diff --git a/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml b/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml deleted file mode 100644 index e90d9dc200..0000000000 --- a/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml +++ /dev/null @@ -1,286 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml deleted file mode 100644 index d2fd580306..0000000000 --- a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml +++ /dev/null @@ -1,391 +0,0 @@ - - - - - - - - - - - - - - amount of time it take for the bat to check - to avoid bat low spike detection when strong pullup withch draws short sudden power - - - - - - - - - - - - - - - - - - - - - - - - - - - use external mag - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - compensate AGL for body rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- diff --git a/conf/airframes/ESDEN/calib/esden_ls10-default.xml b/conf/airframes/ESDEN/calib/esden_ls10-default.xml deleted file mode 100644 index a7171f0158..0000000000 --- a/conf/airframes/ESDEN/calib/esden_ls10-default.xml +++ /dev/null @@ -1,34 +0,0 @@ - - - - -
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- \ No newline at end of file diff --git a/conf/airframes/HOOPERFLY/hooperfly_dot_bashrc b/conf/airframes/HOOPERFLY/hooperfly_dot_bashrc deleted file mode 100644 index 9d33cfff06..0000000000 --- a/conf/airframes/HOOPERFLY/hooperfly_dot_bashrc +++ /dev/null @@ -1,178 +0,0 @@ -# -------------------------------------------------- -# HooperFly Paprarazzi Section -# -------------------------------------------------- - -# List of aircraft instances. These are the names defined in conf.xml -Aircraft=( 'Teensy_Fly_Quad_Elle0' 'Teensy_Fly_Quad_Elle0_v1_2_216' 'Teensy_Fly_Quad_Elle0_v1_2_215' 'Teensy_Fly_Quad_Elle0_v1_2_214' 'Teensy_Fly_Quad_Elle0_v1_2_213' 'Teensy_Fly_Quad_Elle0_v1_2_212' 'Teensy_Fly_Quad' 'Teensy_Fly_Hexa' 'Racer_PEX_Quad' 'Racer_PEX_Quad_Elle0_v1_2_223' 'Racer_PEX_Hexa' 'Racer_PEX_Octo' ) - -# check if running on Linux or OSX -UNAME=$(uname -s) - -# OPAM configuration -if [ $UNAME == "Darwin" ]; then - . /Users/richardaburton/.opam/opam-init/init.sh > /dev/null 2> /dev/null || true -fi - - -papenv () { - cd ~/paparazzi - if [ $UNAME == "Darwin" ]; then - eval `opam config env` - fi -} - -paprun () { - papenv - ./paparazzi & -} - -papplot() { - papenv - ./sw/logalizer/logplotter & -} - -papload_tfqe () { - papenv - make AIRCRAFT=Teensy_Fly_Quad_Elle0 clean_ac FLASH_MODE=DFU-UTIL ap.upload -} - -papload_tfqev12_216 () { - papenv - make AIRCRAFT=Teensy_Fly_Quad_Elle0_v1_2_216 clean_ac FLASH_MODE=DFU-UTIL ap.upload -} - -papload_tfqev12_215 () { - papenv - make AIRCRAFT=Teensy_Fly_Quad_Elle0_v1_2_215 clean_ac FLASH_MODE=DFU-UTIL ap.upload -} - -papload_tfqev12_214 () { - papenv - make AIRCRAFT=Teensy_Fly_Quad_Elle0_v1_2_214 clean_ac FLASH_MODE=DFU-UTIL ap.upload -} - -papload_tfqev12_213 () { - papenv - make AIRCRAFT=Teensy_Fly_Quad_Elle0_v1_2_213 clean_ac FLASH_MODE=DFU-UTIL ap.upload -} - -papload_tfqev12_212 () { - papenv - make AIRCRAFT=Teensy_Fly_Quad_Elle0_v1_2_212 clean_ac FLASH_MODE=DFU-UTIL ap.upload -} - -papload_tfq () { - papenv - make AIRCRAFT=Teensy_Fly_Quad clean_ac ap.upload BMP_PORT=/dev/bmp-gdb -} - -papload_tfh () { - papenv - make AIRCRAFT=Teensy_Fly_Hexa clean_ac ap.upload BMP_PORT=/dev/bmp-gdb -} - -papload_rpq () { - papenv - make AIRCRAFT=Racer_PEX_Quad clean_ac ap.upload BMP_PORT=/dev/bmp-gdb -} - -papload_rpqev12_223 () { - papenv - make AIRCRAFT=Racer_PEX_Quad_Elle0_v1_2_223 clean_ac FLASH_MODE=DFU-UTIL ap.upload -} - -papload_rph () { - papenv - make AIRCRAFT=Racer_PEX_Hexa clean_ac ap.upload BMP_PORT=/dev/bmp-gdb -} - -papcaba () { - papenv - python ./sw/tools/calibration/calibrate.py -s ACCEL -p ./var/logs/$1 -} - -papcabm () { - papenv - python ./sw/tools/calibration/calibrate.py -s MAG -p ./var/logs/$1 -} - -papcabc () { - papenv - python ./sw/tools/calibration/calibrate_mag_current.py ./var/logs/$1 -} - -papcomp_ap () { - papenv - for i in "${Aircraft[@]}" - do - #echo "${i}" - make AIRCRAFT=$i clean_ac ap.compile - done -} - -papcomp_nps () { - papenv - for i in "${Aircraft[@]}" - do - #echo "${i}" - make AIRCRAFT=$i clean_ac nps.compile - done -} - -papsim_start () { - papenv - ./sw/ground_segment/cockpit/gcs -layout HOOPERFLY/hooperfly_hf_6.xml & - ./sw/ground_segment/tmtc/server -n & - ./sw/ground_segment/tmtc/link -udp -udp_broadcast & - for i in "${Aircraft[@]}" - do - #echo "${i}" - ./sw/simulator/pprzsim-launch -a $i -t nps & - done -} - -papsim_stop() { - kill $(jobs -p) -} - -pappull () { - papenv - git pull paparazzi master -} - -papfetch () { - papenv - git fetch paparazzi -} - -papmerge () { - papenv - git merge paparazzi/master -} - -pappush () { - papenv - git push origin master -} - -paplinkenv () { - cd ~/pprzlink - if [ $UNAME == "Darwin" ]; then - eval `opam config env` - fi -} - -paplinkfetch () { - paplinkenv - git fetch pprzlink -} - -paplinkmerge () { - paplinkenv - git merge pprzlink/master -} - -paplinkpush () { - paplinkenv - git push origin master -} diff --git a/conf/airframes/HOOPERFLY/hooperfly_enac_hexa_elle0_v1_2.xml b/conf/airframes/HOOPERFLY/hooperfly_enac_hexa_elle0_v1_2.xml deleted file mode 100644 index f537556daf..0000000000 --- a/conf/airframes/HOOPERFLY/hooperfly_enac_hexa_elle0_v1_2.xml +++ /dev/null @@ -1,226 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/KS/kirk_conf.xml b/conf/airframes/KS/kirk_conf.xml index 670d25ea6d..dbf8388a9a 100644 --- a/conf/airframes/KS/kirk_conf.xml +++ b/conf/airframes/KS/kirk_conf.xml @@ -10,15 +10,4 @@ settings_modules="modules/ahrs_int_cmpl_quat.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_hff_extended.xml modules/nav_rotorcraft.xml modules/stabilization_indi_simple.xml modules/stabilization_int_quat.xml" gui_color="#ffff00000000" /> - diff --git a/conf/airframes/KS/ks_mavtec1.xml b/conf/airframes/KS/ks_mavtec1.xml deleted file mode 100644 index 6e7304e628..0000000000 --- a/conf/airframes/KS/ks_mavtec1.xml +++ /dev/null @@ -1,225 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml b/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml deleted file mode 100644 index bf4692dde8..0000000000 --- a/conf/airframes/OPENUAS/openuas_3dr_iris_plus.xml +++ /dev/null @@ -1,641 +0,0 @@ - - - - 3DR Iris Plus Quadcopter (https://www.openuas.org/airframes/) -+ Airframe to validate all onboard functionally... - 3DR Iris Plus - + Autopilot: Default 3DR Pixhawk 2.4.x - + IMU: Default L3GD20 + LSM303D + MPU6000 + external HMC58XX - + Motors: Default Motors - + Actuators: Default ESCs - + Position: Default uBlox M8N GNSS and PX4FLOW via I2C - + Telemetry: Si10xx based 868 modem - + Current: Default Build in V/A sensing - + RC RX: OpenRXSR on SBus port - + AGL ranging: TFMini the IIC(I2C) version - - NOTES: - + Plz calibrate your magnetometer, Yes, you too ;), unit UKF auto works... - + And callibrate your Accelometer also... - + Uses PAPARAZZI "standard" radio channel settings - + Flash the PPRZ firmware via USB FBW first then flash the AP - + Oh yeah, it is black, blue arms swapped for black - + To testfly this airframe yourself you need to: - ++ point to your own calibrations xml, search for 'calibration' in this document - - WIP: - + Not all gains are tuned to optimum, feel free to enhance and a PR... - + Range sensor needs to be put to good use - + Optic Flow sensor needs to be put to good use - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_atomrc_seal_evo.xml b/conf/airframes/OPENUAS/openuas_atomrc_seal_evo.xml deleted file mode 100644 index 92b300937f..0000000000 --- a/conf/airframes/OPENUAS/openuas_atomrc_seal_evo.xml +++ /dev/null @@ -1,864 +0,0 @@ - - - - A good fixedwing example airframe to demonstrate the use and setup of a T4 Actuators Board - - ABOUT: - + Model: Eachine AtomRC Seal 1500mm Wingspan EPO FPV RC Airplane - + Autopilot: Cube Orange Plus(+) (THe manufacturer names it FMU v2.1) - + Actuators: All Servo are Serial Bus Servos connected to a T4 Actuators Board - - + GNSS: Two (2x) uBlox ZED F9P with RTK - + MAG: RM3100 - + ESC: Default 30A with flashed AM32 Opensource Firmware - + RCRX: OpenRXSR Receiver (or TBS Crossfire Micro swapped) - + AIRSPEED: Sensirion DPS3x - + TELEMETRY: - Si10xx Chip based with firmware enabling PPRZ RSSI message - - or Herelink - - or ESP32C3 Wifi module - + CURRENT: A standard Hextronix PowerBrick sensor on the default analog ports - + RANGER: SF20 sensor on I2C - + MOTOR: Default - + PROP: Default 8x4 - - NOTES: - + Servo pins point to tail of airframe - + Engine battery voltage and current values HExtronix powerbrick - + Servos and Sonar powered via BEC of ESC - + Flightcontroller powered via BEC on powerbrick - + Temporary telemetry powered via BEC on powerbrick - + Herelink Telemetry powered via additional CC BEC at 7.1V - + Uploading of the firmware can be performed via original PX4 or ARDU bootloader... - Simple, press upload button in GUI...then USB cable in, wait... voila PPRZdized aircraft - + Separate left and right Aileron servo outputs pin for more flexibility - + Advised battery for this airframe is a 3300mAh 4S LiPo min. 15C - + Modified the motor thrust angle to be more, 2mm washers under bottom of motor x cross - + Default indicated CoG - + There is an AOA as well as a SSA sensor on a probebar - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_durafly_g2.xml b/conf/airframes/OPENUAS/openuas_durafly_g2.xml deleted file mode 100644 index aeb3a79204..0000000000 --- a/conf/airframes/OPENUAS/openuas_durafly_g2.xml +++ /dev/null @@ -1,622 +0,0 @@ - - - - * Durafly G2 Gyrocopter (https://www.openuas.org/airframes/) - + Autopilot: PX4FMU 4.0 aka Pixracer v1.0 R14 - + Actuators: Default servos - + GPS: Ublox M8N GNSS - + TELEMETRY: Si10xx Chip based with full fledged multifreq firmware - + CURRENT: A standard Volt and Current sensor on the analog ports - + RANGER: TFMini UART() on Telem2 - + RC RX: OpenRX R-XSR Sbus out - - NOTES: - + Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works... - + Yeah.. and you Accelometer also... EKF2 will like you :) - + Servos powered by ESC BEC and AP incl. telemetry powered from module - + AP board Servo pins point to tail of airframe - + Engine battery voltage and amp values via separate sensor - + Flashing the firmware is done via original PX4 bootloader... - Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer... - + Pre-rotator board buid in - + On I2C we have external magneto - + Buzzer - + This gyrocopter flies more like a fixedwing than a rotorcraft - WIP: - + RPM measuring sensor of current free rotating head, quite important to have it - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_durafly_goblin.xml b/conf/airframes/OPENUAS/openuas_durafly_goblin.xml deleted file mode 100644 index 251536ba38..0000000000 --- a/conf/airframes/OPENUAS/openuas_durafly_goblin.xml +++ /dev/null @@ -1,490 +0,0 @@ - - - -+ Airframe with the PX4 Pixracer flightcontroller hardware - + Model: Durafly Goblin in original configuration - + Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R15 - + Actuators: Regular metal gear servos - + GNSS Ublox M8N GNSS - + MAG External QMC Magnetometer on GNSS device - + ESC: Default - + RCRX: OpenRXSR Receiver - + AIRSPEED: No airspeed - + TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI - + CURRENT: A standard 3DR PowerBrick clone sensor on the default analog ports - + RANGER: MAXBOTICS MB1010, LV-MaxSonar-EZ1 Ultrasonic sensor analog, or via CTS PWM pin - + MOTOR: Default - + PROP: Default - -NOTES: - + Servo pins point to FRONT of airframe - + AP is rotated sideways 90 degrees counterclockwise, so SDcard and USB to top - + Engine battery voltage and current values via separate sensor - + Servos and Sonar powered via BEC of ESC - + AP via additional BEC - + Telemetry via BEC on powerbrick - + Flashing the firmware can be done via original PX4 bootloader... - Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer... - + A GNSS device with ANOTHER magneto on it is used, external... - + Separate Aileron servo outputs pin for more differential options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml b/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml deleted file mode 100644 index 0195d2db98..0000000000 --- a/conf/airframes/OPENUAS/openuas_eachine_trashcan.xml +++ /dev/null @@ -1,487 +0,0 @@ - - - -* Airframe for the regular "Trashcan" Quadrotor frame equipped with to validate all onboard functionally. - + Autopilot: Default Crazybee F4 Pro STM32F4 and all that comes with it - + Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM - + Telemetry: Default WiFi Via ESP8266 see - + RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out on LED pin - - NOTES: - + All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but no gains set or autocompensation (yet..) - + Removed Camera and Video TX to be replaced by a JeVois (www.jevois.org) camera on Uart1 - + RC control also possible via wifi telemetry module - + Vison: added a JeVois on UART1 TX/RX - + RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out, - + Wifi telemetry module also allows RC - - WIP: - + GPS: uBlox SAM M8Q with Magneto n Baro GNSS - + FPV RC only target to learn to recover your Drone in case of AP mishap - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_eflite_t28.xml b/conf/airframes/OPENUAS/openuas_eflite_t28.xml deleted file mode 100644 index 2ceff8a1ff..0000000000 --- a/conf/airframes/OPENUAS/openuas_eflite_t28.xml +++ /dev/null @@ -1,1117 +0,0 @@ - - - -+ Airframe with the PX4 Pixracer flightcontroller hardware - + Model: E-Flite T28 Trojan fully equiped with Retractable gear and flap - + Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R14 - + Actuators: Regular digital servos - + GNSS: Ublox M8N GNSS - + MAG External QMC Magnetometer on GNSS device - + ESC: CastleCreations Phoenix 35 - + RCRX: OpenRXSR Receiver - + AIRSPEED: Eagletree Airspeed v3 via I2C - + TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI - + CURRENT: A standard V/I 3DR PowerBrick clone sensor on the default analog ports - + RANGER: MAXBOTICS MB1010, LV-MaxSonar-EZ1 Ultrasonic sensor analog, via RSSI pin - + MOTOR: Default Kv ? rpm pro V - + PROP: 2 Blade dia and pitch in inch - -NOTES: - + Using Enahanced Total Energy control as control loop in Final AC - + Servo pins point to TAIL of airframe - + Engine battery voltage and current values via separate sensor - + Servos and Sonar powered via BEC of the ESC, AP via BEC on powerbrick - + Flashing the firmware can be done via original PX4 bootloader... - Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer... - + A GNSS device with ANOTHER magneto on it is used, external... - on the board Replaced HMC8853 with HMC8953 to test benefit from temperature compensated values - + On I2C we have airspeed sensor and external magneto via a I2C split - - If testing "Classic" (as in not ETECS..) make sure to disable the settings/estimation/ac_char - Se the USE_AIRSPEED value to FALSE at first, for no airspeed tests - Use also flightplan_versatile if no airspeed sensor is ues and use - flightplan versatile_unified only with enabled airspeed sensor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml b/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml deleted file mode 100644 index fdf1d7e3f4..0000000000 --- a/conf/airframes/OPENUAS/openuas_eflite_umx_sbach_342.xml +++ /dev/null @@ -1,535 +0,0 @@ - - - - + UMX SBach 342 Fixedwing (http://www.openuas.org/aircraft) - + Airframe to test transition from prop-hanging hover to forward and vice versa in a tiny airframe - + Autopilot: Lisa/S v1.0 - + Actuators: UltraMicro SPMA2000L longthrow servos - + GPS: Onboard uBlox MAX7Q - + RCRX: OpenRX R-XSR set to cPPM out - + TELEMETRY: Custom ESP8266 module with custom firmware - + ESC: Plush 6A with added RPM out on pin 1.1 - + LOGGER: OnboardSD highspeed logger - - NOTES: - + Servo pins point to back of airframe - + Custom adjusted BLHeli, see mod in airframe remarks - + If programming the RX make sure there is no dual-rate switched on and the range of CH2n4 get to 100pct of range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml b/conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml deleted file mode 100644 index 68090a7444..0000000000 --- a/conf/airframes/OPENUAS/openuas_emax_tinyhawk_ii.xml +++ /dev/null @@ -1,419 +0,0 @@ - - - -* Airframe for the regular "EMAX Tinyhawk II" Quadrotor frame - + Autopilot: Default Matek f411RX v0 STM32F4 CrazeeBee Pro F4 compatible - + Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM - + Telemetry: Default via FrSky to TX to USB out to GCS PC - + RC RX: CC2500 via SPI software FrSky compatible over air 2.4Ghz - - NOTES: - + All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but needs other gain set - + For FPV racing control tests only - + No GPS - + No Baro - + No Magneto - + Test Highest loop rate possible for this board - + Flip module - + Module for OSD - + Tuned for Race and ACRO - + Try out INDI full with rpm feedback - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml b/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml deleted file mode 100644 index 0783920889..0000000000 --- a/conf/airframes/OPENUAS/openuas_multiplex_twinstar_nd.xml +++ /dev/null @@ -1,914 +0,0 @@ - - - -+ Airframe with PX4 Pixracer v1 AP hardware - + Model: Multiplex Twinstar ND - + Autopilot: PX4FMU 4.0 aka Pixracer v1.0 R15 - + Actuators: Regular 12g metal gear digital servos - + GPS: Ublox M9N GNSS - + RCRX: OpenRXSR Receiver - + AIRSPEED: Eagletree via I2C - + TELEMETRY: Si10xx Chip based with custom firmware - + CURRENT: A standard V/I sensor on the analog ports - + RANGER: TFMini - -NOTES: - + Using Enahanced Total Energy control as control loop in Final AC - + Servo pins point to tail of airframe - + Engine battery voltage and amp values via separate sensor - + Flashing the firmware is done via original PX4 bootloader... - Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer... - + A GNSS device with ANOTHER magneto on it is used, external... - + On I2C we have airspeed sensor and external magneto via a I2C split - - If testing "Classic" (as in not ETECS..) make sure to disable the settings/estimation/ac_char - Se the USE_AIRSPEED value to FALSE at first, for no airspeed tests - Use also flightplan_versatile if no airspeed sensor is ues and use - flightplan versatile_unified only with enabled airspeed sensor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_own_flexo.xml b/conf/airframes/OPENUAS/openuas_own_flexo.xml deleted file mode 100644 index bbef51aea6..0000000000 --- a/conf/airframes/OPENUAS/openuas_own_flexo.xml +++ /dev/null @@ -1,1045 +0,0 @@ - - - - + Airframe with the PX4 Pixracer v1 R15 flightcontroller hardware - + Model: A Fixedwing with flexible wing actuation steering - + Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R15 - + Actuators: Regular servos and 2xBIG stronng fr the wing to twist - + GNSS Ublox M9N GNSS + HMC5883L Magnetometer - + ESC: Default - + RCRX: OpenRXSR Receiver - + AIRSPEED: Eagletree Airspeed v3 via I2C - + TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI - + CURRENT: A standard V/I 3DR PowerBrick clone sensor on the default analog ports - + MOTOR: Kv ? rpm pro V - + PROP: 2 Blade dia and pitch in inch - -NOTES: - + Using Enahanced Total Energy control as control loop in Final AC - + Servo pins point to FRONT of airframe - + AP is rotated sideways 90 degrees counterclockwise, so SDcard and USB to top - + Engine battery voltage and current values via separate sensor - + Servos powered via High current BEC, rest via ESC Bec, AP via powerbrick - + Flashing the firmware can be done via original PX4 bootloader... - Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer... - + A GNSS device with ANOTHER magneto on it is used, external... - + On I2C we have airspeed sensor and external magneto via a I2C split - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml b/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml deleted file mode 100644 index e3bb49b5bd..0000000000 --- a/conf/airframes/OPENUAS/openuas_own_itsy_bitsy.xml +++ /dev/null @@ -1,234 +0,0 @@ - - - - Base is a LadyBird quadrotor frame but now equiped with Lisa/S 1.0 - The LadyBird frame comes with four brushed motors in an X configuration. - - The motor and rotor configuration is the following: - - Front - ^ - | - - Motor3(NW) Motor0(NE) - CW CCW - \ / - ,___, - | | - | | - |___| - / \ - CCW CW - Motor2(SW) Motor1(SE) - - The Lisa/S is rotated by 13deg CCW against the frame. