (rx) : ORIGIN = 0x08004000, LENGTH = 1008K } /* Include the common ld script. */ diff --git a/sw/airborne/arch/stm32/px4io_2.4.ld b/sw/airborne/arch/stm32/px4io_2.4.ld new file mode 100644 index 0000000000..b560cf8996 --- /dev/null +++ b/sw/airborne/arch/stm32/px4io_2.4.ld @@ -0,0 +1,36 @@ +/* + * Hey Emacs, this is a -*- makefile -*- + * + * Copyright (C) 2016 Kevin van Hecke + * + * 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 the PX4IO (STM32F103c8t6 medium density, 64 Kbytes Flash). */ + +/* Define memory regions. */ +MEMORY +{ + ram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K + /* Leaving 2k of space at the end of rom for stored settings */ + rom (rx) : ORIGIN = 0x08001000, LENGTH = 60K +} + +/* Include the common ld script. */ +INCLUDE libopencm3_stm32f1.ld + diff --git a/sw/airborne/boards/px4fmu_2.4.h b/sw/airborne/boards/px4fmu_2.4.h index 4e9cd7853f..8c491502dd 100644 --- a/sw/airborne/boards/px4fmu_2.4.h +++ b/sw/airborne/boards/px4fmu_2.4.h @@ -4,14 +4,14 @@ #define BOARD_PX4FMU_v2 /* Pixhawk board (PX4FMUv2 has a 24MHz external clock and 168MHz internal. */ +//STM32F4 #define EXT_CLK 24000000 #define AHB_CLK 168000000 - /* * Onboard LEDs */ -/* red/amber , on PE12 */ +/* red, on PE12 */ #ifndef USE_LED_1 #define USE_LED_1 1 #endif @@ -23,13 +23,6 @@ /* * UART - */ -/* -#define UART1_GPIO_AF GPIO_AF7 -#define UART1_GPIO_PORT_RX GPIOA -#define UART1_GPIO_RX GPIO9 -#define UART1_GPIO_PORT_TX GPIOA -#define UART1_GPIO_TX GPIO10 */ //OK // conector telem1 @@ -156,24 +149,19 @@ // SDIO_CMD pd2 /* Onboard ADCs */ -#define USE_AD_TIM4 1 - -#define BOARD_ADC_CHANNEL_1 11 -#define BOARD_ADC_CHANNEL_2 12 -#define BOARD_ADC_CHANNEL_3 13 -#define BOARD_ADC_CHANNEL_4 10 +#define USE_AD_TIM5 1 /* provide defines that can be used to access the ADC_x in the code or airframe file * these directly map to the index number of the 4 adc channels defined above * 4th (index 3) is used for bat monitoring by default */ -#if USE_ADC_1 -#define AD1_1_CHANNEL 11 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOC -#define ADC_1_GPIO_PIN GPIO1 -#endif +//#if USE_ADC_1 +//#define AD1_1_CHANNEL 11 +//#define ADC_1 AD1_1 +//#define ADC_1_GPIO_PORT GPIOC +//#define ADC_1_GPIO_PIN GPIO1 +//#endif /* #if USE_ADC_2 #define AD1_2_CHANNEL 12 @@ -185,18 +173,19 @@ //OK current sens #if USE_ADC_3 -#define AD1_3_CHANNEL 13 +#define AD1_3_CHANNEL 3 #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) // Internal ADC for battery enabled by default #ifndef USE_ADC_4 #define USE_ADC_4 1 #endif #if USE_ADC_4 -#define AD1_4_CHANNEL 10 +#define AD1_4_CHANNEL 2 #define ADC_4 AD1_4 #define ADC_4_GPIO_PORT GPIOA #define ADC_4_GPIO_PIN GPIO2 @@ -206,7 +195,7 @@ #ifndef ADC_CHANNEL_VSUPPLY #define ADC_CHANNEL_VSUPPLY ADC_4 #endif -#define DefaultVoltageOfAdc(adc) (0.006185*adc) +#define DefaultVoltageOfAdc(adc) (0.00975f*adc) // value comes from px4 code sensors.cpp _parameters.battery_voltage_scaling = 0.0082f; Manual calib on iris = 0.0096... /* @@ -229,45 +218,6 @@ #define I2C3_GPIO_SDA GPIO9 */ -/* - * PPM - */ - - -#define USE_PPM_TIM1 1 - -#define PPM_CHANNEL TIM_IC1 -#define PPM_TIMER_INPUT TIM_IC_IN_TI1 -#define PPM_IRQ NVIC_TIM1_CC_IRQ -#define PPM_IRQ2 NVIC_TIM1_UP_TIM10_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC1IE -#define PPM_CC_IF TIM_SR_CC1IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO10 -#define PPM_GPIO_AF GPIO_AF1 - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -/* GPIO_EXT1 on PX4FMU */ - -/* -#define SPEKTRUM_BIND_PIN GPIO4 -#define SPEKTRUM_BIND_PIN_PORT GPIOC -*/ -/* -#define SPEKTRUM_UART2_RCC RCC_USART2 -#define SPEKTRUM_UART2_BANK GPIOA -#define SPEKTRUM_UART2_PIN GPIO3 -#define SPEKTRUM_UART2_AF GPIO_AF7 -#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ -#define SPEKTRUM_UART2_ISR usart2_isr -#define SPEKTRUM_UART2_DEV USART2 -*/ - - /* Activate onboard baro by default */ #ifndef USE_BARO_BOARD #define USE_BARO_BOARD 1 @@ -290,6 +240,7 @@ #define USE_PWM4 1 #define USE_PWM5 1 #define USE_PWM6 1 +//#define USE_BUZZER 1 // Servo numbering on the PX4 starts with 1 // PWM_SERVO_x is the index of the servo in the actuators_pwm_values array @@ -372,8 +323,7 @@ #define PWM_SERVO_6_OC_BIT 0 #endif -//Buzzer -/* +//Buzzer (alarm) #if USE_BUZZER #define PWM_BUZZER #define PWM_BUZZER_TIMER TIM2 @@ -385,11 +335,9 @@ #else #define PWM_BUZZER_OC_BIT 0 #endif -*/ - #define PWM_TIM1_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT) -//#define PWM_TIM2_CHAN_MASK (PWM_BUZZER_OC_BIT) +#define PWM_TIM2_CHAN_MASK (PWM_BUZZER_OC_BIT) #define PWM_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT) #endif /* CONFIG_PX4FMU_2_4_H */ diff --git a/sw/airborne/boards/px4io_2.4.h b/sw/airborne/boards/px4io_2.4.h new file mode 100644 index 0000000000..c205e033bb --- /dev/null +++ b/sw/airborne/boards/px4io_2.4.h @@ -0,0 +1,243 @@ +#ifndef CONFIG_PX4IO_2_4_H +#define CONFIG_PX4IO_2_4_H + +#define BOARD_PX4IO +//STM32F103c8t6 (medium density!) + +/* Pixhawk board (PX4FIOv2 has a 24MHz external clock and 24MHz internal. */ +#define EXT_CLK 24000000 //this osc is actually outside of the specs (max 16MHz) +#define AHB_CLK 24000000 + + +/* + * LEDs + */ +/* blue led, a.k.a. ACT */ +#ifndef USE_LED_1 +#define USE_LED_1 1 +#endif +#define LED_1_GPIO GPIOB +#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) + +//led Amber a.k.a b/e led +#ifndef USE_LED_2 +#define USE_LED_2 1 +#endif +#define LED_2_GPIO GPIOB +#define LED_2_GPIO_PIN GPIO15 +#define LED_2_GPIO_ON gpio_clear +#define LED_2_GPIO_OFF gpio_set +#define LED_2_AFIO_REMAP ((void)0) + +//safety led in the switch, red +#ifndef USE_LED_3 +#define USE_LED_3 1 +#endif +#define LED_3_GPIO GPIOB +#define LED_3_GPIO_PIN GPIO13 +#define LED_3_GPIO_ON gpio_clear +#define LED_3_GPIO_OFF gpio_set +#define LED_3_AFIO_REMAP ((void)0) + +//TODO: safety switch is on PB5! + +/* + * UART +*/ + +// fmu debug / spektrum receiver (only rx) +#define UART1_GPIO_AF 0 +#define UART1_GPIO_PORT_RX GPIOA +#define UART1_GPIO_RX GPIO10 +#define UART1_GPIO_PORT_TX GPIOA +#define UART1_GPIO_TX GPIO9 +// intermcu fmu +#define UART2_GPIO_AF 0 +#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_POWER_PIN_PORT GPIOC +#define SPEKTRUM_POWER_PIN GPIO13 + +#define SPEKTRUM_TIMER 3 + +#define SPEKTRUM_UART1_RCC RCC_USART1 +#define SPEKTRUM_UART1_BANK GPIOA +#define SPEKTRUM_UART1_PIN GPIO10 +#define SPEKTRUM_UART1_AF 0 +#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ +#define SPEKTRUM_UART1_ISR usart1_isr +#define SPEKTRUM_UART1_DEV