[apogee] add config files for apogee v1.0

2026-05-09 22:49:53 +08:00 · 2013-07-19 18:12:36 +02:00
parent 7c16e74d99
commit ff0836c8ba
2 changed files with 464 additions and 0 deletions
@@ -0,0 +1,58 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# apogee_1.0.makefile
+#
+#
+
+BOARD=apogee
+BOARD_VERSION=1.0
+BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
+
+ARCH=stm32
+ARCH_L=f4
+ARCH_DIR=stm32
+SRC_ARCH=arch/$(ARCH_DIR)
+$(TARGET).ARCHDIR = $(ARCH)
+$(TARGET).LDSCRIPT=$(SRC_ARCH)/apogee.ld
+
+HARD_FLOAT=yes
+
+# default flash mode is via usb dfu bootloader
+# possibilities: DFU, SWD
+FLASH_MODE ?= DFU
+STLINK ?= y
+DFU_UTIL ?= y
+
+#
+# default LED configuration
+#
+RADIO_CONTROL_LED  ?= 4
+BARO_LED           ?= none
+AHRS_ALIGNER_LED   ?= 2
+GPS_LED            ?= 3
+SYS_TIME_LED       ?= 1
+
+#
+# default UART configuration (modem, gps, spektrum)
+#
+
+MODEM_PORT ?= UART1
+MODEM_BAUD ?= B57600
+
+GPS_PORT ?= UART4
+GPS_BAUD ?= B38400
+
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2
+
+SBUS_PORT ?= UART2
+
+#
+# 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
+
@@ -0,0 +1,406 @@
+#ifndef CONFIG_APOGEE_0_99_H
+#define CONFIG_APOGEE_0_99_H
+
+#define BOARD_APOGEE
+
+/* Apogee has a 16MHz external clock and 168MHz internal. */
+#define EXT_CLK 16000000
+#define AHB_CLK 168000000
+
+/*
+ * Onboard LEDs
+ */
+
+/* red, on PC0 */
+#ifndef USE_LED_1
+#define USE_LED_1 1
+#endif
+#define LED_1_GPIO GPIOC
+#define LED_1_GPIO_CLK RCC_AHB1ENR_IOPCEN
+#define LED_1_GPIO_PIN GPIO0
+#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_CLK RCC_AHB1ENR_IOPCEN
+#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)
+
+/* green, on PC1 */
+#ifndef USE_LED_3
+#define USE_LED_3 1
+#endif
+#define LED_3_GPIO GPIOC
+#define LED_3_GPIO_CLK RCC_AHB1ENR_IOPCEN
+#define LED_3_GPIO_PIN GPIO1
+#define LED_3_GPIO_ON gpio_clear
+#define LED_3_GPIO_OFF gpio_set
+#define LED_3_AFIO_REMAP ((void)0)
+
+/* yellow, on PC3 */
+#ifndef USE_LED_4
+#define USE_LED_4 1
+#endif
+#define LED_4_GPIO GPIOC
+#define LED_4_GPIO_CLK RCC_AHB1ENR_IOPCEN
+#define LED_4_GPIO_PIN GPIO3
+#define LED_4_GPIO_ON gpio_clear
+#define LED_4_GPIO_OFF gpio_set
+#define LED_4_AFIO_REMAP ((void)0)
+
+/* AUX1, on PB1, 1 on LED_ON, 0 on LED_OFF */
+#ifndef USE_LED_5
+#define USE_LED_5 0
+#endif
+#define LED_5_GPIO GPIOB
+#define LED_5_GPIO_CLK RCC_AHB1ENR_IOPBEN
+#define LED_5_GPIO_PIN GPIO1
+#define LED_5_GPIO_ON gpio_set
+#define LED_5_GPIO_OFF gpio_clear
+#define LED_5_AFIO_REMAP ((void)0)
+
+/* AUX2, on PC5, 1 on LED_ON, 0 on LED_OFF */
+#ifndef USE_LED_6
+#define USE_LED_6 0
+#endif
+#define LED_6_GPIO GPIOC