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - - diff --git a/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml b/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml deleted file mode 100644 index c27828b409..0000000000 --- a/conf/airframes/OPENUAS/openuas_own_jetson_tx220.xml +++ /dev/null @@ -1,482 +0,0 @@ - - - -* Airframe for the regular "Trashcan" Quadrotor frame equipped with to validate all onboard functionally. - + Autopilot: Default Crazybee F4 Pro STM32F4 and all that comes with it - + Actuators: Default onboard Blheli S ESCs see http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM - + Telemetry: Default WiFi Via ESP8266 see - + RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out on LED pin - - NOTES: - + All set to expect flying on 2s LiPo battery, 1s LiPo battery possible but no gains set (yet..) - + Removed Camera and Video TX to be replaced by a JeVois (www.jevois.org) camera on Uart1 - + RC control also possible via wifi telemetry module - + Vison: added a JeVois on UART1 TX/RX - + RC RX: OpenRX FrSky compatible over air 2.4Ghz CPPM out, - + Wifi telemetry module also allows RC - - WIP: - + GPS: uBlox SAM M8Q with Magneto n Baro GNSS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_own_mavtec.xml b/conf/airframes/OPENUAS/openuas_own_mavtec.xml deleted file mode 100644 index 9284f670fe..0000000000 --- a/conf/airframes/OPENUAS/openuas_own_mavtec.xml +++ /dev/null @@ -1,189 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml b/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml deleted file mode 100644 index 3b15a30dc7..0000000000 --- a/conf/airframes/OPENUAS/openuas_own_sumo_ii.xml +++ /dev/null @@ -1,1047 +0,0 @@ - - - -+ Airframe with the PX4 Pixracer v1 R15 flightcontroller hardware - + Model: Multiplex Funjet Ultra and easy removable stabilo modification - + Autopilot: PX4FMU 4.0 in the form of a Pixracer v1.0 R15 - + Actuators: Regular servos of the ARF or RR version - + GNSS Ublox M9N GNSS + QMC5883L Magnetometer - + ESC: Default ESC 35A of ARF or RR version - + RCRX: OpenRXSR Receiver set to SBUS out - + AIRSPEED: Eagletree Airspeed v3 via I2C - + TELEMETRY: Si10xx Chip based with firmware allowing PPRZ RSSI - + CURRENT: A standard V/I 3DR PowerBrick clone sensor on the default analog ports - + RANGER: MAXBOTICS Ultrasonic sensor analog on RSSI pin just for fun - + MOTOR: Deault Kv rpm pro V - + PROP: Foldable 2 6x6 Blade dia and pitch in inch - -NOTES: - + Using Enahanced Total Energy control as control loop in Final AC - + Servo pins point to FRONT of airframe - + AP is rotated sideways 90 degrees counterclockwise, so SDcard and USB to top - + Engine battery voltage and current values via separate sensor - + Servos and Sonar powered via ESC, AP via powerbrick - + Flashing the firmware can be done via original PX4 bootloader... - Simple, USB cable in, upload.. voila PPRZ aircraft on a Pixracer... - + A GNSS device with ANOTHER magneto on it is used, external... - + On I2C we have airspeed sensor and external magneto via a I2C split - + uBlox M9P Pedestrian setting would fit the bill best, lets see... - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_own_vivify.xml b/conf/airframes/OPENUAS/openuas_own_vivify.xml deleted file mode 100644 index 084cf6b47a..0000000000 --- a/conf/airframes/OPENUAS/openuas_own_vivify.xml +++ /dev/null @@ -1,631 +0,0 @@ - - - - * Vivify (http://www.openuas.org/airframes) - Lisa M v2.0 (http://paparazzi.enac.fr/wiki/index.php/) - With modified power routing by setting Jumper J1 - + Aspirin v2.2 inclusive MS5611 - + depending on location flown - + uBlox LEA5H and Sarantel helix GPS antenna - + Open RXSR - optional mission demanding a R16Scan40MHZ RX - + Analog Airspeed sensor - + MK2 Second LisaM as FTD, plus additional power measurement for this board - - NOTES: - + Using Total Energy control as control loop - + LisaM with servo pins to the back of plane ! - + Engine battery voltage level separate sensor - + FTD voltage level separate sensor - + Flat yawing possible via Elevon UP Flapperon DOWN Mixing - - + OBC2014: Make sure that in link.ml - link.ml - Paparazzi/sw/ground_segment/tmtc - let ping_msg_period = 750 (** ms CHANGED FOR OUTBACK CHALLENGE *) - - Modules to activate: - + Current sensor on battery wires going to motor - + geo_mag module if fixed for fixedwing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml b/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml deleted file mode 100644 index 1910b961ad..0000000000 --- a/conf/airframes/OPENUAS/openuas_transitionrobotics_quadshot.xml +++ /dev/null @@ -1,749 +0,0 @@ - - - - Transition robotics Quadshot (https://www.openuas.org/airframes/) -+ Airframe to validate all onboard functionally... - Quadshot - + Autopilot: Lisa MX 2.2 - + IMU: Aspirin 2.2 - + Motors: Default Motors - + Actuators: Default ESCs - + GPS: uBlox 6 GNSS helix antenna - + TELEMETRY: XBee Pro S1 - + CURRENT: V/A sensing module - + RC RX: OpenRXSR on SBus port - + AGL ranging: TFMini the IIC(I2C) version - - NOTES: - + Plz calibrate your magnetometer, Yes, you too ;), unit UKF auto works... - + And callibrate your Accelometer also... - + Uses PAPARAZZI "standard" radio channel settings - + Oh yeah, it is yellow :) - - WIP: - + AGL min X assisted flight - - RENAME servos - Reorganize AC order - Do battery set - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/tudelft/chouchou_lisa_s.xml b/conf/airframes/tudelft/chouchou_lisa_s.xml deleted file mode 100644 index 65136cc51a..0000000000 --- a/conf/airframes/tudelft/chouchou_lisa_s.xml +++ /dev/null @@ -1,188 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/tudelft/disco_modified.xml b/conf/airframes/tudelft/disco_modified.xml deleted file mode 100644 index 0c17e890ed..0000000000 --- a/conf/airframes/tudelft/disco_modified.xml +++ /dev/null @@ -1,596 +0,0 @@ - - - - -* Parrot Disco Fixedwing Modiefied Hardware with added Pixracer board. -+ Airframe to validate all onboard functionally... - Disco FlatSpin - + Autopilot: Pixracer 1 - + Actuators: Hitec HS5055 servos - + GPS: uBlox M8N GNSS - + TELEMETRY: 3DR Si1000 based 868 - + CURRENT: V/A power block sensing - + RC RX: R-XSR FrSky Receiver with SBUS out - - NOTES: - - + Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works... output - + One could make a flightplan mimicking exact default behaviour of Parrot assisted flight - + Enlarged battery bay ,and option fit a 5200 mAh 3S battery. The all-up weight (AUW)) of the airframe will be ~150g more - Center of gravity still the same, flighttime doubles... - + If you change your control from ETECS to Classic or New make sure to disable the settings/estimation/ac_char - + PPRZLink v2 advised for tcas fun - - WIP: - - RC: - The RC receiver Orange R620X make sure to set modeswitch to Auto2 on your TX when binding! - else if one would lose RC or switch of transmitter during Auto2 flight, it will hop to manual.. very bad... - - A PPM receiver could theoretically be used, only for Linux ARCH no software to handle it is written (hint!) - SUMD also. For the PPRZ Spektum could also, but not if you also want to fly it with RC but without PPRZ as AP only original - since Spektrum serial is not handled by the Parrot main AP - - The setup ot Transmitter is in such a way that one could fly without PPRC just Parrot with a 3rd party transmitter - Thus modeswitch on 5 for well.. mode - - TX Channel Nr Function Control type Comments - 1 Roll Stick - 2 Pitch Stick - 3 Throttle Stick - 4 Yaw Stick Used to set the Disco in loiter - 5 Gear 3-position switch Used to configure the piloting mode: - Auto-pilot with Parrot SkyController2 (Risky so better limit this one exept if you teaching people to fly with Skycontroller student AND RCTX for teacher ) - Auto-pilot with RC controller - Full manual with RC controller - 6 Automatic Take-off/Landing 2-position trainer switch Used in “Auto-pilot with RC controller” mode - Start: SWx Landing: SWy - Motor off in manual mode SW? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- - diff --git a/conf/airframes/tudelft/heli450.xml b/conf/airframes/tudelft/heli450.xml deleted file mode 100644 index f61a18a513..0000000000 --- a/conf/airframes/tudelft/heli450.xml +++ /dev/null @@ -1,203 +0,0 @@ - - - - 450 sized helicopter without hiller bar. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- diff --git a/conf/airframes/tudelft/ladybird_lisa_mxs.xml b/conf/airframes/tudelft/ladybird_lisa_mxs.xml deleted file mode 100644 index 0950a45c97..0000000000 --- a/conf/airframes/tudelft/ladybird_lisa_mxs.xml +++ /dev/null @@ -1,214 +0,0 @@ - - - - - - LadyBird quadrotor frame equiped with Lisa/MXS 1.0 with four brushed motors in an X configuration. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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- diff --git a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml b/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml deleted file mode 100644 index 8d207bc09b..0000000000 --- a/conf/airframes/tudelft/ladylisa_bluegiga_stereoboard.xml +++ /dev/null @@ -1,242 +0,0 @@ - - - - - - - LadyBird quadrotor frame equiped with Lisa/S 1.0 with four brushed motors in an X configuration. - - - - - - - - - - - - - - - - - - - - - - - - -
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- diff --git a/conf/airframes/tudelft/tudelft_bebop2_opticflow_sim.xml b/conf/airframes/tudelft/tudelft_bebop2_opticflow_sim.xml deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/conf/airframes/tudelft/twoseastwenty.xml b/conf/airframes/tudelft/twoseastwenty.xml deleted file mode 100644 index f5f9edcd56..0000000000 --- a/conf/airframes/tudelft/twoseastwenty.xml +++ /dev/null @@ -1,271 +0,0 @@ - - - - - 3x parallel redundant FBW-boards with DUAL-SBUS - 1x Lisa-L with XSens Mtig700 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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DFU it will be ... -FLASH_MODE?=DFU-UTIL - -#idVendor=0483, idProduct=5740 -#USB device strings: Mfr=1, Product=2, SerialNumber=3 -#Product: Product: CrazyBee F4 (x) -#Manufacturer: Betaflight -#SerialNumber: 0x8000000 - -#TIP: ttyACM0: USB ACM device - -# -# Default on PCB LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= none -GPS_LED ?= none -SYS_TIME_LED ?= 1 - -# -# Default UART configuration (RC receiver, telemetry modem, GPS) -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2 -RADIO_CONTROL_SBUS_PORT ?= UART2 - -MODEM_PORT ?= UART1 -MODEM_BAUD ?= B115200 - -# -# GPS via I2C just as Baro and Magneto... sparec amount of uart ports left on this board -# If one starts using a build in RX on SPI Bus then TX1/RX1 can be used. -# -# default actuator configuration -# -# you can use different actuators by adding a configure option to your firmware section -# and by setting the correct "driver" attribute in servo section -ACTUATORS ?= actuators_pwm diff --git a/conf/boards/elle0_1.0.makefile b/conf/boards/elle0_1.0.makefile deleted file mode 100644 index 6694be1fa5..0000000000 --- a/conf/boards/elle0_1.0.makefile +++ /dev/null @@ -1,78 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# elle0_1.0.makefile -# -# http://wiki.paparazziuav.org/wiki/Elle0 -# - -BOARD=elle0 -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/elle0.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via usb dfu bootloader (luftboot) -# other possibilities: DFU-UTIL, SWD, JTAG_BMP, STLINK, SERIAL -FLASH_MODE ?= DFU-UTIL - -HAS_LUFTBOOT ?= 0 -ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE)) -$(TARGET).CFLAGS+=-DLUFTBOOT -$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8004000 -DFU_ADDR = 0x8004000 -DFU_PRODUCT = Elle0 -endif - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= 3 -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= none -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5 - -MODEM_PORT ?= UART2 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART3 -GPS_BAUD ?= B38400 - -# -# default PPM input is on PA01 -# -RADIO_CONTROL_PPM_PIN ?= PA01 -ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 PA10 UART1_RX)) - PPM_CONFIG=1 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 PA01 PA1 SERVO6)) - PPM_CONFIG=2 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PB_07 PB07 PB7 SERVO8)) - PPM_CONFIG=3 -else -$(error Unknown RADIO_CONTROL_PPM_PIN, configure it to either PA01, PA10, PB07) -endif - - -# -# 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/boards/elle0_1.2.makefile b/conf/boards/elle0_1.2.makefile deleted file mode 100644 index aa89d7e98d..0000000000 --- a/conf/boards/elle0_1.2.makefile +++ /dev/null @@ -1,78 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# elle0_1.2.makefile -# -# http://wiki.paparazziuav.org/wiki/Elle0 -# - -BOARD=elle0 -BOARD_VERSION=1.2 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/elle0.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via usb dfu bootloader (luftboot) -# other possibilities: DFU-UTIL, SWD, JTAG_BMP, STLINK, SERIAL -FLASH_MODE ?= DFU-UTIL - -HAS_LUFTBOOT ?= 0 -ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE)) -$(TARGET).CFLAGS+=-DLUFTBOOT -$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8004000 -DFU_ADDR = 0x8004000 -DFU_PRODUCT = Elle0 -endif - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= 3 -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= none -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5 - -MODEM_PORT ?= UART1 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART3 -GPS_BAUD ?= B38400 - -# -# default PPM input is on PA01 -# -RADIO_CONTROL_PPM_PIN ?= PA01 -ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 PA10 UART1_RX)) - PPM_CONFIG=1 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 PA01 PA1 SERVO6)) - PPM_CONFIG=2 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PB_07 PB07 PB7 SERVO8)) - PPM_CONFIG=3 -else -$(error Unknown RADIO_CONTROL_PPM_PIN, configure it to either PA01, PA10, PB07) -endif - - -# -# 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/boards/lia_1.1.makefile b/conf/boards/lia_1.1.makefile deleted file mode 100644 index 4757f79477..0000000000 --- a/conf/boards/lia_1.1.makefile +++ /dev/null @@ -1,69 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lia1.1.makefile -# -# http://wiki.paparazziuav.org/wiki/Lia -# - -BOARD=lia -BOARD_VERSION=1.1 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -$(TARGET).ARCHDIR = $(ARCH) -# not needed? -$(TARGET).OOCD_INTERFACE=ftdi/flossjtag -#$(TARGET).OOCD_INTERFACE=ftdi/jtagkey -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-m.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via usb dfu bootloader (luftboot) -# other possibilities: DFU-UTIL, JTAG, SWD, STLINK, SERIAL -FLASH_MODE ?= DFU - -HAS_LUFTBOOT ?= 1 -ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE)) -$(TARGET).CFLAGS+=-DLUFTBOOT -$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8002000 -endif - -# -# -# some default values shared between different firmwares -# -# - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= 4 -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= 3 -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5 - -MODEM_PORT ?= UART2 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART3 -GPS_BAUD ?= B38400 - - -# -# default actuator configuration -# -# you can use different actuators by adding a configure option to your firmware section -# e.g. -# -ACTUATORS ?