USART1 + + +/* + * PPM input + */ +#define USE_PPM_TIM1 1 +#define PPM_CHANNEL TIM_IC1 +#define PPM_TIMER_INPUT TIM_IC_IN_TI1 +#define PPM_IRQ NVIC_TIM1_UP_IRQ +#define PPM_IRQ2 NVIC_TIM1_CC_IRQ +// Capture/Compare InteruptEnable and InterruptFlag +#define PPM_CC_IE TIM_DIER_CC1IE +#define PPM_CC_IF TIM_SR_CC1IF +#define PPM_GPIO_PORT GPIOA +#define PPM_GPIO_PIN GPIO8 +#define PPM_GPIO_AF 0 + +//#define USE_AD_TIM1 1 +#ifndef USE_ADC_1 +#define USE_ADC_1 0 +#endif +#if USE_ADC_1 // VDD servo ADC12_IN4, untested +#define AD1_1_CHANNEL 12 +#define ADC_1 AD1_4 +#define ADC_1_GPIO_PORT GPIOA +#define ADC_1_GPIO_PIN GPIO4 +#endif + +/* + * PWM + * + */ +//sevo outputs on px4io f1: +//chn: 1 2 3 4 5 6 7 8 +//pin: A0 A1 B8 B9 A6 A7 B0 B1 +//timer/channel: 2/1 2/2 4/3 4/4 3/1 3/2 3/3 3/4 +#define PWM_USE_TIM2 1 +//#define PWM_USE_TIM3 1 // spektrum already uses tim3 +#define PWM_USE_TIM4 1 + +//#define ACTUATORS_PWM_NB 4 + +#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 USE_PWM7 1 +//#define USE_PWM8 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 TIM2 +#define PWM_SERVO_1_GPIO GPIOA +#define PWM_SERVO_1_PIN GPIO0 +#define PWM_SERVO_1_AF 0 +#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 TIM2 +#define PWM_SERVO_2_GPIO GPIOA +#define PWM_SERVO_2_PIN GPIO1 +#define PWM_SERVO_2_AF 0 +#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 0 +#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 0 +#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 TIM3 +#define PWM_SERVO_5_GPIO GPIOA +#define PWM_SERVO_5_PIN GPIO6 +#define PWM_SERVO_5_AF 0 +#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 TIM3 +#define PWM_SERVO_6_GPIO GPIOA +#define PWM_SERVO_6_PIN GPIO7 +#define PWM_SERVO_6_AF 0 +#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 TIM3 +#define PWM_SERVO_7_GPIO GPIOB +#define PWM_SERVO_7_PIN GPIO0 +#define PWM_SERVO_7_AF 0 +#define PWM_SERVO_7_OC TIM_OC3 +#define PWM_SERVO_7_OC_BIT (1<<2) +#else +#define PWM_SERVO_7_OC_BIT 0 +#endif + +#if USE_PWM8 +#define PWM_SERVO_8 7 +#define PWM_SERVO_8_TIMER TIM3 +#define PWM_SERVO_8_GPIO GPIOB +#define PWM_SERVO_8_PIN GPIO1 +#define PWM_SERVO_8_AF 0 +#define PWM_SERVO_8_OC TIM_OC4 +#define PWM_SERVO_8_OC_BIT (1<<3) +#else +#define PWM_SERVO_8_OC_BIT 0 +#endif + +/* servos 1-2 on TIM2 */ +#define PWM_TIM2_CHAN_MASK (PWM_SERVO_1_OC_BIT|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 5-8 on TIM3 */ +//#define PWM_TIM3_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT|PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT) + +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" +#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) +#define ActuatorsDefaultInit() ActuatorsPwmInit() +#define ActuatorsDefaultCommit() ActuatorsPwmCommit() + + +#endif /* CONFIG_PX4IO_2_4_H */ diff --git a/sw/airborne/subsystems/radio_control.c b/sw/airborne/subsystems/radio_control.c index 72a0c8a20d..dbbb4b3fdb 100644 --- a/sw/airborne/subsystems/radio_control.c +++ b/sw/airborne/subsystems/radio_control.c @@ -64,7 +64,7 @@ void radio_control_periodic_task(void) radio_control.time_since_last_frame++; } -#if defined RADIO_CONTROL_LED +#if defined(RADIO_CONTROL_LED) if (radio_control.status == RC_OK) { LED_ON(RADIO_CONTROL_LED); } else {