+#define LED_6_GPIO_CLK RCC_AHB1ENR_IOPCEN
+#define LED_6_GPIO_PIN GPIO5
+#define LED_6_GPIO_ON gpio_set
+#define LED_6_GPIO_OFF gpio_clear
+#define LED_6_AFIO_REMAP ((void)0)
+
+/* AUX3, on PC4, 1 on LED_ON, 0 on LED_OFF */
+#ifndef USE_LED_7
+#define USE_LED_7 0
+#endif
+#define LED_7_GPIO GPIOC
+#define LED_7_GPIO_CLK RCC_AHB1ENR_IOPCEN
+#define LED_7_GPIO_PIN GPIO4
+#define LED_7_GPIO_ON gpio_set
+#define LED_7_GPIO_OFF gpio_clear
+#define LED_7_AFIO_REMAP ((void)0)
+
+/* AUX4, on PB15, 1 on LED_ON, 0 on LED_OFF */
+#ifndef USE_LED_8
+#define USE_LED_8 0
+#endif
+#define LED_8_GPIO GPIOB
+#define LED_8_GPIO_CLK RCC_AHB1ENR_IOPBEN
+#define LED_8_GPIO_PIN GPIO15
+#define LED_8_GPIO_ON gpio_set
+#define LED_8_GPIO_OFF gpio_clear
+#define LED_8_AFIO_REMAP ((void)0)
+
+/* Power Switch, on PB12, 1 on LED_ON, 0 on LED_OFF */
+#ifndef USE_LED_9
+#define USE_LED_9 1
+#endif
+#define LED_9_GPIO GPIOB
+#define LED_9_GPIO_CLK RCC_AHB1ENR_IOPBEN
+#define LED_9_GPIO_PIN GPIO12
+#define LED_9_GPIO_ON gpio_set
+#define LED_9_GPIO_OFF gpio_clear
+#define LED_9_AFIO_REMAP ((void)0)
+
+#define POWER_SWITCH_LED 9
+
+/* Uart2 RX polarity, on PB13, 1 on LED_ON, 0 on LED_OFF */
+#ifndef USE_LED_10
+#define USE_LED_10 1
+#endif
+#define LED_10_GPIO GPIOB
+#define LED_10_GPIO_CLK RCC_AHB1ENR_IOPBEN
+#define LED_10_GPIO_PIN GPIO13
+#define LED_10_GPIO_ON gpio_set
+#define LED_10_GPIO_OFF gpio_clear
+#define LED_10_AFIO_REMAP ((void)0)
+
+#define RC_POLARITY_LED 10
+
+/* Default actuators driver */
+#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
+#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
+#define ActuatorsDefaultInit() ActuatorsPwmInit()
+#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
+
+#define DefaultVoltageOfAdc(adc) (0.006185*adc)
+
+/* UART */
+#define UART1_GPIO_AF GPIO_AF7
+#define UART1_GPIO_PORT_RX GPIOA
+#define UART1_GPIO_RX GPIO10
+#define UART1_GPIO_PORT_TX GPIOB
+#define UART1_GPIO_TX GPIO6
+
+#define UART2_GPIO_AF GPIO_AF7
+#define UART2_GPIO_PORT_RX GPIOA
+#define UART2_GPIO_RX GPIO3
+#define USE_UART2_TX FALSE
+
+#define UART4_GPIO_AF GPIO_AF8
+#define UART4_GPIO_PORT_RX GPIOA
+#define UART4_GPIO_RX GPIO1
+#define UART4_GPIO_PORT_TX GPIOA
+#define UART4_GPIO_TX GPIO0
+
+#define UART6_GPIO_AF GPIO_AF8
+#define UART6_GPIO_PORT_RX GPIOC
+#define UART6_GPIO_RX GPIO7
+#define UART6_GPIO_PORT_TX GPIOC
+#define UART6_GPIO_TX GPIO6
+
+/* 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 SPI_SELECT_SLAVE0_PORT GPIOB
+#define SPI_SELECT_SLAVE0_PIN GPIO9
+
+
+/* Onboard ADCs */
+#define USE_AD_TIM4 1
+
+#define BOARD_ADC_CHANNEL_1 9
+#define BOARD_ADC_CHANNEL_2 15