= actuators_pwm diff --git a/conf/boards/lisa_l_1.0.makefile b/conf/boards/lisa_l_1.0.makefile deleted file mode 100644 index a49941a09e..0000000000 --- a/conf/boards/lisa_l_1.0.makefile +++ /dev/null @@ -1,69 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_l_1.0.makefile -# -# http://wiki.paparazziuav.org/wiki/User/LisaL -# - -BOARD=lisa_l -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-l.ld - -# ----------------------------------------------------------------------- -ifeq ($(BOARD_PROCESSOR),'omap') - - ARCH = linux - $(TARGET).LDFLAGS += -levent -lm - -# ----------------------------------------------------------------------- -else - - ARCH=stm32 - - $(TARGET).ARCHDIR = $(ARCH) -# not needed? - -endif -# ----------------------------------------------------------------------- - -# default flash mode is the onboard JTAG -FLASH_MODE ?= JTAG - -# -# -# some default values shared between different firmwares -# -# - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= 5 -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 7 -GPS_LED ?= 3 -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5 - -MODEM_PORT ?= UART2 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART1 -GPS_BAUD ?= B38400 - -# -# default actuator configuration -# -# you can use different actuators by adding a configure option to your firmware section -# e.g. -# -ACTUATORS ?= actuators_pwm diff --git a/conf/boards/lisa_l_1.1.makefile b/conf/boards/lisa_l_1.1.makefile deleted file mode 100644 index cc39735344..0000000000 --- a/conf/boards/lisa_l_1.1.makefile +++ /dev/null @@ -1,75 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_l_1.1.makefile -# -# http://wiki.paparazziuav.org/wiki/User/LisaL -# - - -# we are actually still using the Lisa/L 1.0 header file - -BOARD=lisa_l -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-l.ld - -# ----------------------------------------------------------------------- -ifeq ($(BOARD_PROCESSOR),'omap') - - ARCH = linux - $(TARGET).LDFLAGS += -levent -lm - -# ----------------------------------------------------------------------- -else - - ARCH=stm32 - - $(TARGET).ARCHDIR = $(ARCH) -# not needed? - -endif -# ----------------------------------------------------------------------- - -# default flash mode is the onboard JTAG -FLASH_MODE ?= JTAG - -# -# -# some default values shared between different firmwares -# -# - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= 5 -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 7 -GPS_LED ?= 3 -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5 - -MODEM_PORT ?= UART2 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART1 -GPS_BAUD ?= B38400 - - - - -# -# default actuator configuration -# -# you can use different actuators by adding a configure option to your firmware section -# e.g. -# -ACTUATORS ?= actuators_pwm diff --git a/conf/boards/lisa_m_1.0.makefile b/conf/boards/lisa_m_1.0.makefile deleted file mode 100644 index 7ec2a1a34d..0000000000 --- a/conf/boards/lisa_m_1.0.makefile +++ /dev/null @@ -1,75 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_m_1.0.makefile -# -# http://wiki.paparazziuav.org/wiki/Lisa/M -# - -BOARD=lisa_m -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -$(TARGET).ARCHDIR = $(ARCH) -# not needed? -$(TARGET).OOCD_INTERFACE=ftdi/flossjtag -#$(TARGET).OOCD_INTERFACE=ftdi/jtagkey -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-m.ld - -# ----------------------------------------------------------------------- - -# default flash mode is JTAG -# other possibilities: SWD, SERIAL -FLASH_MODE ?= JTAG - -# -# -# some default values shared between different firmwares -# -# - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= 2 -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 3 -GPS_LED ?= none -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5 - -MODEM_PORT ?= UART2 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART1 -GPS_BAUD ?= B38400 - -# -# default PPM input is on PA01 (SERVO6) -# -RADIO_CONTROL_PPM_PIN ?= PA01 -ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 PA10 UART1_RX)) - PPM_CONFIG=1 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 PA01 PA1 SERVO6)) - PPM_CONFIG=2 -else -$(error Unknown RADIO_CONTROL_PPM_PIN, configure it to either PA01 or PA10) -endif - -# -# 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/boards/lisa_m_2.0.makefile b/conf/boards/lisa_m_2.0.makefile deleted file mode 100644 index 44f467ba1f..0000000000 --- a/conf/boards/lisa_m_2.0.makefile +++ /dev/null @@ -1,12 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_m_2.0.makefile -# -# http://wiki.paparazziuav.org/wiki/Lisa/M_v20 -# - -BOARD=lisa_m -BOARD_VERSION=2.0 - -include $(PAPARAZZI_SRC)/conf/boards/lisa_m_defaults.makefile -include $(PAPARAZZI_SRC)/conf/boards/lisa_m_common.makefile diff --git a/conf/boards/lisa_m_2.1.makefile b/conf/boards/lisa_m_2.1.makefile deleted file mode 100644 index 78ece7d72e..0000000000 --- a/conf/boards/lisa_m_2.1.makefile +++ /dev/null @@ -1,12 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_m_2.1.makefile -# -# http://wiki.paparazziuav.org/wiki/Lisa/M_v21 -# - -BOARD=lisa_m -BOARD_VERSION=2.1 - -include $(PAPARAZZI_SRC)/conf/boards/lisa_m_defaults.makefile -include $(PAPARAZZI_SRC)/conf/boards/lisa_m_common.makefile diff --git a/conf/boards/lisa_m_common.makefile b/conf/boards/lisa_m_common.makefile deleted file mode 100644 index 93b8b9b377..0000000000 --- a/conf/boards/lisa_m_common.makefile +++ /dev/null @@ -1,76 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# - # Common makefile defines for Lia 1.1, Lisa M 2.0, and Lisa M 2.1 -# - -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -$(TARGET).ARCHDIR = $(ARCH) -# not needed? -$(TARGET).OOCD_INTERFACE=ftdi/flossjtag -#$(TARGET).OOCD_INTERFACE=ftdi/jtagkey -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-m.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via usb dfu bootloader (luftboot) -# other possibilities: DFU-UTIL, JTAG, SWD, STLINK, SERIAL -FLASH_MODE ?= DFU - -HAS_LUFTBOOT ?= 1 -ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE)) -$(TARGET).CFLAGS+=-DLUFTBOOT -$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8002000 -endif - -# -# -# some default values shared between different firmwares -# -# - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= 4 -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= 3 -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5 - -MODEM_PORT ?= UART2 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART3 -GPS_BAUD ?= B38400 - -# -# default PPM input is on PA01 (SERVO6) -# -RADIO_CONTROL_PPM_PIN ?= PA01 -ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 PA10 UART1_RX)) - PPM_CONFIG=1 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 PA01 PA1 SERVO6)) - PPM_CONFIG=2 -else -$(error Unknown RADIO_CONTROL_PPM_PIN, configure it to either PA01 or PA10) -endif - -# -# 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/boards/lisa_mx_2.0.makefile b/conf/boards/lisa_mx_2.0.makefile deleted file mode 100644 index 09c835a200..0000000000 --- a/conf/boards/lisa_mx_2.0.makefile +++ /dev/null @@ -1,28 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_mx_2.0.makefile -# -# http://wiki.paparazziuav.org/wiki/Lisa/M_v20 -# - -BOARD=lisa_mx -BOARD_VERSION=2.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld - -# ----------------------------------------------------------------------- - -HAS_LUFTBOOT ?= 0 -ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE)) -$(TARGET).CFLAGS+=-DLUFTBOOT -$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8004000 -DFU_ADDR = 0x8004000 -DFU_PRODUCT = Lisa/Lia -endif - -include $(PAPARAZZI_SRC)/conf/boards/lisa_m_defaults.makefile diff --git a/conf/boards/lisa_mx_2.1.makefile b/conf/boards/lisa_mx_2.1.makefile deleted file mode 100644 index c4c409ded7..0000000000 --- a/conf/boards/lisa_mx_2.1.makefile +++ /dev/null @@ -1,28 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_mx_2.1.makefile -# -# http://wiki.paparazziuav.org/wiki/Lisa/M_v20 -# - -BOARD=lisa_mx -BOARD_VERSION=2.1 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld - -# ----------------------------------------------------------------------- - -HAS_LUFTBOOT ?= 0 -ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE)) -$(TARGET).CFLAGS+=-DLUFTBOOT -$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8004000 -DFU_ADDR = 0x8004000 -DFU_PRODUCT = Lisa/Lia -endif - -include $(PAPARAZZI_SRC)/conf/boards/lisa_m_defaults.makefile diff --git a/conf/boards/lisa_mxs_1.0.makefile b/conf/boards/lisa_mxs_1.0.makefile deleted file mode 100644 index 29c618e4d5..0000000000 --- a/conf/boards/lisa_mxs_1.0.makefile +++ /dev/null @@ -1,30 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_mxs_1.0.makefile -# -# https://wiki.paparazziuav.org/wiki/Lisa/MXS_v1.0 -# - -BOARD=lisa_mxs -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld - -# ----------------------------------------------------------------------- - -HAS_LUFTBOOT ?= 0 -ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE)) -$(TARGET).CFLAGS+=-DLUFTBOOT -$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8004000 -DFU_ADDR = 0x8004000 -DFU_PRODUCT = Lisa/Lia -endif - -FLASH_MODE ?= SWD_NOPWR - -include $(PAPARAZZI_SRC)/conf/boards/lisa_m_defaults.makefile diff --git a/conf/boards/lisa_mxs_1.0_nimble.makefile b/conf/boards/lisa_mxs_1.0_nimble.makefile deleted file mode 100644 index 307dd6ecea..0000000000 --- a/conf/boards/lisa_mxs_1.0_nimble.makefile +++ /dev/null @@ -1,50 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_mxs_1.0_nimble.makefile -# -# MXS 1.0 board setup for DelFly Nimble -# https://wiki.paparazziuav.org/wiki/Lisa/MXS_v1.0 -# - -BOARD=lisa_mxs -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld - -# ----------------------------------------------------------------------- - -HAS_LUFTBOOT ?= 0 -ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE)) -$(TARGET).CFLAGS+=-DLUFTBOOT -$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8004000 -DFU_ADDR = 0x8004000 -DFU_PRODUCT = Lisa/Lia -endif - -ASPIRIN_2_SPI_DEV ?= spi2 -ASPIRIN_2_SPI_SLAVE_IDX ?= SPI_SLAVE2 - -SDLOGGER_DIRECT_SPI ?= spi1 -SDLOGGER_DIRECT_SPI_SLAVE ?= SPI_SLAVE1 -HS_LOG_SPI_DEV ?= spi1 -HS_LOG_SPI_SLAVE_IDX ?= SPI_SLAVE1 - -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= none -GPS_LED ?= none -SYS_TIME_LED ?= 1 -LOGGER_LED ?= 2 - -FLASH_MODE ?= SWD_NOPWR - -# disabling PWM to prevent interference when PA3 remapped to ADC -$(TARGET).CFLAGS+=-DUSE_PWM5=0 - -include $(PAPARAZZI_SRC)/conf/boards/lisa_mx_defaults.makefile - diff --git a/conf/boards/lisa_s_1.0.makefile b/conf/boards/lisa_s_1.0.makefile deleted file mode 100644 index 899d8d432f..0000000000 --- a/conf/boards/lisa_s_1.0.makefile +++ /dev/null @@ -1,74 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# lisa_s_1.0.makefile -# -# http://wiki.paparazziuav.org/wiki/Lisa/S -# - -BOARD=lisa_s -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-s.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via SWD -# other possibilities: SERIAL(untested) -FLASH_MODE ?= SWD - -# -# -# some default values shared between different firmwares -# -# - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= 3 -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= none -SYS_TIME_LED ?= 1 -MODEM_LED ?= 3 - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= none - -MODEM_PORT ?= UART1 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART3 -GPS_BAUD ?= B38400 - -# -# default PPM input is on PA03 (Aux RX) -# -RADIO_CONTROL_PPM_PIN ?= PA03 -ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_10 PA10 UART1_RX)) - PPM_CONFIG=1 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_01 PA01 PA1 SERVO6)) - PPM_CONFIG=2 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_03 PA03 PA3)) - PPM_CONFIG=3 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN), PC_09 PC09 PC9 SUPERBIT_RST)) - PPM_CONFIG=4 -else -$(error Unknown RADIO_CONTROL_PPM_PIN, configure it to either PA01, PA03, PA10 or PC9) -endif - -# -# 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/boards/matek_f405_wing_v1.makefile b/conf/boards/matek_f405_wing_v1.makefile deleted file mode 100644 index c9f77bd685..0000000000 --- a/conf/boards/matek_f405_wing_v1.makefile +++ /dev/null @@ -1,57 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# matek_f405_wing_v1.makefile -# -# http://www.mateksys.com/?portfolio=f405-wing -# - -BOARD=matek_f405_wing -BOARD_VERSION=v1 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/openpilot_revo.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via SWD -# other possibilities: DFU, DFU-UTIL, SWD, STLINK -FLASH_MODE ?= DFU-UTIL - - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= none -GPS_LED ?=2 -SYS_TIME_LED ?=1 - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3 - -MODEM_PORT ?= UART6 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART1 -GPS_BAUD ?= B38400 - - - - -# -# default actuator configuration -# -# you can use different actuators by adding a configure option to your firmware section -# e.g. -# -ACTUATORS ?= actuators_pwm diff --git a/conf/boards/naze32_rev4.makefile b/conf/boards/naze32_rev4.makefile deleted file mode 100644 index e7e2bfbf8f..0000000000 --- a/conf/boards/naze32_rev4.makefile +++ /dev/null @@ -1,75 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# naze32.makefile -# -# https://code.google.com/p/afrodevices/wiki/AfroFlight32 -# hw rev4 -# - -BOARD=naze32 -BOARD_VERSION=rev4 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/naze32.ld - -BOARD_CFLAGS = -flto -DUSE_SINGLE_PRECISION_TRIG -DUSE_SINGLE_PRECISION_LLA_ECEF -DUSE_SINGLE_PRECISION_LLA_UTM -BOARD_LDFLAGS = -flto - -# ----------------------------------------------------------------------- - -# default flash mode is via SERIAL (USB plug which is connected to cp210x converter) -# other possibilities: DFU-UTIL, JTAG, SWD, STLINK, SERIAL -FLASH_MODE ?= SERIAL - -# -# -# some default values shared between different firmwares -# -# - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= none -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2 - -MODEM_PORT ?= UART1 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART2 -GPS_BAUD ?= B38400 - -# -# default PPM input is on PA0 (RC_CH1) -# configuring it to PA7 will also enable servos 1 and 2 -# -RADIO_CONTROL_PPM_PIN ?= PA0 -ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_07 PA07 PA7 RC_CH6)) - PPM_CONFIG=2 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_00 PA00 PA0 RC_CH1)) - PPM_CONFIG=1 -else -$(error Unknown RADIO_CONTROL_PPM_PIN, configure it to either PA7 or PA0) -endif - -# -# 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/boards/naze32_rev5.makefile b/conf/boards/naze32_rev5.makefile deleted file mode 100644 index 1cc077984f..0000000000 --- a/conf/boards/naze32_rev5.makefile +++ /dev/null @@ -1,73 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# naze32.makefile -# -# https://code.google.com/p/afrodevices/wiki/AfroFlight32 -# hw rev5 -# - -BOARD=naze32 -BOARD_VERSION=rev5 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/naze32.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via SERIAL (USB plug which is connected to cp210x converter) -# other possibilities: DFU-UTIL, JTAG, SWD, STLINK, SERIAL -FLASH_MODE ?= SERIAL - -# -# -# some default values shared between different firmwares -# -# - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= none -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2 - -MODEM_PORT ?= UART1 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART2 -GPS_BAUD ?= B38400 - - -# -# default PPM input is on PA0 (RC_CH1) -# configuring it to PA7 will also enable servos 1 and 2 -# -RADIO_CONTROL_PPM_PIN ?= PA0 -ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_07 PA07 PA7 RC_CH6)) - PPM_CONFIG=2 -else ifeq ($(RADIO_CONTROL_PPM_PIN),$(filter $(RADIO_CONTROL_PPM_PIN),PA_00 PA00 PA0 RC_CH1)) - PPM_CONFIG=1 -else -$(error Unknown RADIO_CONTROL_PPM_PIN, configure it to either PA7 or PA0) -endif - -# -# 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/boards/opa_ap_1.0.makefile b/conf/boards/opa_ap_1.0.makefile deleted file mode 100644 index 131c587474..0000000000 --- a/conf/boards/opa_ap_1.0.makefile +++ /dev/null @@ -1,78 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# Oversized Paparazzi (AP) Board -# -# http://wiki.paparazziuav.org/wiki/OPA -# - -BOARD=opa_ap -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld - -# ----------------------------------------------------------------------- - -# -# default flash mode is via SWD (JTAG) -# -FLASH_MODE ?= SWD - -# -# default LED configuration -# -SYS_TIME_LED ?= 1 -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= none -GPS_LED ?= none -LOGGER_LED ?= none - -# -# default uart configuration -# -MODEM_PORT ?= UART2 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART1 -GPS_BAUD ?= B57600 - -INTERMCU_PORT ?= UART3 -INTERMCU_BAUD ?= B460800 - -# -# default IMU configuration -# -IMU_MPU_SPI_DEV ?= spi2 -IMU_MPU_SPI_SLAVE_IDX ?= SPI_SLAVE1 - -# -# BARO configuration -# - -# See baro_board.makefile - - -# -# Remote Magneto -# - -MAG_PITOT_PORT ?= UART5 -MAG_PITOT_BAUD ?= 250000 - -# -# default SPI logger configuration -# -SDLOGGER_DIRECT_SPI ?= spi1 -SDLOGGER_DIRECT_SPI_SLAVE ?= SPI_SLAVE0 -HS_LOG_SPI_DEV ?= spi1 -HS_LOG_SPI_SLAVE_IDX ?= SPI_SLAVE0 - -# -# default Current Sensor configuration -# -ADC_CURRENT_SENSOR ?= ADC_2 diff --git a/conf/boards/opa_ftd_1.0.makefile b/conf/boards/opa_ftd_1.0.makefile deleted file mode 100644 index 4b4cc898e4..0000000000 --- a/conf/boards/opa_ftd_1.0.makefile +++ /dev/null @@ -1,53 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# Oversized Paparazzi (AP) Board -# -# http://wiki.paparazziuav.org/wiki/OPA -# - -BOARD=opa_ftd -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/lisa-mx.ld - -# ----------------------------------------------------------------------- - -# -# default flash mode is via SWD (JTAG) -# -FLASH_MODE ?= SWD - -# -# default LED configuration -# -SYS_TIME_LED ?= 1 -RADIO_CONTROL_LED ?= 2 -ARMING_LED ?= 3 -FBW_MODE_LED ?= none - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART5 - -SBUS_PORT ?= UART5 - -MODEM_PORT ?= UART3 -MODEM_BAUD ?= B19200 - -INTERMCU_PORT ?= UART2 -INTERMCU_BAUD ?= B460800 - -GPS_PORT ?= UART4 -GPS_BAUD ?= B57600 - -# -# default actuator configuration -# -ACTUATORS ?