diff --git a/conf/boards/apogee_1.0.makefile b/conf/boards/apogee_1.0.makefile new file mode 100644 index 0000000000..07639c1ccf --- /dev/null +++ b/conf/boards/apogee_1.0.makefile @@ -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. +# +ACTUATORS ?= actuators_pwm + diff --git a/sw/airborne/boards/apogee_1.0.h b/sw/airborne/boards/apogee_1.0.h new file mode 100644 index 0000000000..705dca0eda --- /dev/null +++ b/sw/airborne/boards/apogee_1.0.h @@ -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 */