+#define BOARD_ADC_CHANNEL_3 14
+#define BOARD_ADC_CHANNEL_4 4
+
+#ifndef USE_AD1
+#define USE_AD1 1
+#endif
+/* 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
+ */
+// AUX 1
+#define ADC_1 ADC1_C1
+#ifdef USE_ADC_1
+#ifndef ADC_1_GPIO_CLOCK_PORT
+#define ADC_1_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPBEN
+#define ADC_1_INIT() gpio_mode_setup(GPIOB, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO1)
+#endif
+#define USE_AD1_1 1
+#else
+#define ADC_1_GPIO_CLOCK_PORT 0
+#define ADC_1_INIT() {}
+#endif
+
+// AUX 2
+#define ADC_2 ADC1_C2
+#ifdef USE_ADC_2
+#ifndef ADC_2_GPIO_CLOCK_PORT
+#define ADC_2_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPCEN
+#define ADC_2_INIT() gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO5)
+#endif
+#define USE_AD1_2 1
+#else
+#define ADC_2_GPIO_CLOCK_PORT 0
+#define ADC_2_INIT() {}
+#endif
+
+// AUX 3
+#define ADC_3 ADC1_C3
+#ifdef USE_ADC_3
+#ifndef ADC_3_GPIO_CLOCK_PORT
+#define ADC_3_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPCEN
+#define ADC_3_INIT() gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO4)
+#endif
+#define USE_AD1_3 1
+#else
+#define ADC_3_GPIO_CLOCK_PORT 0
+#define ADC_3_INIT() {}
+#endif
+
+// BAT
+#define ADC_4 ADC1_C4
+#ifndef ADC_4_GPIO_CLOCK_PORT
+#define ADC_4_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPAEN
+#define ADC_4_INIT() gpio_mode_setup(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO4)
+#endif
+#define USE_AD1_4 1
+
+/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
+#ifndef ADC_CHANNEL_VSUPPLY
+#define ADC_CHANNEL_VSUPPLY ADC_4
+#endif
+
+#define ADC_GPIO_CLOCK_PORT (ADC_1_GPIO_CLOCK_PORT | ADC_2_GPIO_CLOCK_PORT | ADC_3_GPIO_CLOCK_PORT | ADC_4_GPIO_CLOCK_PORT)
+
+/* GPIO mapping for ADC1 pins, overwrites the default in arch/stm32/mcu_periph/adc_arch.c */
+#ifdef USE_AD1
+#define ADC1_GPIO_INIT(gpio) { \
+  ADC_1_INIT(); \
+  ADC_2_INIT(); \
+  ADC_3_INIT(); \
+  ADC_4_INIT(); \
+}
+#endif // USE_AD1
+
+
+/* I2C mapping */
+#define I2C1_GPIO_PORT GPIOB
+#define I2C1_GPIO_SCL GPIO8
+#define I2C1_GPIO_SDA GPIO7
+
+#define I2C2_GPIO_PORT GPIOB
+#define I2C2_GPIO_SCL GPIO10
+#define I2C2_GPIO_SDA GPIO11
+
+
+/* Activate onboard baro */
+#define BOARD_HAS_BARO 1
+
+/* PWM */
+#define PWM_USE_TIM2 1
+#define PWM_USE_TIM3 1
+
+#define USE_PWM0 1
+#define USE_PWM1 1
+#define USE_PWM2 1
+#define USE_PWM3 1
+#define USE_PWM4 1
+#define USE_PWM5 1
+
+// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
+#if USE_PWM0
+#define PWM_SERVO_0 0
+#define PWM_SERVO_0_TIMER TIM3
+#define PWM_SERVO_0_RCC_IOP RCC_AHB1ENR_IOPBEN
+#define PWM_SERVO_0_GPIO GPIOB