= actuators_pwm diff --git a/conf/boards/openpilot_revo_1.0.makefile b/conf/boards/openpilot_revo_1.0.makefile deleted file mode 100644 index f8ec885d16..0000000000 --- a/conf/boards/openpilot_revo_1.0.makefile +++ /dev/null @@ -1,58 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# openpilot_revo_1.0.makefile -# -# https://www.openpilot.org/products/openpilot-revolution-platform/ -# - -BOARD=openpilot_revo -BOARD_VERSION=1.0 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/openpilot_revo.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via SWD -# other possibilities: DFU, DFU-UTIL, SWD, STLINK -FLASH_MODE ?= SWD - - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= none -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2 - -MODEM_PORT ?= UART1 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART3 -GPS_BAUD ?= B38400 - - - - -# -# default actuator configuration -# -# you can use different actuators by adding a configure option to your firmware section -# e.g. -# -ACTUATORS ?= actuators_pwm diff --git a/conf/boards/openpilot_revo_nano.makefile b/conf/boards/openpilot_revo_nano.makefile deleted file mode 100644 index 733985f1bc..0000000000 --- a/conf/boards/openpilot_revo_nano.makefile +++ /dev/null @@ -1,62 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# openpilot_revo_nano.makefile -# -# https://librepilot.atlassian.net/wiki/display/LPDOC/OpenPilot+Revolution+Nano -# - -BOARD=openpilot_revo -BOARD_VERSION=nano -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -HARD_FLOAT=yes -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/openpilot_revo_nano.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via DFU-UTIL (short the two SBL pads at power up to get into DFU mode) -# other possibilities: DFU, DFU-UTIL, SWD, STLINK -FLASH_MODE ?= DFU-UTIL - - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= none -SYS_TIME_LED ?= 1 - - -# -# default uart configuration -# -# on the revo nano: -# UART1 -> flexi port shared with I2C1 -# UART2 -> main port - -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2 - -MODEM_PORT ?= UART2 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART1 -GPS_BAUD ?= B38400 - - - - -# -# default actuator configuration -# -# you can use different actuators by adding a configure option to your firmware section -# e.g. -# -ACTUATORS ?= actuators_pwm diff --git a/conf/boards/px4fmu_1.7.makefile b/conf/boards/px4fmu_1.7.makefile deleted file mode 100644 index 798d46d7a5..0000000000 --- a/conf/boards/px4fmu_1.7.makefile +++ /dev/null @@ -1,55 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# px4fmu_1.7.makefile -# -# - -BOARD=px4fmu -BOARD_VERSION=1.7 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -ARCH_DIR=stm32 -SRC_ARCH=arch/$(ARCH_DIR) -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/apogee.ld - -HARD_FLOAT=yes - -# default flash mode is via usb dfu bootloader -# possibilities: DFU, SWD -FLASH_MODE ?= SWD - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= none -SYS_TIME_LED ?= 1 - -# -# default UART configuration (modem, gps, spektrum) -# - -MODEM_PORT ?= UART1 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART6 -GPS_BAUD ?= B38400 - -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2 - - -# -# default actuator configuration -# -# you can use different actuators by adding a configure option to your firmware section -# e.g. -# -ACTUATORS ?= actuators_pwm diff --git a/conf/boards/px4fmu_2.4.makefile b/conf/boards/px4fmu_2.4.makefile deleted file mode 100644 index 6a1d37641b..0000000000 --- a/conf/boards/px4fmu_2.4.makefile +++ /dev/null @@ -1,59 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# px4fmu_2.4.makefile -# -# This is for the main MCU (STM32F427) on the PX4 board -# See https://pixhawk.org/modules/pixhawk for details -# - -BOARD=px4fmu -BOARD_VERSION=2.4 -BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\" - -ARCH=stm32 -ARCH_L=f4 -ARCH_DIR=stm32 -SRC_ARCH=arch/$(ARCH_DIR) -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/px4fmu_2.4.ld - -HARD_FLOAT=yes - -# default flash mode is the PX4 bootloader -# possibilities: DFU, SWD, PX4 bootloader -FLASH_MODE ?= PX4_BOOTLOADER -PX4_TARGET = "ap" -PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/px4fmu-v2.prototype" -PX4_BL_PORT ?= "/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/pci-3D_Robotics*" - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= none -GPS_LED ?= none -SYS_TIME_LED ?= 1 - -# -# default UART configuration (modem, gps, spektrum) -# - -#The modem serial on px4 is called serial 1, but connected to uart2 on the f4 -MODEM_PORT ?= UART2 -MODEM_BAUD ?= B57600 - -#The GPS serial on px4 is called serial 3, but connected to uart4 on the f4 -GPS_PORT ?= UART4 -GPS_BAUD ?= B38400 - -# -# 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/boards/px4fmu_4.0.makefile b/conf/boards/px4fmu_4.0.makefile deleted file mode 100644 index af68c0f12f..0000000000 --- a/conf/boards/px4fmu_4.0.makefile +++ /dev/null @@ -1,66 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# px4fmu_4.0.makefile -# -# Take a look at https://pixhawk.org/modules/pixracer for details - -# Board is a Pixracer v1.0 but adhering to px4 way of naming it is px4fmu v4 -BOARD=px4fmu -BOARD_VERSION=4.0 -#Pixracer has a PX4 FMU v4 core thus default -BOARD_CFG=\"boards/px4fmu_4.0.h\" - -ARCH=stm32 -ARCH_L=f4 -ARCH_DIR=stm32 -SRC_ARCH=arch/$(ARCH_DIR) -$(TARGET).ARCHDIR = $(ARCH) -$(TARGET).LDSCRIPT=$(SRC_ARCH)/px4fmu_4.0.ld - -HARD_FLOAT=yes - -# default flash mode is the PX4 bootloader -# possibilities: DFU, SWD, PX4 bootloader -FLASH_MODE ?= PX4_BOOTLOADER -PX4_TARGET = "ap" -PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/px4fmu_4.0.prototype" -#FIXME Test with more clone boards and add Wildcard -PX4_BL_PORT ?= "/dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v4.x_0-if00" - -# -# default LED configuration but all on same LED gives multi colors... -# -RADIO_CONTROL_LED ?= 3 -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 2 -GPS_LED ?= none -SYS_TIME_LED ?= 1 - -# -# default UART configuration (RC receiver, telemetry modem, GPS) -# -SBUS_PORT ?= UART6 -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6 -#RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART7 - -MODEM_PORT ?= UART1 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART4 -GPS_BAUD ?= B57600 - -# -# default actuator configuration -# -# you can use different actuators by adding a configure option to your firmware section -# e.g. -# -ACTUATORS ?= actuators_pwm - -# -# default External Current and Volt Sensor configuration -# -# ADC_CURRENT_SENSOR ?= ADC_3 -# ADC_VOLTAGE_SENSOR ?= ADC_2 diff --git a/conf/boards/px4io_2.4.makefile b/conf/boards/px4io_2.4.makefile deleted file mode 100644 index 9506b4709f..0000000000 --- a/conf/boards/px4io_2.4.makefile +++ /dev/null @@ -1,53 +0,0 @@ -# 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=$(SRC_ARCH)/px4io_2.4.ld - -# default flash mode is via usb dfu bootloader -# possibilities: DFU, SWD, PX4_BOOTLOADER -PX4_BL_PORT ?= "/dev/serial/by-id/usb-Paparazzi_UAV_CDC_Serial_STM32_*" -PX4_PROTOTYPE ?= "${PAPARAZZI_HOME}/sw/tools/px4/px4io-v2.prototype" -PX4_TARGET = "fbw" -FLASH_MODE ?= PX4_BOOTLOADER - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= none -GPS_LED ?= none -SYS_TIME_LED ?= 2 -FBW_MODE_LED ?= 3 - -# -# default UART configuration (modem, gps, spektrum) -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1 -SBUS_PORT ?= UART3 -ACTUATORS_SBUS_DEV ?= UART3 - -#InterMCU port connected to the FMU processor -INTERMCU_PORT ?= UART2 -INTERMCU_BAUD ?= B230400 - -# -# 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/conf_example.xml b/conf/conf_example.xml index 256af912c2..00a0746ec3 100644 --- a/conf/conf_example.xml +++ b/conf/conf_example.xml @@ -1,92 +1,4 @@ - - - - - - - - - diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml index 60ec4050e7..4aab76b660 100644 --- a/conf/conf_tests.xml +++ b/conf/conf_tests.xml @@ -10,39 +10,6 @@ settings_modules="modules/air_data.xml modules/airspeed_uavcan.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/preflight_checks.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml" gui_color="blue" /> - - - - - - - - - - - - - - - - - - diff --git a/conf/modules/board_matek_f405_wing.xml b/conf/modules/board_matek_f405_wing.xml deleted file mode 100644 index ec6ddb22f9..0000000000 --- a/conf/modules/board_matek_f405_wing.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - Autoload several onboard sensors and modules - for the Matek F405 Wing board with proper configuration. - IMU MPU6000 - Baro (BMP280) - OSD - Normal front of the board is on the servo S3-S8 servo connector - Normal up of the board is on STM32F405 side. - - - - spi_master,osd_max7456,baro_bmp280,imu_mpu6000 - - - - - - - - - - - - - - - - diff --git a/conf/modules/boards/elle0_1.0.xml b/conf/modules/boards/elle0_1.0.xml deleted file mode 100644 index b8d6ffb28a..0000000000 --- a/conf/modules/boards/elle0_1.0.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Elle0 1.0 - - - - spi_master,baro_board - - - - diff --git a/conf/modules/boards/elle0_1.2.xml b/conf/modules/boards/elle0_1.2.xml deleted file mode 100644 index 6ef35fd69a..0000000000 --- a/conf/modules/boards/elle0_1.2.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Elle0 1.2 - - - - spi_master,baro_board - - - - diff --git a/conf/modules/boards/lisa_l_1.0.xml b/conf/modules/boards/lisa_l_1.0.xml deleted file mode 100644 index 714edbfc3f..0000000000 --- a/conf/modules/boards/lisa_l_1.0.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - Specific configuration for Lisa/L 1.0 - - - - i2c,baro_board_common - baro - - - - - - - diff --git a/conf/modules/boards/lisa_l_1.1.xml b/conf/modules/boards/lisa_l_1.1.xml deleted file mode 100644 index 016f2a7502..0000000000 --- a/conf/modules/boards/lisa_l_1.1.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - Specific configuration for Lisa/L 1.1 - - - - i2c,baro_board_common - baro - - - - - - - diff --git a/conf/modules/boards/lisa_m_1.0.xml b/conf/modules/boards/lisa_m_1.0.xml deleted file mode 100644 index 4efe4c2810..0000000000 --- a/conf/modules/boards/lisa_m_1.0.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Lisa/M 1.0 - - - - i2c,baro_board - - - - diff --git a/conf/modules/boards/lisa_m_2.0.xml b/conf/modules/boards/lisa_m_2.0.xml deleted file mode 100644 index abacafa530..0000000000 --- a/conf/modules/boards/lisa_m_2.0.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Lisa/M 2.0 - - - - spi_master,i2c,baro_board - - - - diff --git a/conf/modules/boards/lisa_m_2.1.xml b/conf/modules/boards/lisa_m_2.1.xml deleted file mode 100644 index df31964dc3..0000000000 --- a/conf/modules/boards/lisa_m_2.1.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Lisa/M 2.1 - - - - spi_master,i2c,baro_board - - - - diff --git a/conf/modules/boards/lisa_mx_2.0.xml b/conf/modules/boards/lisa_mx_2.0.xml deleted file mode 100644 index 36c306b002..0000000000 --- a/conf/modules/boards/lisa_mx_2.0.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Lisa/MX 2.0 - - - - spi_master,baro_board - - - - diff --git a/conf/modules/boards/lisa_mx_2.1.xml b/conf/modules/boards/lisa_mx_2.1.xml deleted file mode 100644 index 9e8baa350f..0000000000 --- a/conf/modules/boards/lisa_mx_2.1.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Lisa/MX 2.1 - - - - spi_master,baro_board - - - - diff --git a/conf/modules/boards/lisa_mxs_1.0.xml b/conf/modules/boards/lisa_mxs_1.0.xml deleted file mode 100644 index a887d2ed22..0000000000 --- a/conf/modules/boards/lisa_mxs_1.0.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Lisa/MXS 1.0 - - - - i2c,baro_board - - - - diff --git a/conf/modules/boards/lisa_mxs_1.0_nimble.xml b/conf/modules/boards/lisa_mxs_1.0_nimble.xml deleted file mode 100644 index 00f3f3de76..0000000000 --- a/conf/modules/boards/lisa_mxs_1.0_nimble.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Lisa/MXS 1.0 for Nimble frame - - - - i2c,baro_board - - - - diff --git a/conf/modules/boards/lisa_s_1.0.xml b/conf/modules/boards/lisa_s_1.0.xml deleted file mode 100644 index 11c4f0e165..0000000000 --- a/conf/modules/boards/lisa_s_1.0.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Lisa/S 1.0 - - - - i2c,baro_board - - - - diff --git a/conf/modules/boards/naze32_rev4.xml b/conf/modules/boards/naze32_rev4.xml deleted file mode 100644 index 9b1921a268..0000000000 --- a/conf/modules/boards/naze32_rev4.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Naze32 rev4 - - - - i2c,baro_board - - - - diff --git a/conf/modules/boards/naze32_rev5.xml b/conf/modules/boards/naze32_rev5.xml deleted file mode 100644 index ad9ea55e47..0000000000 --- a/conf/modules/boards/naze32_rev5.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for Naze32 rev5 - - - - i2c,baro_board - - - - diff --git a/conf/modules/boards/opa_ap_1.0.xml b/conf/modules/boards/opa_ap_1.0.xml deleted file mode 100644 index 0d5d20af03..0000000000 --- a/conf/modules/boards/opa_ap_1.0.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for OPA AP 1.0 - - - - spi_master,baro_board - - - - diff --git a/conf/modules/boards/openpilot_revo_1.0.xml b/conf/modules/boards/openpilot_revo_1.0.xml deleted file mode 100644 index a3bd0c882d..0000000000 --- a/conf/modules/boards/openpilot_revo_1.0.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for OpenPilot Revo 1.0 - - - - i2c,baro_board - - - - diff --git a/conf/modules/boards/openpilot_revo_nano.xml b/conf/modules/boards/openpilot_revo_nano.xml deleted file mode 100644 index 0f3ff4038b..0000000000 --- a/conf/modules/boards/openpilot_revo_nano.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for OpenPilot Revo Nano - - - - i2c,baro_board - - - - diff --git a/conf/modules/boards/px4fmu_1.7.xml b/conf/modules/boards/px4fmu_1.7.xml deleted file mode 100644 index a51afe5f29..0000000000 --- a/conf/modules/boards/px4fmu_1.7.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for PX4FMU v1.7 - - - - spi_master,baro_board - - - - diff --git a/conf/modules/boards/px4fmu_2.4.xml b/conf/modules/boards/px4fmu_2.4.xml deleted file mode 100644 index 6a0cc7dd6e..0000000000 --- a/conf/modules/boards/px4fmu_2.4.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for PX4FMU v2.4 - - - - spi_master,baro_board - - - - diff --git a/conf/modules/boards/px4fmu_4.0.xml b/conf/modules/boards/px4fmu_4.0.xml deleted file mode 100644 index 517bc0d777..0000000000 --- a/conf/modules/boards/px4fmu_4.0.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - Specific configuration for PX4FMU v4.0 - - - - spi_master,baro_board - - - - diff --git a/conf/modules/imu_elle0.xml b/conf/modules/imu_elle0.xml deleted file mode 100644 index 41033e0546..0000000000 --- a/conf/modules/imu_elle0.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - MPU9250 IMU via SPI. - Basically the same as imu_mpu9250_spi, only changed axes assignment for Elle0. - - - - imu_mpu9250_spi - imu - - - - - - - - - - diff --git a/conf/modules/imu_lisa_s_v1.0.xml b/conf/modules/imu_lisa_s_v1.0.xml deleted file mode 100644 index 93bada4e56..0000000000 --- a/conf/modules/imu_lisa_s_v1.0.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - IMU on LisaS board. - MPU60x0 via SPI1. HMC5883 as I2C slave of MPU. - -
- - - - - - - -
- - - imu_aspirin_v2_common - imu - - - - - - - - - - - - diff --git a/conf/modules/imu_openpilot_revo.xml b/conf/modules/imu_openpilot_revo.xml deleted file mode 100644 index ae75b594f2..0000000000 --- a/conf/modules/imu_openpilot_revo.xml +++ /dev/null @@ -1,63 +0,0 @@ - - - - - - Driver for IMU on OpenPilot Revo board. - - Accelerometer/Gyroscope: MPU6000 via SPI1 - - Magnetometer: HMC58xx via I2C1 - The IMU positive X-axis is as inidcated with arrows on the board, - Z-axis is negative towards the side of the MPU and LEDs (that side is up). - If ACCEL and GYRO SENS/NEUTRAL are not defined, the defaults from the datasheet will be used. - -
- - - - - - - -
- - - spi_master,i2c,imu_common - imu,mag - -
- -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/conf/modules/imu_openpilot_revo_nano.xml b/conf/modules/imu_openpilot_revo_nano.xml deleted file mode 100644 index 68df6eed42..0000000000 --- a/conf/modules/imu_openpilot_revo_nano.xml +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - IMU driver for OpenPilot Revo Nano. - MPU9250 via SPI2. - Reads the internal AK8963 mag as I2C slave of the MPU. - - - - - - - - - - - - - - - - - - spi_master,imu_common - imu,mag - -
- -
