Using TWOG to fly Quadrotor on the Booz2 Software

conf/autopilot/twog_booz.h

@@ -0,0 +1,162 @@
+#ifndef CONFIG_TINY_H
+#define CONFIG_TINY_H
+
+#ifdef SITL
+/* Dummy definitions: adc are unused anyway */
+#define AdcBank0(x) (x)
+#define AdcBank1(x) (x)
+#endif /* SITL */
+
+/* Master oscillator freq.       */
+#define FOSC (12000000) 
+
+/* PLL multiplier                */
+#define PLL_MUL (5)         
+
+/* CPU clock freq.               */
+#define CCLK (FOSC * PLL_MUL) 
+
+/* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2   */
+#define PBSD_BITS 0x00    
+#define PBSD_VAL 4
+
+/* Peripheral bus clock freq. */
+#define PCLK (CCLK / PBSD_VAL) 
+
+#define LED_1_BANK 1
+#define LED_1_PIN 17
+
+#define LED_2_BANK 1
+#define LED_2_PIN 16
+
+#define LED_3_BANK 1
+#define LED_3_PIN 23
+
+#define LED_4_BANK 1
+#define LED_4_PIN 18
+
+#define POWER_SWITCH_LED 4
+
+#define LED_5_BANK 1
+#define LED_5_PIN 22
+
+#define CAM_SWITCH_LED 5
+
+#define LED_GPS_RESET_BANK 1
+#define LED_GPS_RESET_PIN 21
+
+#define Configure_GPS_RESET_Pin() LED_INIT(GPS_RESET)
+#define Set_GPS_RESET_Pin_LOW() LED_ON(GPS_RESET)
+#define Open_GPS_RESET_Pin() ClearBit(LED_DIR(GPS_RESET), LED_PIN(GPS_RESET))
+
+/* P0.5 aka MAT0.1  */
+#define SERVO_CLOCK_PIN  5
+#define SERVO_CLOCK_PINSEL PINSEL0
+#define SERVO_CLOCK_PINSEL_VAL 0x02
+#define SERVO_CLOCK_PINSEL_BIT 10
+/* p1.20          */
+#define SERVO_RESET_PIN 20
+
+
+
+#define ANALOG_BARO_PINSEL PINSEL0
+#define ANALOG_BARO_PINSEL_VAL 0x03
+#define ANALOG_BARO_PINSEL_BIT 20
+#define ANALOG_BARO_ADC 1
+
+/* PPM : rc rx on P0.6*/
+#define PPM_PINSEL PINSEL0
+#define PPM_PINSEL_VAL 0x02
+#define PPM_PINSEL_BIT 12
+#define PPM_CRI TIR_CR2I
+#define PPM_CCR_CRF TCCR_CR2_F
+#define PPM_CCR_CRR TCCR_CR2_R
+#define PPM_CCR_CRI TCCR_CR2_I
+#define PPM_CR T0CR2
+
+/* ADC */
+
+#define ADC_0 AdcBank1(6)
+#ifdef USE_ADC_0
+#ifndef USE_AD1
+#define USE_AD1
+#endif
+#define USE_AD1_6
+#endif
+
+#define ADC_1 AdcBank1(7)
+#ifdef USE_ADC_1
+#ifndef USE_AD1
+#define USE_AD1
+#endif
+#define USE_AD1_7
+#endif
+
+
+#define ADC_2 AdcBank0(4)
+#ifdef USE_ADC_2
+#ifndef USE_AD0
+#define USE_AD0
+#endif
+#define USE_AD0_4
+#endif
+
+#define ADC_3 AdcBank0(6)
+#ifdef USE_ADC_3
+#ifndef USE_AD0
+#define USE_AD0
+#endif
+#define USE_AD0_6
+#endif
+
+#define ADC_4 AdcBank0(3)
+#ifdef USE_ADC_4
+#ifndef USE_AD0
+#define USE_AD0
+#endif
+#define USE_AD0_3
+#endif
+
+#define ADC_5 AdcBank0(2)
+#ifdef USE_ADC_5
+#ifndef USE_AD0
+#define USE_AD0
+#endif
+#define USE_AD0_2
+#endif
+
+#define ADC_6 AdcBank0(1)
+#ifdef USE_ADC_6
+#ifndef USE_AD0
+#define USE_AD0
+#endif
+#define USE_AD0_1
+#endif
+
+#define ADC_7 AdcBank1(3)
+#ifdef USE_ADC_7
+#ifndef USE_AD1
+#define USE_AD1
+#endif
+#define USE_AD1_3
+#endif
+
+#define ADC_CHANNEL_VSUPPLY AdcBank1(5)
+#ifndef USE_AD1
+#define USE_AD1
+#endif
+#define USE_AD1_5
+
+
+#define DefaultVoltageOfAdc(adc) (0.01787109375*adc)
+
+#define SPI_SELECT_SLAVE0_PORT 0
+#define SPI_SELECT_SLAVE0_PIN 20
+
+#define SPI1_DRDY_PINSEL PINSEL1
+#define SPI1_DRDY_PINSEL_BIT   0
+#define SPI1_DRDY_PINSEL_VAL   1
+#define SPI1_DRDY_EINT         0
+#define SPI1_DRDY_VIC_IT       VIC_EINT0
+
+#endif /* CONFIG_TINY_H */