+#define PWM_SERVO_0_PIN GPIO0
+#define PWM_SERVO_0_AF GPIO_AF2
+#define PWM_SERVO_0_OC TIM_OC3
+#define PWM_SERVO_0_OC_BIT (1<<2)
+#else
+#define PWM_SERVO_0_OC_BIT 0
+#endif
+
+#if USE_PWM1
+#define PWM_SERVO_1 1
+#define PWM_SERVO_1_TIMER TIM2
+#define PWM_SERVO_1_RCC_IOP RCC_AHB1ENR_IOPAEN
+#define PWM_SERVO_1_GPIO GPIOA
+#define PWM_SERVO_1_PIN GPIO2
+#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 2
+#define PWM_SERVO_2_TIMER TIM3
+#define PWM_SERVO_2_RCC_IOP RCC_AHB1ENR_IOPBEN
+#define PWM_SERVO_2_GPIO GPIOB
+#define PWM_SERVO_2_PIN GPIO5
+#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_IDX 3
+#define PWM_SERVO_3_TIMER TIM3
+#define PWM_SERVO_3_RCC_IOP RCC_AHB1ENR_IOPBEN
+#define PWM_SERVO_3_GPIO GPIOB
+#define PWM_SERVO_3_PIN GPIO4
+#define PWM_SERVO_3_AF GPIO_AF2
+#define PWM_SERVO_3_OC TIM_OC1
+#define PWM_SERVO_3_OC_BIT (1<<0)
+#else
+#define PWM_SERVO_3_OC_BIT 0
+#endif
+
+#if USE_PWM4
+#define PWM_SERVO_4 4
+#define PWM_SERVO_4_TIMER TIM2
+#define PWM_SERVO_4_RCC_IOP RCC_AHB1ENR_IOPBEN
+#define PWM_SERVO_4_GPIO GPIOB
+#define PWM_SERVO_4_PIN GPIO3
+#define PWM_SERVO_4_AF GPIO_AF1
+#define PWM_SERVO_4_OC TIM_OC2
+#define PWM_SERVO_4_OC_BIT (1<<1)
+#else
+#define PWM_SERVO_4_OC_BIT 0
+#endif
+
+#if USE_PWM5
+#define PWM_SERVO_5 5
+#define PWM_SERVO_5_TIMER TIM2
+#define PWM_SERVO_5_RCC_IOP RCC_AHB1ENR_IOPAEN
+#define PWM_SERVO_5_GPIO GPIOA
+#define PWM_SERVO_5_PIN GPIO15
+#define PWM_SERVO_5_AF GPIO_AF1
+#define PWM_SERVO_5_OC TIM_OC1
+#define PWM_SERVO_5_OC_BIT (1<<0)
+#else
+#define PWM_SERVO_5_OC_BIT 0
+#endif
+
+// PWM AUX1 (conflict with ADC0)
+#if USE_PWM6
+#define PWM_SERVO_6 6
+#define PWM_SERVO_6_TIMER TIM3
+#define PWM_SERVO_6_RCC_IOP RCC_AHB1ENR_IOPBEN
+#define PWM_SERVO_6_GPIO GPIOB
+#define PWM_SERVO_6_PIN GPIO1
+#define PWM_SERVO_6_AF GPIO_AF2
+#define PWM_SERVO_6_OC TIM_OC4
+#define PWM_SERVO_6_OC_BIT (1<<3)
+#else
+#define PWM_SERVO_6_OC_BIT 0
+#endif
+
+
+#define PWM_TIM2_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_4_OC_BIT|PWM_SERVO_5_OC_BIT)
+#define PWM_TIM3_CHAN_MASK (PWM_SERVO_0_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_6_OC_BIT)
+
+/*
+ * 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        GPIO8
+#define PPM_GPIO_AF         GPIO_AF1
+
+/*
+ * Spektrum
+ */
+/* The line that is pulled low at power up to initiate the bind process */
+#define SPEKTRUM_BIND_PIN GPIO8
+#define SPEKTRUM_BIND_PIN_PORT GPIOA
+
+#define SPEKTRUM_UART2_RCC_REG &RCC_APB1ENR
+#define SPEKTRUM_UART2_RCC_DEV RCC_APB1ENR_USART2EN
+#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
+
+#endif /* CONFIG_APOGEE_0_99_H */