- - - - - - - - - - - - - - - - diff --git a/conf/modules/telemetry_bluegiga.xml b/conf/modules/telemetry_bluegiga.xml index 08cae2c0d1..882b3d50fd 100644 --- a/conf/modules/telemetry_bluegiga.xml +++ b/conf/modules/telemetry_bluegiga.xml @@ -13,9 +13,6 @@ Optional: (defaults to SUPERBITRF DRDY) BLUEGIGA_DRDY_GPIO BLUEGIGA_DRDY_GPIO_PIN - - On Lisa-s, the Superbit-RF module can be replaced with a bluegiga-bluetooth 4 low power board. - This module puts the telemetry over this bluetooth 4 link. @@ -54,4 +51,3 @@ - diff --git a/conf/userconf/OPENUAS/openuas_conf.xml b/conf/userconf/OPENUAS/openuas_conf.xml index 4975e1e538..e011bb7b2d 100644 --- a/conf/userconf/OPENUAS/openuas_conf.xml +++ b/conf/userconf/OPENUAS/openuas_conf.xml @@ -10,26 +10,4 @@ settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/photogrammetry_calculator.xml modules/stabilization_adaptive_fw.xml" gui_color="yellow" /> - - diff --git a/conf/userconf/UGR/conf.xml b/conf/userconf/UGR/conf.xml deleted file mode 100644 index 77f2b8b092..0000000000 --- a/conf/userconf/UGR/conf.xml +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - diff --git a/conf/userconf/conf_example_gvf.xml b/conf/userconf/conf_example_gvf.xml index 87c13b0689..444d3f1df1 100644 --- a/conf/userconf/conf_example_gvf.xml +++ b/conf/userconf/conf_example_gvf.xml @@ -10,17 +10,6 @@ settings_modules="modules/ahrs_float_dcm.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/gvf_classic.xml~GVF~ modules/gvf_ik.xml~GVF_IK~ modules/gvf_parametric.xml~GVF_PARAMETRIC~ modules/imu_common.xml modules/nav_basic_fw.xml modules/power_switch.xml modules/stabilization_adaptive_fw.xml" gui_color="#6200a000ea00" /> - - - - - - - - - - - - - - - - - - - - - - - diff --git a/sw/airborne/arch/stm32/cc3d.ld b/sw/airborne/arch/stm32/cc3d.ld deleted file mode 100644 index 91f3627d51..0000000000 --- a/sw/airborne/arch/stm32/cc3d.ld +++ /dev/null @@ -1,36 +0,0 @@ -/* - * Hey Emacs, this is a -*- makefile -*- - * - * Copyright (C) 2015 Felix Ruess - * - * 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 CC3D (STM32F103CBT6, 128K flash, 20K RAM). */ - -/* Define memory regions. */ -MEMORY -{ - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K - /* Leaving 2k of space at the end of rom for stored settings */ - rom (rx) : ORIGIN = 0x08000000, LENGTH = 126K -} - -/* Include the common ld script. */ -INCLUDE cortex-m-generic.ld - diff --git a/sw/airborne/arch/stm32/cjmcu.ld b/sw/airborne/arch/stm32/cjmcu.ld deleted file mode 100644 index 481164109c..0000000000 --- a/sw/airborne/arch/stm32/cjmcu.ld +++ /dev/null @@ -1,35 +0,0 @@ -/* - * Hey Emacs, this is a -*- makefile -*- - * - * Copyright (C) 2015 Martin Mueller - * - * 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 CJMCU Quad (STM32F103CBT6, 128K flash, 20K RAM). */ - -/* Define memory regions. */ -MEMORY -{ - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K - /* Use entire memory, no flash for stored settings */ - rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K -} - -/* Include the common ld script. */ -INCLUDE cortex-m-generic.ld diff --git a/sw/airborne/arch/stm32/cjmcu.makefile b/sw/airborne/arch/stm32/cjmcu.makefile deleted file mode 100644 index d492e6f48a..0000000000 --- a/sw/airborne/arch/stm32/cjmcu.makefile +++ /dev/null @@ -1,69 +0,0 @@ -# Hey Emacs, this is a -*- makefile -*- -# -# cjmcu.makefile -# -# https://github.com/cleanflight/cleanflight/issues/22 -# http://blog.oscarliang.net/build-fpv-micro-quadcopter-smallest-quad -# hw rev2 ? -# - -BOARD=cjmcu -BOARD_CFG=\"boards/$(BOARD).h\" - -ARCH=stm32 -$(TARGET).ARCHDIR = $(ARCH) -# not needed? -$(TARGET).OOCD_INTERFACE=ftdi/flossjtag -$(TARGET).LDSCRIPT=$(SRC_ARCH)/cjmcu.ld - -# ----------------------------------------------------------------------- - -# default flash mode is via SWD -# other possibilities: DFU-UTIL, JTAG, SWD, STLINK, SERIAL -FLASH_MODE ?= SWD - -HAS_LUFTBOOT ?= 0 -ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE)) -$(TARGET).CFLAGS+=-DLUFTBOOT -$(TARGET).LDFLAGS+=-Wl,-Ttext=0x8002000 -endif - -# -# -# some default values shared between different firmwares -# -# - - -# -# default LED configuration -# -RADIO_CONTROL_LED ?= none -BARO_LED ?= none -AHRS_ALIGNER_LED ?= 1 -GPS_LED ?= 2 -SYS_TIME_LED ?= 3 - - -# -# default uart configuration -# -RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3 -RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART1 - -MODEM_PORT ?= UART1 -MODEM_BAUD ?= B57600 - -GPS_PORT ?= UART3 -GPS_BAUD ?= B38400 - - -# -# 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/arch/stm32/crazybee_f4_1.0.ld b/sw/airborne/arch/stm32/crazybee_f4_1.0.ld deleted file mode 100644 index 854216eb81..0000000000 --- a/sw/airborne/arch/stm32/crazybee_f4_1.0.ld +++ /dev/null @@ -1,37 +0,0 @@ -/* - * Hey Emacs, this is a -*- makefile -*- - * - * Copyright (C) 2019 PPRZ team - * - * 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 Crazybee F4 (STM32F411CEU6), 512K FLASH flash, 128K RAM). */ - -/* FIXME: values possibly not correct -/* Define memory regions. */ -MEMORY -{ - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K - /* Reserving 16kb flash (512-16=496) for persistent settings. */ - rom (rx) : ORIGIN = 0x08000000, LENGTH = 496K - -} - -/* Include the common ld script. */ -INCLUDE cortex-m-generic.ld diff --git a/sw/airborne/arch/stm32/elle0.ld b/sw/airborne/arch/stm32/elle0.ld deleted file mode 100644 index 432753243a..0000000000 --- a/sw/airborne/arch/stm32/elle0.ld +++ /dev/null @@ -1,36 +0,0 @@ -/* - * Hey Emacs, this is a -*- makefile -*- - * - * Copyright (C) 2015 Piotr Esden-Tempski - * - * 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 ELLE0 (STM32F415, 1024K flash, 192K RAM). */ - -/* Define memory regions. */ -MEMORY -{ - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K - /* Reserving 128kb flash for persistent settings. */ - rom (rx) : ORIGIN = 0x08000000, LENGTH = 896K -} - -/* Include the common ld script. */ -INCLUDE cortex-m-generic.ld - diff --git a/sw/airborne/arch/stm32/lisa-s.ld b/sw/airborne/arch/stm32/lisa-s.ld deleted file mode 100644 index f19daafcf7..0000000000 --- a/sw/airborne/arch/stm32/lisa-s.ld +++ /dev/null @@ -1,35 +0,0 @@ -/* - * Hey Emacs, this is a -*- makefile -*- - * - * Copyright (C) 2012 Piotr Esden-Tempski - * - * 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 Lisa-S (STM32F103REY6, 512K flash, 64K RAM). */ - -/* Define memory regions. */ -MEMORY -{ - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K - /* Leaving 2k of space at the end of rom for stored settings */ - rom (rx) : ORIGIN = 0x08000000, LENGTH = 512K -} - -/* Include the common ld script. */ -INCLUDE cortex-m-generic.ld diff --git a/sw/airborne/arch/stm32/naze32.ld b/sw/airborne/arch/stm32/naze32.ld deleted file mode 100644 index 9023b24f43..0000000000 --- a/sw/airborne/arch/stm32/naze32.ld +++ /dev/null @@ -1,35 +0,0 @@ -/* - * Hey Emacs, this is a -*- makefile -*- - * - * Copyright (C) 2015 Felix Ruess - * - * 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 Abusemark Naze32 (STM32F103CBT6, 128K flash, 20K RAM). */ - -/* Define memory regions. */ -MEMORY -{ - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K - /* Use entire memory, no flash for stored settings */ - rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K -} - -/* Include the common ld script. */ -INCLUDE cortex-m-generic.ld diff --git a/sw/airborne/arch/stm32/openpilot_revo.ld b/sw/airborne/arch/stm32/openpilot_revo.ld deleted file mode 100644 index 9403fe7e1d..0000000000 --- a/sw/airborne/arch/stm32/openpilot_revo.ld +++ /dev/null @@ -1,35 +0,0 @@ -/* - * Hey Emacs, this is a -*- makefile -*- - * - * Copyright (C) 2016 Felix Ruess - * - * 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 Pixhawk PX4FMU v2.4 (STM32F427, 1024K flash, 192K RAM). */ - -/* Define memory regions. */ -MEMORY -{ - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K - /* Pixhawk seems to have had a bad batch of f4's, so only use the first 1mb */ - rom (rx) : ORIGIN = 0x08004000, LENGTH = 1008K -} - -/* Include the common ld script. */ -INCLUDE cortex-m-generic.ld diff --git a/sw/airborne/arch/stm32/px4fmu_4.0.ld b/sw/airborne/arch/stm32/px4fmu_4.0.ld deleted file mode 100644 index 2c1e3bfaf5..0000000000 --- a/sw/airborne/arch/stm32/px4fmu_4.0.ld +++ /dev/null @@ -1,34 +0,0 @@ -/* - * Copyright (C) 2016 The Paparazzi Team> - * - * 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 Pixhawk PX4 Pixracer v1.0 (STM32F427, 2048K flash, 256K RAM 4KSRAM). */ - -/* Define memory regions. */ - -/* FIXME Likely more memory 256. */ -MEMORY -{ - ram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K - rom (rx) : ORIGIN = 0x08004000, LENGTH = 1920K -} - -/* Include the common ld script. */ -INCLUDE cortex-m-generic.ld diff --git a/sw/airborne/arch/stm32/px4io_2.4.ld b/sw/airborne/arch/stm32/px4io_2.4.ld deleted file mode 100644 index 74f17313c2..0000000000 --- a/sw/airborne/arch/stm32/px4io_2.4.ld +++ /dev/null @@ -1,35 +0,0 @@ -/* - * 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 cortex-m-generic.ld diff --git a/sw/airborne/boards/cc3d.h b/sw/airborne/boards/cc3d.h deleted file mode 100644 index 3cad47d0dd..0000000000 --- a/sw/airborne/boards/cc3d.h +++ /dev/null @@ -1,256 +0,0 @@ -#ifndef CONFIG_CC3D_H -#define CONFIG_CC3D_H - -/* CC3D has a 8MHz external clock and 72MHz internal. */ -#define EXT_CLK 8000000 -#define AHB_CLK 72000000 - -/* - * Onboard LEDs - */ - -/* blue status led, on PB3 */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOB -#define LED_1_GPIO_PIN GPIO3 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP { \ - rcc_periph_clock_enable(RCC_AFIO); \ - AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_ON; \ - } - - -/* SPI slave mapping */ -/* MPU600 on spi1 */ -#define SPI_SELECT_SLAVE0_PORT GPIOA -#define SPI_SELECT_SLAVE0_PIN GPIO4 - -/* 16Mbit flash on spi2 */ -#define SPI_SELECT_SLAVE1_PORT GPIOB -#define SPI_SELECT_SLAVE1_PIN GPIO12 - -/* - * UART pin configuration - * - * sets on which pins the UARTs are connected - */ -/* UART1 on main port */ -#define UART1_GPIO_AF 0 -#define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX -#define UART1_GPIO_RX GPIO_USART1_RX -#define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX -#define UART1_GPIO_TX GPIO_USART1_TX - -/* UART3 on Flexi Port */ -#define UART3_GPIO_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP -#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_PR_RX -#define UART3_GPIO_RX GPIO_USART3_PR_RX -#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_PR_TX -#define UART3_GPIO_TX GPIO_USART3_PR_TX - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -/* set to ppm/servo6 input pin on RC connector for now */ -#define SPEKTRUM_BIND_PIN GPIO1 -#define SPEKTRUM_BIND_PIN_PORT GPIOA - -#define SPEKTRUM_UART1_RCC RCC_USART1 -#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX -#define SPEKTRUM_UART1_PIN GPIO_USART1_RX -#define SPEKTRUM_UART1_AF 0 -#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ -#define SPEKTRUM_UART1_ISR usart1_isr -#define SPEKTRUM_UART1_DEV USART1 - -#define SPEKTRUM_UART3_RCC RCC_USART3 -#define SPEKTRUM_UART3_BANK GPIO_BANK_USART3_PR_RX -#define SPEKTRUM_UART3_PIN GPIO_USART3_PR_RX -#define SPEKTRUM_UART3_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP -#define SPEKTRUM_UART3_IRQ NVIC_USART3_IRQ -#define SPEKTRUM_UART3_ISR usart3_isr -#define SPEKTRUM_UART3_DEV USART3 - - -/* Pint to set Uart1 RX polarity, on PB2, output high inverts, low doesn't */ -#define RC_POLARITY_GPIO_PORT GPIOB -#define RC_POLARITY_GPIO_PIN GPIO2 - - -/* PPM - * - * Default is PPM config 2, input on GPIOA1: RC input pin 8 (S6_IN) - */ -#ifndef PPM_CONFIG -#define PPM_CONFIG 2 -#endif - -#if PPM_CONFIG == 1 -/* input on PB6 (S1_IN) */ -#define USE_PPM_TIM4 1 -#define PPM_CHANNEL TIM_IC1 -#define PPM_TIMER_INPUT TIM_IC_IN_TI1 -#define PPM_IRQ NVIC_TIM4_UP_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC1IE -#define PPM_CC_IF TIM_SR_CC1IF -#define PPM_GPIO_PORT GPIOB -#define PPM_GPIO_PIN GPIO6 -#define PPM_GPIO_AF 0 - -#elif PPM_CONFIG == 2 -/* input on PA1 (S6_IN) */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC2 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM2_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC2IE -#define PPM_CC_IF TIM_SR_CC2IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO1 -#define PPM_GPIO_AF 0 - -#else -#error "Unknown PPM config" -#endif // PPM_CONFIG - - -/* - * ADC - * noting yet, board doesn't seem to have voltage devider for bat measurement - */ - - -/* - * I2C - */ -/* flexi port */ -#define I2C2_GPIO_PORT GPIOB -#define I2C2_GPIO_SCL GPIO10 -#define I2C2_GPIO_SDA GPIO11 - - -/* - * PWM - * only servos 1-4 enabled for now - */ -/* servos 1-3 */ -#define PWM_USE_TIM4 1 -#define USE_PWM1 1 -#define USE_PWM2 1 -#define USE_PWM3 1 -/* servo 4 */ -#define PWM_USE_TIM1 1 -#define USE_PWM4 1 - -/* servo 5 */ -#define PWM_USE_TIM3 0 -#define USE_PWM5 0 -/* servo 6 */ -#define PWM_USE_TIM2 0 -#define USE_PWM6 0 - -#define ACTUATORS_PWM_NB 4 - -// Servo output numbering on silkscreen starts with 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 TIM4 -#define PWM_SERVO_1_GPIO GPIOB -#define PWM_SERVO_1_PIN GPIO9 -#define PWM_SERVO_1_AF 0 -#define PWM_SERVO_1_OC TIM_OC4 -#define PWM_SERVO_1_OC_BIT (1<<3) -#else -#define PWM_SERVO_1_OC_BIT 0 -#endif - -#if USE_PWM2 -#define PWM_SERVO_2 1 -#define PWM_SERVO_2_TIMER TIM4 -#define PWM_SERVO_2_GPIO GPIOB -#define PWM_SERVO_2_PIN GPIO8 -#define PWM_SERVO_2_AF 0 -#define PWM_SERVO_2_OC TIM_OC3 -#define PWM_SERVO_2_OC_BIT (1<<2) -#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 GPIO7 -#define PWM_SERVO_3_AF 0 -#define PWM_SERVO_3_OC TIM_OC2 -#define PWM_SERVO_3_OC_BIT (1<<1) -#else -#define PWM_SERVO_3_OC_BIT 0 -#endif - -#if USE_PWM4 -#define PWM_SERVO_4 3 -#define PWM_SERVO_4_TIMER TIM1 -#define PWM_SERVO_4_GPIO GPIOA -#define PWM_SERVO_4_PIN GPIO1 -#define PWM_SERVO_4_AF 0 -#define PWM_SERVO_4_OC TIM_OC1 -#define PWM_SERVO_4_OC_BIT (1<<0) -#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 GPIOB -#define PWM_SERVO_5_PIN GPIO4 -#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 TIM2 -#define PWM_SERVO_6_GPIO GPIOA -#define PWM_SERVO_6_PIN GPIO2 -#define PWM_SERVO_6_AF 0 -#define PWM_SERVO_6_OC TIM_OC3 -#define PWM_SERVO_6_OC_BIT (1<<2) -#else -#define PWM_SERVO_6_OC_BIT 0 -#endif - -/* servos 1-3 on TIM4 */ -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT) -/* servo 4 on TIM1 */ -#define PWM_TIM1_CHAN_MASK PWM_SERVO_4_OC_BIT -/* servo 5 on TIM3 */ -#define PWM_TIM3_CHAN_MASK PWM_SERVO_5_OC_BIT -/* servo 6 on TIM2 */ -#define PWM_TIM2_CHAN_MASK PWM_SERVO_6_OC_BIT - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -/* simply always return 5V for now */ -#define DefaultVoltageOfAdc(adc) (50) - - -#endif /* CONFIG_CC3D_H */ diff --git a/sw/airborne/boards/cjmcu.h b/sw/airborne/boards/cjmcu.h deleted file mode 100644 index 95d1c73dec..0000000000 --- a/sw/airborne/boards/cjmcu.h +++ /dev/null @@ -1,265 +0,0 @@ -#ifndef CONFIG_CJMCU_H -#define CONFIG_CJMCU_H - -#define BOARD_CJMCU - -/* CJMCU has a 8MHz external clock and 72MHz internal. */ -#define EXT_CLK 8000000 -#define AHB_CLK 72000000 - -/* - * Onboard LEDs - */ - -/* green */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOC -#define LED_1_GPIO_PIN GPIO13 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP ((void)0) - -/* red */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOC -#define LED_2_GPIO_PIN GPIO14 -#define LED_2_GPIO_ON gpio_clear -#define LED_2_GPIO_OFF gpio_set -#define LED_2_AFIO_REMAP ((void)0) - -/* blue */ -#ifndef USE_LED_3 -#define USE_LED_3 1 -#endif -#define LED_3_GPIO GPIOC -#define LED_3_GPIO_PIN GPIO15 -#define LED_3_GPIO_ON gpio_clear -#define LED_3_GPIO_OFF gpio_set -#define LED_3_AFIO_REMAP ((void)0) - - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -/* - * ADC - */ - -// Internal ADC for battery on PA2 enabled by default -#ifndef USE_ADC_1 -#define USE_ADC_1 1 -#endif -#if USE_ADC_1 -#define AD1_1_CHANNEL 2 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOA -#define ADC_1_GPIO_PIN GPIO2 -#endif - -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_1 -#endif - -/* 10k/2k resistor divider, 6 * 3.3V / 4096 */ -#define DefaultVoltageOfAdc(adc) (0.0049*adc) -//#define DefaultVoltageOfAdc(adc) (4) - -/* - * UART pin configuration - * - * sets on which pins the UARTs are connected - */ -/* DIAG port */ -#define UART1_GPIO_AF 0 -#define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX -#define UART1_GPIO_RX GPIO_USART1_RX -#define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX -#define UART1_GPIO_TX GPIO_USART1_TX - -/* GPS */ -#define UART3_GPIO_AF 0 -#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_RX -#define UART3_GPIO_RX GPIO_USART3_RX -#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_TX -#define UART3_GPIO_TX GPIO_USART3_TX - -/* LED1 & LED2 */ -/* -#define UART3_GPIO_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP -#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_PR_RX -#define UART3_GPIO_RX GPIO_USART3_PR_RX -#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_PR_TX -#define UART3_GPIO_TX GPIO_USART3_PR_TX -*/ - -/* - * Spektrum (none) - */ - -/* PPM - */ - -/* - * Default is PPM config 1, input on PA0 - */ - -#ifndef PPM_CONFIG -#define PPM_CONFIG 1 -#endif - - -#if PPM_CONFIG == 1 -/* input on PA0 */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC1 -#define PPM_TIMER_INPUT TIM_IC_IN_TI1 -#define PPM_IRQ NVIC_TIM2_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 GPIO0 -#define PPM_GPIO_AF 0 - -// Move default ADC timer -#if USE_AD_TIM2 -#undef USE_AD_TIM2 -#endif -#define USE_AD_TIM1 1 - -#elif PPM_CONFIG == 2 -/* input on PA1 */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC2 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM2_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC2IE -#define PPM_CC_IF TIM_SR_CC2IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO1 -#define PPM_GPIO_AF 0 - -// Move default ADC timer -#if USE_AD_TIM2 -#undef USE_AD_TIM2 -#endif -#define USE_AD_TIM1 1 - -#elif PPM_CONFIG == 3 -/* input on PA3 */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC4 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM2_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC4IE -#define PPM_CC_IF TIM_SR_CC4IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO3 -#define PPM_GPIO_AF 0 - -// Move default ADC timer -#if USE_AD_TIM2 -#undef USE_AD_TIM2 -#endif -#define USE_AD_TIM1 1 - -#else -#error "Unknown PPM config" - -#endif // PPM_CONFIG - -/* - * I2C - * - */ -#define I2C1_GPIO_PORT GPIOB -#define I2C1_GPIO_SCL GPIO6 -#define I2C1_GPIO_SDA GPIO7 - -/* GPS TX & RX */ -#define I2C2_GPIO_PORT GPIOB -#define I2C2_GPIO_SCL GPIO10 -#define I2C2_GPIO_SDA GPIO11 - -/* - * PWM - * - */ -#define PWM_USE_TIM4 1 -#define PWM_USE_TIM3 1 - -#define USE_PWM1 1 -#define USE_PWM2 1 -#define USE_PWM3 1 -#define USE_PWM4 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 TIM4 -#define PWM_SERVO_1_GPIO GPIOB -#define PWM_SERVO_1_PIN GPIO8 -#define PWM_SERVO_1_AF 0 -#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 TIM4 -#define PWM_SERVO_2_GPIO GPIOB -#define PWM_SERVO_2_PIN GPIO9 -#define PWM_SERVO_2_AF 0 -#define PWM_SERVO_2_OC TIM_OC4 -#define PWM_SERVO_2_OC_BIT (1<<3) -#else -#define PWM_SERVO_2_OC_BIT 0 -#endif - -#if USE_PWM3 -#define PWM_SERVO_3 2 -#define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_GPIO GPIOB -#define PWM_SERVO_3_PIN GPIO0 -#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 TIM3 -#define PWM_SERVO_4_GPIO GPIOB -#define PWM_SERVO_4_PIN GPIO1 -#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 - - - -/* servos 1-2 on TIM4 */ -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT) -/* servos 3-4 on TIM3 */ -#define PWM_TIM3_CHAN_MASK (PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT) - - -#endif /* CONFIG_CJMCU_H */ diff --git a/sw/airborne/boards/crazybee_f4_1.0.h b/sw/airborne/boards/crazybee_f4_1.0.h deleted file mode 100644 index cafd74c67b..0000000000 --- a/sw/airborne/boards/crazybee_f4_1.0.h +++ /dev/null @@ -1,309 +0,0 @@ -/* Since there is atm no schematic of the board, many pin to pin io was deducted - * by measuring on the PCB. - * Not all, e.g. the Volt and Current values are measured for the moment - * Would be great if one could determine the resitor bridge true values - */ - -#ifndef CONFIG_CRAZYBEE_F4_1_0_H -#define CONFIG_CRAZYBEE_F4_1_0_H - -#define BOARD_CRAZYBEE_F4_V1 - -/** System memory base - for DFU bootloader */ -#define SYSTEM_MEMORY_BASE 0x1FFF0000 - -/** Clock config - STM32F4 - STM32F411CEU6 in 48 pin package UFQFPN48 **/ -#define EXT_CLK 8000000 // 8mHz -#define AHB_CLK 84000000 - -/** LEDs **/ -/* Green LED on flight controller */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOC -#define LED_1_GPIO_PIN GPIO13 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP ((void)0) - -/* Red/white RX LEDs */ -/* Note: all LEDs are connected to a single pin */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOB -#define LED_2_GPIO_PIN GPIO9 -#define LED_2_GPIO_ON gpio_set -#define LED_2_GPIO_OFF gpio_clear -#define LED_2_AFIO_REMAP ((void)0) - -/** UART's **/ -/* UART1 */ -#define UART1_GPIO_AF GPIO_AF7 -#define UART1_GPIO_PORT_TX GPIOA -#define UART1_GPIO_TX GPIO9 -#define UART1_GPIO_PORT_RX GPIOA -#define UART1_GPIO_RX GPIO10 - -/* UART2 */ -//Can connect to built-in DSMX receiver is availabe on UART RX -//Not to be confused with DSMX over SPI, that is unrelated -#define UART2_GPIO_AF GPIO_AF7 -#define UART2_GPIO_PORT_TX GPIOA -#define UART2_GPIO_TX GPIO2 -#define UART2_GPIO_PORT_RX GPIOA -#define UART2_GPIO_RX GPIO3 - -/* SBUS inverted on UARTx is a separate physical pad on the board - * To be used for an receiverv that gives an inverted SBUS out signal */ - -/* FIXME: (re)setting UART based (e.g. Spektum) Serial RADIO_CONTROL_POWER_PORT -#define RADIO_CONTROL_POWER_PORT GPIOA -#define RADIO_CONTROL_POWER_PIN GPIO10 -#define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted -#define RADIO_CONTROL_POWER_OFF gpio_set -*/ - -/* FIXME: Soft binding Spektrum */ -/* -#define SPEKTRUM_UART2_RCC RCC_USART1 //But uard 2 if embedded CYRF chip Speksat can be on UART1 -#define SPEKTRUM_UART2_BANK GPIOA -#define SPEKTRUM_UART2_PIN GPIO10 -#define SPEKTRUM_UART2_AF GPIO_AF7 -#define SPEKTRUM_UART2_IRQ NVIC_USART1_IRQ -#define SPEKTRUM_UART2_ISR usart1_isr -#define SPEKTRUM_UART2_DEV USART1 -*/ - -/* FIXME to relate this to ifddefs of PPM config possibilities - */ -#ifndef USE_LED_STRIP -#define USE_LED_STRIP 1 -#endif - -#if USE_LED_STRIP -#define LED_STRIP_GPIO_PORT GPIOA -#define LED_STRIP_GPIO_PIN GPIO0 -#endif - -/* PPM - * - * FIXME: Default is PPM config 1, alternative 2 is CPPM input on RX2 pin but - * than no UART RX at the same time, but a need for that scenario is unlikely anyhow - * - * Originaly intended for 2812LED board - DMA1_ST2 - * Can be re- used for input to connect a receiver that outputs CPPM pulsestrain - */ - -#ifndef PPM_CONFIG -#define PPM_CONFIG 1 -#endif - -#ifdef PPM_CONFIG -#define USE_PPM_TIM5 1 -#define PPM_CHANNEL TIM_IC1 -#define PPM_TIMER_INPUT TIM_IC_IN_TI1 -#define PPM_IRQ NVIC_TIM5_IRQ -//#define PPM_IRQ NVIC_TIM5_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 GPIO0 -#define PPM_GPIO_AF GPIO_AF2 - -//#elif PPM_CONFIG == 2 -///* RX SBUS/Spektumserial or CPPM input on PA3 (RX2 pin) */ -//#define USE_PPM_TIM9 1 -//#define PPM_CHANNEL TIM_IC2 -//#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -//#define PPM_IRQ NVIC_TIM9_IRQ -//// Capture/Compare InteruptEnable and InterruptFlag -//#define PPM_CC_IE TIM_DIER_CC2IE -//#define PPM_CC_IF TIM_SR_CC2IF -//#define PPM_GPIO_PORT GPIOA -//#define PPM_GPIO_PIN GPIO3 -//#define PPM_GPIO_AF GPIO_AF3 -///* TODO: add option 3 of input on RX1 pin) */ -//#else -//#error "Unknown PPM config" - -#endif // PPM_CONFIG - -/** SPI **/ -/* SPI1 for MPU accel/gyro (MPU6000*/ -#define SPI1_GPIO_AF GPIO_AF5 -#define SPI1_GPIO_PORT_SCK GPIOA -#define SPI1_GPIO_SCK GPIO5 -#define SPI1_GPIO_PORT_MISO GPIOA -#define SPI1_GPIO_MISO GPIO6 -#define SPI1_GPIO_PORT_MOSI GPIOA -#define SPI1_GPIO_MOSI GPIO7 - -/* SPI slave pin declaration ACC_GYRO_CS on SPI1 ICM 20609-G*/ -#define SPI_SELECT_SLAVE0_PORT GPIOA -#define SPI_SELECT_SLAVE0_PIN GPIO4 - -/* SPI2 for embedded OSD MAX chip*/ -//#ifndef USE_MAX7456 -//#define USE_MAX7456 0 -//#endif - -//#if USE_MAX7456 -#define SPI2_GPIO_AF GPIO_AF5 //TODO check datasheet -#define SPI2_GPIO_PORT_SCK GPIOB -#define SPI2_GPIO_SCK GPIO13 -#define SPI2_GPIO_PORT_MISO GPIOB -#define SPI2_GPIO_MISO GPIO14 -#define SPI2_GPIO_PORT_MOSI GPIOB -#define SPI2_GPIO_MOSI GPIO15 - -/* SPI slave pin declaration OSD */ -#define SPI_SELECT_SLAVE1_PORT GPIOB -#define SPI_SELECT_SLAVE1_PIN GPIO12 -//#endif - -/* Used SPI3 for RX direct, if RX solution is implemented in AP */ -#define SPI3_GPIO_AF GPIO_AF6 -#define SPI3_GPIO_PORT_SCK GPIOB -#define SPI3_GPIO_SCK GPIO3 -#define SPI3_GPIO_PORT_MISO GPIOB -#define SPI3_GPIO_MISO GPIO4 -#define SPI3_GPIO_PORT_MOSI GPIOB -#define SPI3_GPIO_MOSI GPIO5 - -/* SPI slave pin declaration for Receiver */ -#define SPI_SELECT_SLAVE2_PORT GPIOA -#define SPI_SELECT_SLAVE2_PIN GPIO15 - -/* GDO0 pin for receiver */ -#define CC2500_GDO0_GPIO GPIOC -#define CC2500_GDO0_PIN GPIO14 - -/* Bind button */ -#define BIND_BUTTON_GPIO GPIOB -#define BIND_BUTTON_PIN GPIO2 - -/** Onboard ADCs **/ - -#define USE_AD_TIM1 1 - -/* Voltage */ -#ifndef USE_ADC_1 -#define USE_ADC_1 1 -#endif - -#if USE_ADC_1 -#define AD1_1_CHANNEL 8 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOB -#define ADC_1_GPIO_PIN GPIO0 - -#define ADC_CHANNEL_VSUPPLY ADC_1 -#define DefaultVoltageOfAdc(adc) (0.009*adc)// TODO: determine 100% correct value -#endif - -/* Current */ -#ifndef USE_ADC_2 -#define USE_ADC_2 1 -#endif - -#if USE_ADC_2 -#define AD1_2_CHANNEL 9 -#define ADC_2 AD1_2 -#define ADC_2_GPIO_PORT GPIOB -#define ADC_2_GPIO_PIN GPIO1 - -#define ADC_CHANNEL_CURRENT ADC_2 -#define DefaultMilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f) -#endif - -/* TODO: Somehere on the board find PHiSICAL easily reachable I2C SDL SDA so to connect e.g. GNSS, Baro, Magneto - * TODO: Finish the I2C mapping if Pins found */ - -//#define I2C1_GPIO_AF GPIO_AF4 -//#define I2C1_GPIO_PORT GPIOB -//#define I2C1_GPIO_SCL GPIO8 -//#define I2C1_GPIO_SDA GPIO9 - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - -/* PWM */ -#define PWM_USE_TIM2 1 -#define PWM_USE_TIM4 1 - -#define USE_PWM1 1 -#define USE_PWM2 1 -#define USE_PWM3 1 -#define USE_PWM4 1 - -/* ESC 1 (B10, TIM2, CH3)*/ -#if USE_PWM1 -#define PWM_SERVO_1 0 -#define PWM_SERVO_1_TIMER TIM2 -#define PWM_SERVO_1_GPIO GPIOB -#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 - -/* ESC 2 (B6, TIM4, CH1)*/ -#if USE_PWM2 -#define PWM_SERVO_2 1 -#define PWM_SERVO_2_TIMER TIM4 -#define PWM_SERVO_2_GPIO GPIOB -#define PWM_SERVO_2_PIN GPIO6 -#define PWM_SERVO_2_AF GPIO_AF2 -#define PWM_SERVO_2_OC TIM_OC1 -#define PWM_SERVO_2_OC_BIT (1<<0) -#else -#define PWM_SERVO_2_OC_BIT 0 -#endif - -/* ESC 3 (B7, TIM4, CH2) */ -#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 GPIO7 -#define PWM_SERVO_3_AF GPIO_AF2 -#define PWM_SERVO_3_OC TIM_OC2 -#define PWM_SERVO_3_OC_BIT (1<<1) -#else -#define PWM_SERVO_3_OC_BIT 0 -#endif - -/* ESC 4 (B8, TIM4, CH3) */ -#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 GPIO8 -#define PWM_SERVO_4_AF GPIO_AF2 -#define PWM_SERVO_4_OC TIM_OC3 -#define PWM_SERVO_4_OC_BIT (1<<2) -#else -#define PWM_SERVO_4_OC_BIT 0 -#endif - -#define PWM_TIM2_CHAN_MASK (PWM_SERVO_1_OC_BIT) -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT) - -/* Buzzer (C15, inverted) */ -#if USE_BUZZER -#define PWM_BUZZER -#define PWM_BUZZER_GPIO GPIOC -#define PWM_BUZZER_PIN GPI15 -#define PWM_BUZZER_GPIO_ON gpio_clear -#define PWM_BUZZER_GPIO_OFF gpio_set -#endif - -#endif /* CONFIG_CRAZYBEE_F4_1_0_H */ diff --git a/sw/airborne/boards/elle0/baro_board.h b/sw/airborne/boards/elle0/baro_board.h deleted file mode 100644 index b036b2cca5..0000000000 --- a/sw/airborne/boards/elle0/baro_board.h +++ /dev/null @@ -1,17 +0,0 @@ -/* - * board specific functions for the elle0 board - * - */ - -#ifndef BOARDS_ELLE0_BARO_H -#define BOARDS_ELLE0_BARO_H - -// only for printing the baro type during compilation -#ifndef BARO_BOARD -#define BARO_BOARD BARO_MS5611_SPI -#endif - -extern void baro_event(void); -#define BaroEvent baro_event - -#endif /* BOARDS_ELLE0_BARO_H */ diff --git a/sw/airborne/boards/elle0_1.0.h b/sw/airborne/boards/elle0_1.0.h deleted file mode 100644 index 8f8b1a748a..0000000000 --- a/sw/airborne/boards/elle0_1.0.h +++ /dev/null @@ -1,28 +0,0 @@ -/* - * Copyright (C) 2015 Piotr Esden-Tempski - * - * 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_ELLE0_1_0_H -#define CONFIG_ELLE0_1_0_H - -#include "boards/elle0_common.h" - -#endif /* CONFIG_ELLE0_1_0_H */ diff --git a/sw/airborne/boards/elle0_1.2.h b/sw/airborne/boards/elle0_1.2.h deleted file mode 100644 index dfa5c6b445..0000000000 --- a/sw/airborne/boards/elle0_1.2.h +++ /dev/null @@ -1,28 +0,0 @@ -/* - * Copyright (C) 2015 Piotr Esden-Tempski - * - * 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_ELLE0_1_2_H -#define CONFIG_ELLE0_1_2_H - -#include "boards/elle0_common.h" - -#endif /* CONFIG_ELLE0_1_2_H */ diff --git a/sw/airborne/boards/elle0_common.h b/sw/airborne/boards/elle0_common.h deleted file mode 100644 index d608f3953c..0000000000 --- a/sw/airborne/boards/elle0_common.h +++ /dev/null @@ -1,440 +0,0 @@ -/* - * Copyright (C) 2015 Piotr Esden-Tempski - * - * 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_ELLE0_COMMON_H -#define CONFIG_ELLE0_COMMON_H - -#define BOARD_ELLE0 - -/* ELLE0 has a 25MHz external clock and 168MHz internal. */ -#define EXT_CLK 25000000 -#define AHB_CLK 168000000 - -/* - * Onboard LEDs - */ - -/* red, on PA8 */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOA -#define LED_1_GPIO_PIN GPIO8 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP ((void)0) - -/* green, shared with JTAG_TRST */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOB -#define LED_2_GPIO_PIN GPIO4 -#define LED_2_GPIO_ON gpio_clear -#define LED_2_GPIO_OFF gpio_set -#define LED_2_AFIO_REMAP ((void)0) - -/* orange, on PC2 */ -#ifndef USE_LED_3 -#define USE_LED_3 1 -#endif -#define LED_3_GPIO GPIOC -#define LED_3_GPIO_PIN GPIO2 -#define LED_3_GPIO_ON gpio_clear -#define LED_3_GPIO_OFF gpio_set -#define LED_3_AFIO_REMAP ((void)0) - -/* - * not actual LEDS, used as GPIOs - */ - -/* PB1, DRDY on EXT SPI connector*/ -#define LED_BODY_GPIO GPIOB -#define LED_BODY_GPIO_PIN GPIO1 -#define LED_BODY_GPIO_ON gpio_set -#define LED_BODY_GPIO_OFF gpio_clear -#define LED_BODY_AFIO_REMAP ((void)0) - -/* PC12, on GPIO connector*/ -#define LED_12_GPIO GPIOC -#define LED_12_GPIO_PIN GPIO12 -#define LED_12_GPIO_ON gpio_clear -#define LED_12_GPIO_OFF gpio_set -#define LED_12_AFIO_REMAP ((void)0) - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -/* UART */ -#define UART1_GPIO_AF GPIO_AF7 -#define UART1_GPIO_PORT_RX GPIOA -#define UART1_GPIO_RX GPIO10 -#define UART1_GPIO_PORT_TX GPIOA -#define UART1_GPIO_TX GPIO9 - -#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 - -#define UART3_GPIO_AF GPIO_AF7 -#define UART3_GPIO_PORT_RX GPIOC -#define UART3_GPIO_RX GPIO11 -#define UART3_GPIO_PORT_TX GPIOC -#define UART3_GPIO_TX GPIO10 - -#define UART5_GPIO_AF GPIO_AF8 -#define UART5_GPIO_PORT_RX GPIOD -#define UART5_GPIO_RX GPIO2 -#define UART5_GPIO_PORT_TX GPIOC -#define UART5_GPIO_TX GPIO12 - -/* - * 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 - -/* PPM - * - * Default is PPM config 2, input on GPIOA1 (Servo pin 6) - */ - -#ifndef PPM_CONFIG -#define PPM_CONFIG 2 -#endif - -#if PPM_CONFIG == 1 -/* input on PA10 (UART1_RX) */ -#define USE_PPM_TIM1 1 -#define PPM_CHANNEL TIM_IC3 -#define PPM_TIMER_INPUT TIM_IC_IN_TI3 -#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_CC3IE -#define PPM_CC_IF TIM_SR_CC3IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO10 -#define PPM_GPIO_AF GPIO_AF1 - -#elif PPM_CONFIG == 2 -/* input on PA01 (Servo 6 pin) */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC2 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM2_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC2IE -#define PPM_CC_IF TIM_SR_CC2IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO1 -#define PPM_GPIO_AF GPIO_AF1 - -// Move default ADC timer -#if USE_AD_TIM2 -#undef USE_AD_TIM2 -#endif -#define USE_AD_TIM1 1 - -#elif PPM_CONFIG == 3 -#if USE_SERVOS_7AND8 -#error "You cannot USE_SERVOS_7AND8 and PPM input on PB07 (SERVO8) at the same time" -#endif -/* input on PB07 (Servo 8 pin) */ -#define USE_PPM_TIM4 1 -#define PPM_CHANNEL TIM_IC2 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM4_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC2IE -#define PPM_CC_IF TIM_SR_CC2IF -#define PPM_GPIO_PORT GPIOB -#define PPM_GPIO_PIN GPIO7 -#define PPM_GPIO_AF GPIO_AF2 - -#else -#error "Unknown PPM config" - -#endif // PPM_CONFIG - -/* 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 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 SPI_SELECT_SLAVE0_PORT GPIOA -#define SPI_SELECT_SLAVE0_PIN GPIO15 - -#define SPI_SELECT_SLAVE1_PORT GPIOA -#define SPI_SELECT_SLAVE1_PIN GPIO4 - -#define SPI_SELECT_SLAVE2_PORT GPIOB -#define SPI_SELECT_SLAVE2_PIN GPIO12 - -#define SPI_SELECT_SLAVE3_PORT GPIOC -#define SPI_SELECT_SLAVE3_PIN GPIO13 - -#define SPI_SELECT_SLAVE4_PORT GPIOC -#define SPI_SELECT_SLAVE4_PIN GPIO12 - -#define SPI_SELECT_SLAVE5_PORT GPIOC -#define SPI_SELECT_SLAVE5_PIN GPIO4 - -#define SPI1_GPIO_PORT_NSS GPIOA -#define SPI1_GPIO_NSS GPIO4 - -#define SPI2_GPIO_PORT_NSS GPIOB -#define SPI2_GPIO_NSS GPIO12 - - -/* I2C mapping */ -#define I2C1_GPIO_PORT GPIOB -#define I2C1_GPIO_SCL GPIO6 -#define I2C1_GPIO_SDA GPIO7 - -#define I2C2_GPIO_PORT GPIOB -#define I2C2_GPIO_SCL GPIO10 -#define I2C2_GPIO_SDA GPIO11 - - -/* - * ADC - */ - -/* Onboard ADCs */ - -/* 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 - */ - -#ifndef USE_ADC_1 -#define USE_ADC_1 1 -#endif - -#if USE_ADC_1 -#define AD1_1_CHANNEL 14 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOC -#define ADC_1_GPIO_PIN GPIO4 -#endif - -#if USE_ADC_2 -#define AD1_2_CHANNEL 15 -#define ADC_2 AD1_2 -#define ADC_2_GPIO_PORT GPIOC -#define ADC_2_GPIO_PIN GPIO5 -#endif - -#if USE_ADC_3 -#define AD1_3_CHANNEL 0 -#define ADC_3 AD1_3 -#define ADC_3_GPIO_PORT GPIOA -#define ADC_3_GPIO_PIN GPIO0 -#endif - -#if USE_ADC_4 -#define AD1_4_CHANNEL 1 -#define ADC_4 AD1_4 -#define ADC_4_GPIO_PORT GPIOA -#define ADC_4_GPIO_PIN GPIO1 -#endif - -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_1 -#endif - -#define DefaultVoltageOfAdc(adc) (0.0045*adc) - - -/* - * PWM - * - */ -#define PWM_USE_TIM3 1 -#define PWM_USE_TIM5 1 - -#ifndef USE_PWM1 -#define USE_PWM1 1 -#endif -#ifndef USE_PWM2 -#define USE_PWM2 1 -#endif -#ifndef USE_PWM3 -#define USE_PWM3 1 -#endif -#ifndef USE_PWM4 -#define USE_PWM4 1 -#endif -#ifndef USE_PWM5 -#define USE_PWM5 1 -#endif -#ifndef USE_PWM6 -#define USE_PWM6 1 -#endif - -#if USE_SERVOS_7AND8 -#if USE_I2C1 -#error "You cannot USE_SERVOS_7AND8 and USE_I2C1 at the same time" -#else -#define ACTUATORS_PWM_NB 8 -#define USE_PWM7 1 -#define USE_PWM8 1 -#define PWM_USE_TIM4 1 -#define ACTUATORS_PWM_NB 8 -#endif -#else -#define ACTUATORS_PWM_NB 6 -#endif - -// 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 TIM3 -#define PWM_SERVO_1_GPIO GPIOC -#define PWM_SERVO_1_PIN GPIO6 -#define PWM_SERVO_1_AF GPIO_AF2 -#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 TIM3 -#define PWM_SERVO_2_GPIO GPIOC -#define PWM_SERVO_2_PIN GPIO7 -#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 2 -#define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_GPIO GPIOC -#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 TIM3 -#define PWM_SERVO_4_GPIO GPIOC -#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 - -#if USE_PWM7 -#define PWM_SERVO_7 6 -#define PWM_SERVO_7_TIMER TIM4 -#define PWM_SERVO_7_GPIO GPIOB -#define PWM_SERVO_7_PIN GPIO6 -#define PWM_SERVO_7_AF GPIO_AF2 -#define PWM_SERVO_7_OC TIM_OC1 -#define PWM_SERVO_7_OC_BIT (1<<0) -#else -#define PWM_SERVO_7_OC_BIT 0 -#endif - -#if USE_PWM8 -#define PWM_SERVO_8 7 -#define PWM_SERVO_8_TIMER TIM4 -#define PWM_SERVO_8_GPIO GPIOB -#define PWM_SERVO_8_PIN GPIO7 -#define PWM_SERVO_8_AF GPIO_AF2 -#define PWM_SERVO_8_OC TIM_OC2 -#define PWM_SERVO_8_OC_BIT (1<<1) -#else -#define PWM_SERVO_8_OC_BIT 0 -#endif - -/* servos 1-4 on TIM3 */ -#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|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) -/* servos 7-8 on TIM4 if USE_SERVOS_7AND8 */ -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT) - - -/* by default activate onboard baro */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - -#endif /* CONFIG_ELLE0_1_0_H */ diff --git a/sw/airborne/boards/lia_1.1.h b/sw/airborne/boards/lia_1.1.h deleted file mode 100644 index 3c9b24f2bd..0000000000 --- a/sw/airborne/boards/lia_1.1.h +++ /dev/null @@ -1,136 +0,0 @@ -#ifndef CONFIG_LIA_1_1_H -#define CONFIG_LIA_1_1_H - -#include "boards/lisa_m_common.h" - -#define BOARD_LIA - -/* Lisa/M has a 12MHz external clock and 72MHz internal. */ -#define EXT_CLK 12000000 -#define AHB_CLK 72000000 - -/* - * Onboard LEDs - */ - -/* red, on PA8 */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOA -#define LED_1_GPIO_PIN GPIO8 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP ((void)0) - -/* green, shared with JTAG_TRST */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOB -#define LED_2_GPIO_PIN GPIO4 -#define LED_2_GPIO_ON gpio_clear -#define LED_2_GPIO_OFF gpio_set -#define LED_2_AFIO_REMAP { \ - rcc_periph_clock_enable(RCC_AFIO); \ - AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST; \ - } - -/* green, shared with ADC12 (ADC_6 on connector ANALOG2) */ -#ifndef USE_LED_3 -#define USE_LED_3 1 -#endif -#define LED_3_GPIO GPIOC -#define LED_3_GPIO_PIN GPIO2 -#define LED_3_GPIO_ON gpio_clear -#define LED_3_GPIO_OFF gpio_set -#define LED_3_AFIO_REMAP ((void)0) - -#if USE_LED_3 && USE_ADC_6 -#error "You can't use LED_3 and ADC_6 at the same time" -#endif - -/* red, shared with ADC15 (ADC_4 on connector ANALOG2) */ -#ifndef USE_LED_4 -#define USE_LED_4 1 -#endif -#define LED_4_GPIO GPIOC -#define LED_4_GPIO_PIN GPIO5 -#define LED_4_GPIO_ON gpio_clear -#define LED_4_GPIO_OFF gpio_set -#define LED_4_AFIO_REMAP ((void)0) - -#if USE_LED_4 && USE_ADC_4 -#error "You can't use LED_4 and ADC_4 at the same time" -#endif - -/* green, on PC15 */ -#ifndef USE_LED_5 -#define USE_LED_5 1 -#endif -#define LED_5_GPIO GPIOC -#define LED_5_GPIO_PIN GPIO15 -#define LED_5_GPIO_ON gpio_clear -#define LED_5_GPIO_OFF gpio_set -#define LED_5_AFIO_REMAP ((void)0) - -/* - * LEDs not populated by default - */ -/* PC3, ADC13 on ADC_1 */ -#define LED_6_GPIO GPIOC -#define LED_6_GPIO_PIN GPIO3 -#define LED_6_GPIO_ON gpio_clear -#define LED_6_GPIO_OFF gpio_set -#define LED_6_AFIO_REMAP ((void)0) - -/* PC0, ADC10 on ADC_2 */ -#define LED_7_GPIO GPIOC -#define LED_7_GPIO_PIN GPIO0 -#define LED_7_GPIO_ON gpio_clear -#define LED_7_GPIO_OFF gpio_set -#define LED_7_AFIO_REMAP ((void)0) - -/* PC1, ADC11 on ADC_3 */ -#define LED_8_GPIO GPIOC -#define LED_8_GPIO_PIN GPIO1 -#define LED_8_GPIO_ON gpio_clear -#define LED_8_GPIO_OFF gpio_set -#define LED_8_AFIO_REMAP ((void)0) - - -/* - * not actual LEDS, used as GPIOs - */ - -/* PB1, DRDY on EXT SPI connector*/ -#define LED_BODY_GPIO GPIOB -#define LED_BODY_GPIO_PIN GPIO1 -#define LED_BODY_GPIO_ON gpio_set -#define LED_BODY_GPIO_OFF gpio_clear -#define LED_BODY_AFIO_REMAP ((void)0) - -/* PC12, on GPIO connector*/ -#define LED_12_GPIO GPIOC -#define LED_12_GPIO_PIN GPIO12 -#define LED_12_GPIO_ON gpio_clear -#define LED_12_GPIO_OFF gpio_set -#define LED_12_AFIO_REMAP ((void)0) - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -#define DefaultVoltageOfAdc(adc) (0.0045*adc) - -/* by default activate onboard baro */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - - -#endif /* CONFIG_LIA_1_1_H */ diff --git a/sw/airborne/boards/lisa_l_1.0.h b/sw/airborne/boards/lisa_l_1.0.h deleted file mode 100644 index 39bd70f9a8..0000000000 --- a/sw/airborne/boards/lisa_l_1.0.h +++ /dev/null @@ -1,275 +0,0 @@ -#ifndef CONFIG_LISA_L_1_0_H -#define CONFIG_LISA_L_1_0_H - -#define BOARD_LISA_L - -/* Lisa/L has an 8MHZ external clock and 72MHz internal. */ -#define EXT_CLK 8000000 -#define AHB_CLK 72000000 - -/* Onboard LEDs */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_STP08 - -/* SPI slave mapping */ - -#define SPI_SELECT_SLAVE0_PORT GPIOA -#define SPI_SELECT_SLAVE0_PIN GPIO15 - -#define SPI_SELECT_SLAVE1_PORT GPIOA -#define SPI_SELECT_SLAVE1_PIN GPIO4 - -#define SPI_SELECT_SLAVE2_PORT GPIOB -#define SPI_SELECT_SLAVE2_PIN GPIO12 - -#define SPI_SELECT_SLAVE3_PORT GPIOC -#define SPI_SELECT_SLAVE3_PIN GPIO13 - -#define SPI_SELECT_SLAVE4_PORT GPIOC -#define SPI_SELECT_SLAVE4_PIN GPIO12 - - -/* - * I2C - * - */ -#define I2C1_GPIO_PORT GPIOB -#define I2C1_GPIO_SCL GPIO6 -#define I2C1_GPIO_SDA GPIO7 - -#define I2C2_GPIO_PORT GPIOB -#define I2C2_GPIO_SCL GPIO10 -#define I2C2_GPIO_SDA GPIO11 - - -/* - * UART pin configuration - * - * sets on which pins the UARTs are connected - */ -#define UART1_GPIO_AF 0 -#define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX -#define UART1_GPIO_RX GPIO_USART1_RX -#define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX -#define UART1_GPIO_TX GPIO_USART1_TX - -#define UART2_GPIO_AF 0 -#define UART2_GPIO_PORT_RX GPIO_BANK_USART2_RX -#define UART2_GPIO_RX GPIO_USART2_RX -#define UART2_GPIO_PORT_TX GPIO_BANK_USART2_TX -#define UART2_GPIO_TX GPIO_USART2_TX - -#define UART3_GPIO_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP -#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_PR_RX -#define UART3_GPIO_RX GPIO_USART3_PR_RX -#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_PR_TX -#define UART3_GPIO_TX GPIO_USART3_PR_TX - -#define UART5_GPIO_AF 0 -#define UART5_GPIO_PORT_RX GPIO_BANK_UART5_RX -#define UART5_GPIO_RX GPIO_UART5_RX -#define UART5_GPIO_PORT_TX GPIO_BANK_UART5_TX -#define UART5_GPIO_TX GPIO_UART5_TX - - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -#define SPEKTRUM_BIND_PIN GPIO3 -#define SPEKTRUM_BIND_PIN_PORT GPIOC - -#define SPEKTRUM_UART1_RCC RCC_USART1 -#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX -#define SPEKTRUM_UART1_PIN GPIO_USART1_RX -#define SPEKTRUM_UART1_AF 0 -#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ -#define SPEKTRUM_UART1_ISR usart1_isr -#define SPEKTRUM_UART1_DEV USART1 - -#define SPEKTRUM_UART3_RCC RCC_USART3 -#define SPEKTRUM_UART3_BANK GPIO_BANK_USART3_PR_RX -#define SPEKTRUM_UART3_PIN GPIO_USART3_PR_RX -#define SPEKTRUM_UART3_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP -#define SPEKTRUM_UART3_IRQ NVIC_USART3_IRQ -#define SPEKTRUM_UART3_ISR usart3_isr -#define SPEKTRUM_UART3_DEV USART3 - -#define SPEKTRUM_UART5_RCC RCC_UART5 -#define SPEKTRUM_UART5_BANK GPIO_BANK_UART5_RX -#define SPEKTRUM_UART5_PIN GPIO_UART5_RX -#define SPEKTRUM_UART5_AF 0 -#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ -#define SPEKTRUM_UART5_ISR uart5_isr -#define SPEKTRUM_UART5_DEV UART5 - - -/* - * PPM input - */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC2 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM2_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC2IE -#define PPM_CC_IF TIM_SR_CC2IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO1 -#define PPM_GPIO_AF 0 - - -/* - * ADC - */ -#define USE_AD_TIM1 1 - -#if USE_ADC_1 -#define AD1_1_CHANNEL 8 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOB -#define ADC_1_GPIO_PIN GPIO0 -#endif - -#if USE_ADC_2 -#define AD1_2_CHANNEL 9 -#define ADC_2 AD1_2 -#define ADC_2_GPIO_PORT GPIOB -#define ADC_2_GPIO_PIN GPIO1 -#endif - -// Internal ADC for battery enabled by default -#ifndef USE_ADC_3 -#define USE_ADC_3 1 -#endif -#if USE_ADC_3 -#define AD1_3_CHANNEL 0 -#define ADC_3 AD1_3 -#define ADC_3_GPIO_PORT GPIOA -#define ADC_3_GPIO_PIN GPIO0 -#endif - -#if USE_ADC_4 -#define AD1_4_CHANNEL 15 -#define ADC_4 AD1_4 -#define ADC_4_GPIO_PORT GPIOC -#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_3 -#endif - -#define DefaultVoltageOfAdc(adc) (0.0059*adc) - - -/* by default activate onboard baro */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - -/* - * PWM - * - */ -#define PWM_USE_TIM3 1 -#define PWM_USE_TIM4 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 TIM3 -#define PWM_SERVO_1_GPIO GPIOC -#define PWM_SERVO_1_PIN GPIO6 -#define PWM_SERVO_1_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP -#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 TIM3 -#define PWM_SERVO_2_GPIO GPIOC -#define PWM_SERVO_2_PIN GPIO7 -#define PWM_SERVO_2_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP -#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 TIM3 -#define PWM_SERVO_3_GPIO GPIOC -#define PWM_SERVO_3_PIN GPIO8 -#define PWM_SERVO_3_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP -#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 TIM3 -#define PWM_SERVO_4_GPIO GPIOC -#define PWM_SERVO_4_PIN GPIO9 -#define PWM_SERVO_4_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP -#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 TIM4 -#define PWM_SERVO_5_GPIO GPIOB -#define PWM_SERVO_5_PIN GPIO8 -#define PWM_SERVO_5_AF 0 -#define PWM_SERVO_5_OC TIM_OC3 -#define PWM_SERVO_5_OC_BIT (1<<2) -#else -#define PWM_SERVO_5_OC_BIT 0 -#endif - -#if USE_PWM6 -#define PWM_SERVO_6 5 -#define PWM_SERVO_6_TIMER TIM4 -#define PWM_SERVO_6_GPIO GPIOB -#define PWM_SERVO_6_PIN GPIO9 -#define PWM_SERVO_6_AF 0 -#define PWM_SERVO_6_OC TIM_OC4 -#define PWM_SERVO_6_OC_BIT (1<<3) -#else -#define PWM_SERVO_6_OC_BIT 0 -#endif - -/* servos 1-4 on TIM3 */ -#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT) -/* servos 5-6 on TIM4 */ -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT) - -#endif /* CONFIG_LISA_L_1_0_H */ diff --git a/sw/airborne/boards/lisa_m_1.0.h b/sw/airborne/boards/lisa_m_1.0.h deleted file mode 100644 index 431d53823c..0000000000 --- a/sw/airborne/boards/lisa_m_1.0.h +++ /dev/null @@ -1,94 +0,0 @@ -#ifndef CONFIG_LISA_M_1_0_H -#define CONFIG_LISA_M_1_0_H - -#include "boards/lisa_m_common.h" - -#define BOARD_LISA_M - -/* Lisa/M has a 12MHz external clock and 72MHz internal. */ -#define EXT_CLK 12000000 -#define AHB_CLK 72000000 - -/* Onboard LEDs */ -/* red */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOB -#define LED_1_GPIO_PIN GPIO4 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP { \ - rcc_periph_clock_enable(RCC_AFIO); \ - AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST; \ - } - -/* blue */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOC -#define LED_2_GPIO_PIN GPIO5 -#define LED_2_GPIO_ON gpio_clear -#define LED_2_GPIO_OFF gpio_set -#define LED_2_AFIO_REMAP ((void)0) - -/* blue */ -#ifndef USE_LED_3 -#define USE_LED_3 1 -#endif -#define LED_3_GPIO GPIOC -#define LED_3_GPIO_PIN GPIO2 -#define LED_3_GPIO_ON gpio_clear -#define LED_3_GPIO_OFF gpio_set -#define LED_3_AFIO_REMAP ((void)0) - -// GPIO pins -#ifndef USE_LED_4 -#define USE_LED_4 1 -#endif -#define LED_4_GPIO GPIOC -#define LED_4_GPIO_PIN GPIO12 -#define LED_4_GPIO_ON gpio_clear -#define LED_4_GPIO_OFF gpio_set -#define LED_4_AFIO_REMAP ((void)0) - -#ifndef USE_LED_5 -#define USE_LED_5 1 -#endif -#define LED_5_GPIO GPIOC -#define LED_5_GPIO_PIN GPIO10 -#define LED_5_GPIO_ON gpio_clear -#define LED_5_GPIO_OFF gpio_set -#define LED_5_AFIO_REMAP ((void)0) - -/* PB1, DRDY on EXT SPI connector*/ -#define LED_BODY_GPIO GPIOB -#define LED_BODY_GPIO_PIN GPIO1 -#define LED_BODY_GPIO_ON gpio_set -#define LED_BODY_GPIO_OFF gpio_clear -#define LED_BODY_AFIO_REMAP ((void)0) - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -#define SPEKTRUM_BIND_PIN GPIO3 -#define SPEKTRUM_BIND_PIN_PORT GPIOC - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -#define DefaultVoltageOfAdc(adc) (0.00485*adc) - - -/* by default enable onboard baro */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - -#endif /* CONFIG_LISA_M_1_0_H */ diff --git a/sw/airborne/boards/lisa_m_2.0.h b/sw/airborne/boards/lisa_m_2.0.h deleted file mode 100644 index f968c541f7..0000000000 --- a/sw/airborne/boards/lisa_m_2.0.h +++ /dev/null @@ -1,142 +0,0 @@ -#ifndef CONFIG_LISA_M_2_0_H -#define CONFIG_LISA_M_2_0_H - -#include "boards/lisa_m_common.h" - -#define BOARD_LISA_M - -/* Lisa/M has a 12MHz external clock and 72MHz internal. */ -#define EXT_CLK 12000000 -#define AHB_CLK 72000000 - -/* - * Onboard LEDs - */ - -/* red, on PA8 */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOA -#define LED_1_GPIO_PIN GPIO8 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP ((void)0) - -/* green, shared with JTAG_TRST */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOB -#define LED_2_GPIO_PIN GPIO4 -#define LED_2_GPIO_ON gpio_clear -#define LED_2_GPIO_OFF gpio_set -#define LED_2_AFIO_REMAP { \ - rcc_periph_clock_enable(RCC_AFIO); \ - AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST; \ - } - -/* green, shared with ADC12 (ADC_6 on connector ANALOG2) */ -#ifndef USE_LED_3 -#define USE_LED_3 1 -#endif -#define LED_3_GPIO GPIOC -#define LED_3_GPIO_PIN GPIO2 -#define LED_3_GPIO_ON gpio_clear -#define LED_3_GPIO_OFF gpio_set -#define LED_3_AFIO_REMAP ((void)0) - -#if USE_LED_3 && USE_ADC_6 -#error "You can't use LED_3 and ADC_6 at the same time" -#endif - -/* red, shared with ADC15 (ADC_4 on connector ANALOG2) */ -#ifndef USE_LED_4 -#define USE_LED_4 1 -#endif -#define LED_4_GPIO GPIOC -#define LED_4_GPIO_PIN GPIO5 -#define LED_4_GPIO_ON gpio_clear -#define LED_4_GPIO_OFF gpio_set -#define LED_4_AFIO_REMAP ((void)0) - -#if USE_LED_4 && USE_ADC_4 -#error "You can't use LED_4 and ADC_4 at the same time" -#endif - -/* green, on PC15 */ -#ifndef USE_LED_5 -#define USE_LED_5 1 -#endif -#define LED_5_GPIO GPIOC -#define LED_5_GPIO_PIN GPIO15 -#define LED_5_GPIO_ON gpio_clear -#define LED_5_GPIO_OFF gpio_set -#define LED_5_AFIO_REMAP ((void)0) - -/* - * LEDs not populated by default - */ -/* PC3, ADC13 on ADC_1 */ -#define LED_6_GPIO GPIOC -#define LED_6_GPIO_PIN GPIO3 -#define LED_6_GPIO_ON gpio_clear -#define LED_6_GPIO_OFF gpio_set -#define LED_6_AFIO_REMAP ((void)0) - -/* PC0, ADC10 on ADC_2 */ -#define LED_7_GPIO GPIOC -#define LED_7_GPIO_PIN GPIO0 -#define LED_7_GPIO_ON gpio_clear -#define LED_7_GPIO_OFF gpio_set -#define LED_7_AFIO_REMAP ((void)0) - -/* PC1, ADC11 on ADC_3 */ -#define LED_8_GPIO GPIOC -#define LED_8_GPIO_PIN GPIO1 -#define LED_8_GPIO_ON gpio_clear -#define LED_8_GPIO_OFF gpio_set -#define LED_8_AFIO_REMAP ((void)0) - - -/* - * not actual LEDS, used as GPIOs - */ - -/* PB1, DRDY on EXT SPI connector*/ -#define LED_BODY_GPIO GPIOB -#define LED_BODY_GPIO_PIN GPIO1 -#define LED_BODY_GPIO_ON gpio_set -#define LED_BODY_GPIO_OFF gpio_clear -#define LED_BODY_AFIO_REMAP ((void)0) - -/* PC12, on GPIO connector*/ -#define LED_12_GPIO GPIOC -#define LED_12_GPIO_PIN GPIO12 -#define LED_12_GPIO_ON gpio_clear -#define LED_12_GPIO_OFF gpio_set -#define LED_12_AFIO_REMAP ((void)0) - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -#define SPEKTRUM_BIND_PIN GPIO3 -#define SPEKTRUM_BIND_PIN_PORT GPIOC - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -#define DefaultVoltageOfAdc(adc) (0.0045*adc) - - -/* by default activate onboard baro */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - -#endif /* CONFIG_LISA_M_2_0_H */ diff --git a/sw/airborne/boards/lisa_m_2.1.h b/sw/airborne/boards/lisa_m_2.1.h deleted file mode 100644 index 07ca27901f..0000000000 --- a/sw/airborne/boards/lisa_m_2.1.h +++ /dev/null @@ -1,134 +0,0 @@ -#ifndef CONFIG_LISA_M_2_1_H -#define CONFIG_LISA_M_2_1_H - -#include "boards/lisa_m_common.h" - -#define BOARD_LISA_M - -/* Lisa/M has a 12MHz external clock and 72MHz internal. */ -#define EXT_CLK 12000000 -#define AHB_CLK 72000000 - -/* - * Onboard LEDs - */ - -/* red, on PA8 */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOA -#define LED_1_GPIO_PIN GPIO8 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP ((void)0) - -/* green, shared with JTAG_TRST */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOB -#define LED_2_GPIO_PIN GPIO4 -#define LED_2_GPIO_ON gpio_clear -#define LED_2_GPIO_OFF gpio_set -#define LED_2_AFIO_REMAP { \ - rcc_periph_clock_enable(RCC_AFIO); \ - AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST; \ - } - -/* green, shared with ADC12 (ADC_6 on connector ANALOG2) */ -#ifndef USE_LED_3 -#define USE_LED_3 1 -#endif -#define LED_3_GPIO GPIOC -#define LED_3_GPIO_PIN GPIO2 -#define LED_3_GPIO_ON gpio_clear -#define LED_3_GPIO_OFF gpio_set -#define LED_3_AFIO_REMAP ((void)0) - -/* red, shared with ADC15 (ADC_4 on connector ANALOG2) */ -#ifndef USE_LED_4 -#define USE_LED_4 1 -#endif -#define LED_4_GPIO GPIOC -#define LED_4_GPIO_PIN GPIO5 -#define LED_4_GPIO_ON gpio_clear -#define LED_4_GPIO_OFF gpio_set -#define LED_4_AFIO_REMAP ((void)0) - -/* green, on PC15 */ -#ifndef USE_LED_5 -#define USE_LED_5 1 -#endif -#define LED_5_GPIO GPIOC -#define LED_5_GPIO_PIN GPIO15 -#define LED_5_GPIO_ON gpio_clear -#define LED_5_GPIO_OFF gpio_set -#define LED_5_AFIO_REMAP ((void)0) - -/* - * LEDs not populated by default - */ -/* PC3, ADC13 on ADC_1 */ -#define LED_6_GPIO GPIOC -#define LED_6_GPIO_PIN GPIO3 -#define LED_6_GPIO_ON gpio_clear -#define LED_6_GPIO_OFF gpio_set -#define LED_6_AFIO_REMAP ((void)0) - -/* PC0, ADC10 on ADC_2 */ -#define LED_7_GPIO GPIOC -#define LED_7_GPIO_PIN GPIO0 -#define LED_7_GPIO_ON gpio_clear -#define LED_7_GPIO_OFF gpio_set -#define LED_7_AFIO_REMAP ((void)0) - -/* PC1, ADC11 on ADC_3 */ -#define LED_8_GPIO GPIOC -#define LED_8_GPIO_PIN GPIO1 -#define LED_8_GPIO_ON gpio_clear -#define LED_8_GPIO_OFF gpio_set -#define LED_8_AFIO_REMAP ((void)0) - - -/* - * not actual LEDS, used as GPIOs - */ - -/* PB1, DRDY on EXT SPI connector*/ -#define LED_BODY_GPIO GPIOB -#define LED_BODY_GPIO_PIN GPIO1 -#define LED_BODY_GPIO_ON gpio_set -#define LED_BODY_GPIO_OFF gpio_clear -#define LED_BODY_AFIO_REMAP ((void)0) - -/* PC12, on GPIO connector*/ -#define LED_12_GPIO GPIOC -#define LED_12_GPIO_PIN GPIO12 -#define LED_12_GPIO_ON gpio_clear -#define LED_12_GPIO_OFF gpio_set -#define LED_12_AFIO_REMAP ((void)0) - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -#define SPEKTRUM_BIND_PIN GPIO2 -#define SPEKTRUM_BIND_PIN_PORT GPIOB - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -#define DefaultVoltageOfAdc(adc) (0.0045*adc) - - -/* by default activate onboard baro */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - -#endif /* CONFIG_LISA_M_2_1_H */ diff --git a/sw/airborne/boards/lisa_m_common.h b/sw/airborne/boards/lisa_m_common.h deleted file mode 100644 index 2cf0735638..0000000000 --- a/sw/airborne/boards/lisa_m_common.h +++ /dev/null @@ -1,415 +0,0 @@ -#ifndef CONFIG_LISA_M_COMMON_H -#define CONFIG_LISA_M_COMMON_H - -#include "std.h" - -/* SPI slave mapping */ - -#define SPI_SELECT_SLAVE0_PORT GPIOA -#define SPI_SELECT_SLAVE0_PIN GPIO15 - -#define SPI_SELECT_SLAVE1_PORT GPIOA -#define SPI_SELECT_SLAVE1_PIN GPIO4 - -#define SPI_SELECT_SLAVE2_PORT GPIOB -#define SPI_SELECT_SLAVE2_PIN GPIO12 - -#define SPI_SELECT_SLAVE3_PORT GPIOC -#define SPI_SELECT_SLAVE3_PIN GPIO13 - -#define SPI_SELECT_SLAVE4_PORT GPIOC -#define SPI_SELECT_SLAVE4_PIN GPIO12 - -#define SPI_SELECT_SLAVE5_PORT GPIOC -#define SPI_SELECT_SLAVE5_PIN GPIO4 - - - -/* - * UART pin configuration - * - * sets on which pins the UARTs are connected - */ -#define UART1_GPIO_AF 0 -#define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX -#define UART1_GPIO_RX GPIO_USART1_RX -#define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX -#define UART1_GPIO_TX GPIO_USART1_TX - -#define UART2_GPIO_AF 0 -#define UART2_GPIO_PORT_RX GPIO_BANK_USART2_RX -#define UART2_GPIO_RX GPIO_USART2_RX -#define UART2_GPIO_PORT_TX GPIO_BANK_USART2_TX -#define UART2_GPIO_TX GPIO_USART2_TX - -#if REMAP_UART3 // For UART4 we need to remap UART 3 -#define UART3_GPIO_AF 0 -#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_RX -#define UART3_GPIO_RX GPIO_USART3_RX -#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_TX -#define UART3_GPIO_TX GPIO_USART3_TX - -#define UART4_GPIO_AF 0 -#define UART4_GPIO_PORT_RX GPIOC -#define UART4_GPIO_RX GPIO10 -#define UART4_GPIO_PORT_TX GPIOC -#define UART4_GPIO_TX GPIO11 - -#else -#define UART3_GPIO_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP -#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_PR_RX -#define UART3_GPIO_RX GPIO_USART3_PR_RX -#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_PR_TX -#define UART3_GPIO_TX GPIO_USART3_PR_TX -#endif - -#define UART5_GPIO_AF 0 -#define UART5_GPIO_PORT_RX GPIO_BANK_UART5_RX -#define UART5_GPIO_RX GPIO_UART5_RX -#define UART5_GPIO_PORT_TX GPIO_BANK_UART5_TX -#define UART5_GPIO_TX GPIO_UART5_TX - - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -/* It was common for all Lisa/M up to version 2.1. */ -/* #define SPEKTRUM_BIND_PIN GPIO3 */ -/* #define SPEKTRUM_BIND_PIN_PORT GPIOC */ - -#define SPEKTRUM_UART1_RCC RCC_USART1 -#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX -#define SPEKTRUM_UART1_PIN GPIO_USART1_RX -#define SPEKTRUM_UART1_AF 0 -#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ -#define SPEKTRUM_UART1_ISR usart1_isr -#define SPEKTRUM_UART1_DEV USART1 - -#define SPEKTRUM_UART3_RCC RCC_USART3 -#define SPEKTRUM_UART3_BANK GPIO_BANK_USART3_PR_RX -#define SPEKTRUM_UART3_PIN GPIO_USART3_PR_RX -#define SPEKTRUM_UART3_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP -#define SPEKTRUM_UART3_IRQ NVIC_USART3_IRQ -#define SPEKTRUM_UART3_ISR usart3_isr -#define SPEKTRUM_UART3_DEV USART3 - -#define SPEKTRUM_UART5_RCC RCC_UART5 -#define SPEKTRUM_UART5_BANK GPIO_BANK_UART5_RX -#define SPEKTRUM_UART5_PIN GPIO_UART5_RX -#define SPEKTRUM_UART5_AF 0 -#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ -#define SPEKTRUM_UART5_ISR uart5_isr -#define SPEKTRUM_UART5_DEV UART5 - - -/* PPM - * - * Default is PPM config 2, input on GPIO01 (Servo pin 6) - */ -#if USE_PPM -#ifndef PPM_CONFIG -#define PPM_CONFIG 2 -#endif - -#if PPM_CONFIG == 1 -/* input on PA01 (UART1_RX) */ -#define USE_PPM_TIM1 1 -#define PPM_CHANNEL TIM_IC3 -#define PPM_TIMER_INPUT TIM_IC_IN_TI3 -#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_CC3IE -#define PPM_CC_IF TIM_SR_CC3IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO10 -#define PPM_GPIO_AF 0 - -#elif PPM_CONFIG == 2 -/* input on PA10 (Servo 6 pin) */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC2 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM2_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC2IE -#define PPM_CC_IF TIM_SR_CC2IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO1 -#define PPM_GPIO_AF 0 - -// Move default ADC timer -#if USE_AD_TIM2 -#undef USE_AD_TIM2 -#endif -#define USE_AD_TIM1 1 - -#else -#error "Unknown PPM config" - -#endif // PPM_CONFIG -#endif // USE_PPM - -/* - * ADC - */ - -/* Onboard ADCs */ -/* - ADC1 PC3/ADC13 - ADC2 PC0/ADC10 - ADC3 PC1/ADC11 - ADC4 PC5/ADC15 - ADC6 PC2/ADC12 - BATT PC4/ADC14 (ADC5) - -*/ - -/* 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 13 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOC -#define ADC_1_GPIO_PIN GPIO3 -#endif - -#if USE_ADC_2 -#define AD1_2_CHANNEL 10 -#define ADC_2 AD1_2 -#define ADC_2_GPIO_PORT GPIOC -#define ADC_2_GPIO_PIN GPIO0 -#endif - -#if USE_ADC_3 -#define AD1_3_CHANNEL 11 -#define ADC_3 AD1_3 -#define ADC_3_GPIO_PORT GPIOC -#define ADC_3_GPIO_PIN GPIO1 -#endif - -#if USE_ADC_4 -#define AD2_1_CHANNEL 15 -#define ADC_4 AD2_1 -#define ADC_4_GPIO_PORT GPIOC -#define ADC_4_GPIO_PIN GPIO5 -#endif - -// Internal ADC for battery enabled by default -#ifndef USE_ADC_5 -#define USE_ADC_5 1 -#endif -#if USE_ADC_5 -#define AD1_4_CHANNEL 14 -#define ADC_5 AD1_4 -#define ADC_5_GPIO_PORT GPIOC -#define ADC_5_GPIO_PIN GPIO4 -#endif - -#if USE_ADC_6 -#define AD2_2_CHANNEL 12 -#define ADC_6 AD2_2 -#define ADC_6_GPIO_PORT GPIOC -#define ADC_6_GPIO_PIN GPIO2 -#endif - -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_5 -#endif - -/* - * I2C - * - */ -#define I2C1_GPIO_PORT GPIOB -#define I2C1_GPIO_SCL GPIO6 -#define I2C1_GPIO_SDA GPIO7 - -#define I2C2_GPIO_PORT GPIOB -#define I2C2_GPIO_SCL GPIO10 -#define I2C2_GPIO_SDA GPIO11 - - -/* - * PWM - * - */ -#define PWM_USE_TIM3 1 -#define PWM_USE_TIM5 1 - -#define USE_PWM1 1 -#define USE_PWM2 1 -#define USE_PWM3 1 -#define USE_PWM4 1 - -#if DUAL_PWM_ON -#define DUAL_PWM_USE_TIM5 1 - -#define USE_DUAL_PWM5 1 -#define USE_DUAL_PWM6 1 -#else -#define USE_PWM5 1 -#if (!defined USE_PWM6) && (PPM_CONFIG != 2) // PWM6 only activated by default if PPM_CONFIG is not 2 -#define USE_PWM6 1 -#endif -#endif - -#if (USE_PPM && PPM_CONFIG == 2) && USE_PWM6 == 1 -#warning "You cannot USE_PWM6 and SERVO6 (or equivalent) at the same time" -#endif - -#if USE_SERVOS_7AND8 -#if USE_I2C1 -#error "You cannot USE_SERVOS_7AND8 and USE_I2C1 at the same time" -#else -#define ACTUATORS_PWM_NB 8 -#define USE_PWM7 1 -#define USE_PWM8 1 -#define PWM_USE_TIM4 1 -#endif -#else -#define ACTUATORS_PWM_NB 6 -#endif - -// Servo numbering on LisaM silkscreen/docs starts with 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 TIM3 -#define PWM_SERVO_1_GPIO GPIOC -#define PWM_SERVO_1_PIN GPIO6 -#define PWM_SERVO_1_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP -#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 TIM3 -#define PWM_SERVO_2_GPIO GPIOC -#define PWM_SERVO_2_PIN GPIO7 -#define PWM_SERVO_2_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP -#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 TIM3 -#define PWM_SERVO_3_GPIO GPIOC -#define PWM_SERVO_3_PIN GPIO8 -#define PWM_SERVO_3_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP -#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 TIM3 -#define PWM_SERVO_4_GPIO GPIOC -#define PWM_SERVO_4_PIN GPIO9 -#define PWM_SERVO_4_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP -#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 0 -#define PWM_SERVO_5_OC TIM_OC1 -#define PWM_SERVO_5_OC_BIT (1<<0) -#elif USE_DUAL_PWM5 -#define DUAL_PWM_SERVO_5 4 - -#define DUAL_PWM_SERVO_5_P1 0 -#define DUAL_PWM_SERVO_5_P2 1 - -#define DUAL_PWM_SERVO_5_TIMER TIM5 -#define DUAL_PWM_SERVO_5_GPIO GPIOA -#define DUAL_PWM_SERVO_5_PIN GPIO0 -#define DUAL_PWM_SERVO_5_AF 0 -#define DUAL_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 0 -#define PWM_SERVO_6_OC TIM_OC2 -#define PWM_SERVO_6_OC_BIT (1<<1) -#elif USE_DUAL_PWM6 -#define DUAL_PWM_SERVO_6 5 - -#define DUAL_PWM_SERVO_6_P1 0 -#define DUAL_PWM_SERVO_6_P2 1 - -#define DUAL_PWM_SERVO_6_TIMER TIM5 -#define DUAL_PWM_SERVO_6_GPIO GPIOA -#define DUAL_PWM_SERVO_6_PIN GPIO1 -#define DUAL_PWM_SERVO_6_AF 0 -#define DUAL_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 TIM4 -#define PWM_SERVO_7_GPIO GPIOB -#define PWM_SERVO_7_PIN GPIO6 -#define PWM_SERVO_7_AF 0 -#define PWM_SERVO_7_OC TIM_OC1 -#define PWM_SERVO_7_OC_BIT (1<<0) -#else -#define PWM_SERVO_7_OC_BIT 0 -#endif - -#if USE_PWM8 -#define PWM_SERVO_8 7 -#define PWM_SERVO_8_TIMER TIM4 -#define PWM_SERVO_8_GPIO GPIOB -#define PWM_SERVO_8_PIN GPIO7 -#define PWM_SERVO_8_AF 0 -#define PWM_SERVO_8_OC TIM_OC2 -#define PWM_SERVO_8_OC_BIT (1<<1) -#else -#define PWM_SERVO_8_OC_BIT 0 -#endif - -/* servos 1-4 on TIM3 */ -#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|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) -/* servos 7-8 on TIM4 if USE_SERVOS_7AND8 */ -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT) - - -#endif - diff --git a/sw/airborne/boards/lisa_mx_2.0.h b/sw/airborne/boards/lisa_mx_2.0.h deleted file mode 100644 index a1eb5e2486..0000000000 --- a/sw/airborne/boards/lisa_mx_2.0.h +++ /dev/null @@ -1,35 +0,0 @@ -/* - * Copyright (C) 2013 Piotr Esden-Tempski - * - * 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_LISA_MX_2_0_H -#define CONFIG_LISA_MX_2_0_H - -#include "boards/lisa_mx_common.h" - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -#define SPEKTRUM_BIND_PIN GPIO3 -#define SPEKTRUM_BIND_PIN_PORT GPIOC - -#endif /* CONFIG_LISA_MX_2_0_H */ diff --git a/sw/airborne/boards/lisa_mx_2.1.h b/sw/airborne/boards/lisa_mx_2.1.h deleted file mode 100644 index ee62aefb10..0000000000 --- a/sw/airborne/boards/lisa_mx_2.1.h +++ /dev/null @@ -1,39 +0,0 @@ -/* - * Copyright (C) 2013-2014 Piotr Esden-Tempski - * - * 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_LISA_MX_2_1_H -#define CONFIG_LISA_MX_2_1_H - -#include "boards/lisa_mx_common.h" - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -/* (esden) Note to self. Revision 4 of the board is on GPIO0 not GPIO2. - * Note to everyone else. Revision 4 was never produced or provided to the - * public. :) - */ -#define SPEKTRUM_BIND_PIN GPIO2 -#define SPEKTRUM_BIND_PIN_PORT GPIOB - -#endif /* CONFIG_LISA_MX_2_1_H */ diff --git a/sw/airborne/boards/lisa_mxs_1.0.h b/sw/airborne/boards/lisa_mxs_1.0.h deleted file mode 100644 index d484b1a071..0000000000 --- a/sw/airborne/boards/lisa_mxs_1.0.h +++ /dev/null @@ -1,39 +0,0 @@ -/* - * Copyright (C) 2013-2014 Piotr Esden-Tempski - * - * 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_LISA_MXS_1_0_H -#define CONFIG_LISA_MXS_1_0_H - -#include "boards/lisa_mx_common.h" - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -/* (esden) Note to self. Revision 4 of the board is on GPIO0 not GPIO2. - * Note to everyone else. Revision 4 was never produced or provided to the - * public. :) - */ -#define SPEKTRUM_BIND_PIN GPIO2 -#define SPEKTRUM_BIND_PIN_PORT GPIOB - -#endif /* CONFIG_LISA_MXS_1_0_H */ diff --git a/sw/airborne/boards/lisa_s_1.0.h b/sw/airborne/boards/lisa_s_1.0.h deleted file mode 100644 index 183c06c125..0000000000 --- a/sw/airborne/boards/lisa_s_1.0.h +++ /dev/null @@ -1,461 +0,0 @@ -#ifndef CONFIG_LISA_S_1_0_H -#define CONFIG_LISA_S_1_0_H - -#define BOARD_LISA_S - -/* Lisa/S has a 12MHz external clock and 72MHz internal. */ -#define EXT_CLK 12000000 -#define AHB_CLK 72000000 - -/* - * Onboard LEDs - */ - -/* red */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOC -#define LED_1_GPIO_PIN GPIO10 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP ((void)0) - -/* orange */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOC -#define LED_2_GPIO_PIN GPIO11 -#define LED_2_GPIO_ON gpio_clear -#define LED_2_GPIO_OFF gpio_set -#define LED_2_AFIO_REMAP ((void)0) - -/* yellow */ -#ifndef USE_LED_3 -#define USE_LED_3 1 -#endif -#define LED_3_GPIO GPIOD -#define LED_3_GPIO_PIN GPIO2 -#define LED_3_GPIO_ON gpio_clear -#define LED_3_GPIO_OFF gpio_set -#define LED_3_AFIO_REMAP ((void)0) - -/* - * not actual LEDS, used as GPIOs - */ - -/* PB1, DRDY on EXT SPI connector*/ -#define LED_BODY_GPIO GPIOB -#define LED_BODY_GPIO_PIN GPIO1 -#define LED_BODY_GPIO_ON gpio_set -#define LED_BODY_GPIO_OFF gpio_clear -#define LED_BODY_AFIO_REMAP ((void)0) - -/* PC12, on GPIO connector*/ -#define LED_12_GPIO GPIOC -#define LED_12_GPIO_PIN GPIO12 -#define LED_12_GPIO_ON gpio_clear -#define LED_12_GPIO_OFF gpio_set -#define LED_12_AFIO_REMAP ((void)0) - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -/* - * ADC - */ - -// Internal ADC for battery enabled by default -#ifndef USE_ADC_1 -#define USE_ADC_1 1 -#endif -#if USE_ADC_1 -#define AD1_1_CHANNEL 2 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOA -#define ADC_1_GPIO_PIN GPIO2 -#endif - -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_1 -#endif - -#define DefaultVoltageOfAdc(adc) (0.0049*adc) - - -/* by default activate onboard baro */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - -/* SPI slave mapping */ - -/* IMU_MPU_CS */ -#define SPI_SELECT_SLAVE0_PORT GPIOA -#define SPI_SELECT_SLAVE0_PIN GPIO4 - -/* IMU_BARO_CS */ -#define SPI_SELECT_SLAVE1_PORT GPIOC -#define SPI_SELECT_SLAVE1_PIN GPIO4 - -/* RADIO_SS */ -#define SPI_SELECT_SLAVE2_PORT GPIOB -#define SPI_SELECT_SLAVE2_PIN GPIO12 - -/* - * UART pin configuration - * - * sets on which pins the UARTs are connected - */ -/* DIAG port */ -#define UART1_GPIO_AF 0 -#define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX -#define UART1_GPIO_RX GPIO_USART1_RX -#define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX -#define UART1_GPIO_TX GPIO_USART1_TX - -/* GPS */ -#define UART3_GPIO_AF 0 -#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_RX -#define UART3_GPIO_RX GPIO_USART3_RX -#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_TX -#define UART3_GPIO_TX GPIO_USART3_TX - -/* LED1 & LED2 */ -/* -#define UART3_GPIO_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP -#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_PR_RX -#define UART3_GPIO_RX GPIO_USART3_PR_RX -#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_PR_TX -#define UART3_GPIO_TX GPIO_USART3_PR_TX -*/ - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -#define SPEKTRUM_BIND_PIN GPIO2 -#define SPEKTRUM_BIND_PIN_PORT GPIOB - -/* Diag Port RX */ -#define SPEKTRUM_UART1_RCC RCC_USART1 -#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX -#define SPEKTRUM_UART1_PIN GPIO_USART1_RX -#define SPEKTRUM_UART1_AF 0 -#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ -#define SPEKTRUM_UART1_ISR usart1_isr -#define SPEKTRUM_UART1_DEV USART1 - -/* AUX Radio RX */ -#define SPEKTRUM_UART2_RCC RCC_USART2 -#define SPEKTRUM_UART2_BANK GPIO_BANK_USART2_RX -#define SPEKTRUM_UART2_PIN GPIO_USART2_RX -#define SPEKTRUM_UART2_AF 0 -#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ -#define SPEKTRUM_UART2_ISR usart2_isr -#define SPEKTRUM_UART2_DEV USART2 - -/* LED2 */ -#define SPEKTRUM_UART3_RCC RCC_USART3 -#define SPEKTRUM_UART3_BANK GPIO_BANK_USART3_PR_RX -#define SPEKTRUM_UART3_PIN GPIO_USART3_PR_RX -#define SPEKTRUM_UART3_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP -#define SPEKTRUM_UART3_IRQ NVIC_USART3_IRQ -#define SPEKTRUM_UART3_ISR usart3_isr -#define SPEKTRUM_UART3_DEV USART3 - -/* LED3 */ -#define SPEKTRUM_UART5_RCC RCC_UART5 -#define SPEKTRUM_UART5_BANK GPIO_BANK_UART5_RX -#define SPEKTRUM_UART5_PIN GPIO_UART5_RX -#define SPEKTRUM_UART5_AF 0 -#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ -#define SPEKTRUM_UART5_ISR uart5_isr -#define SPEKTRUM_UART5_DEV UART5 - -/* PPM - */ - -/* - * On Lisa/S there is no really dedicated port available. But we could use a - * bunch of different pins to do PPM Input. - */ - -/* - * Default is PPM config 3, input on PA3 (Aux RX pin) - */ - -#ifndef PPM_CONFIG -#define PPM_CONFIG 3 -#endif - - -#if PPM_CONFIG == 1 -/* input on PA01 (UART1_RX) Diag port */ -#define USE_PPM_TIM1 1 -#define PPM_CHANNEL TIM_IC3 -#define PPM_TIMER_INPUT TIM_IC_IN_TI3 -#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_CC3IE -#define PPM_CC_IF TIM_SR_CC3IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO10 -#define PPM_GPIO_AF 0 - -#elif PPM_CONFIG == 2 -/* input on PA1 (Servo 6 pin) - On Lisa/S we could also use TIM5 IC2 instead. */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC2 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM2_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC2IE -#define PPM_CC_IF TIM_SR_CC2IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO1 -#define PPM_GPIO_AF 0 - -// Move default ADC timer -#if USE_AD_TIM2 -#undef USE_AD_TIM2 -#endif -#define USE_AD_TIM1 1 - -#elif PPM_CONFIG == 3 -/* input on PA3 (Aux RX pin) - On Lisa/S we could also use TIM5 IC4 instead. */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC4 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM2_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC4IE -#define PPM_CC_IF TIM_SR_CC4IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO3 -#define PPM_GPIO_AF 0 - -// Move default ADC timer -#if USE_AD_TIM2 -#undef USE_AD_TIM2 -#endif -#define USE_AD_TIM1 1 - -#elif PPM_CONFIG == 4 -/* Input on PC9 (SUPERBIT_RST) */ -#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 GPIOC -#define PPM_GPIO_PIN GPIO9 -#define PPM_GPIO_AF AFIO_MAPR_TIM3_REMAP_FULL_REMAP - -#else -#error "Unknown PPM config" - -#endif // PPM_CONFIG - -/* - * I2C - * - */ -/* Servo1 & Servo2 */ -#define I2C1_GPIO_PORT GPIOB -#define I2C1_GPIO_SCL GPIO6 -#define I2C1_GPIO_SDA GPIO7 - -/* GPS TX & RX */ -#define I2C2_GPIO_PORT GPIOB -#define I2C2_GPIO_SCL GPIO10 -#define I2C2_GPIO_SDA GPIO11 - -/* - * PWM - * - */ -#define PWM_USE_TIM4 1 -#define PWM_USE_TIM5 1 - - -#if USE_SERVOS_1AND2 -#if USE_I2C1 -#error "You cannot USE_SERVOS_1AND2 and USE_I2C1 at the same time" -#else -#define ACTUATORS_PWM_NB 6 -#define USE_PWM1 1 -#define USE_PWM2 1 -#define PWM_USE_TIM4 1 -#endif -#else -#define ACTUATORS_PWM_NB 4 -#endif - -#define USE_PWM3 1 -#define USE_PWM4 1 - -//TODO : test that part -//TODO : merge the USE_SERVOS_1AND2 and DUAL_PWM_ON -#if DUAL_PWM_ON -#define DUAL_PWM_USE_TIM5 1 - -#define USE_DUAL_PWM5 1 -#define USE_DUAL_PWM6 1 -#else -#define USE_PWM5 1 -#define USE_PWM6 1 -#endif - -// Servo numbering on LisaM silkscreen/docs starts with 1 - -/* PWM_SERVO_x is the index of the servo in the actuators_pwm_values array */ -/* Because PWM1 and 2 can be disabled we put them at the index 4 & 5 so that it - * is easy to disable. - */ -#if USE_PWM1 -#define PWM_SERVO_1 4 -#define PWM_SERVO_1_TIMER TIM4 -#define PWM_SERVO_1_GPIO GPIOB -#define PWM_SERVO_1_PIN GPIO6 -#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 5 -#define PWM_SERVO_2_TIMER TIM4 -#define PWM_SERVO_2_GPIO GPIOB -#define PWM_SERVO_2_PIN GPIO7 -#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 0 -#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 1 -#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 2 -#define PWM_SERVO_5_TIMER TIM5 -#define PWM_SERVO_5_GPIO GPIOA -#define PWM_SERVO_5_PIN GPIO0 -#define PWM_SERVO_5_AF 0 -#define PWM_SERVO_5_OC TIM_OC1 -#define PWM_SERVO_5_OC_BIT (1<<0) -#elif USE_DUAL_PWM5 -#define DUAL_PWM_SERVO_5_P1 0 -#define DUAL_PWM_SERVO_5_P2 1 - -#define DUAL_PWM_SERVO_5_TIMER TIM5 -#define DUAL_PWM_SERVO_5_GPIO GPIOA -#define DUAL_PWM_SERVO_5_PIN GPIO0 -#define DUAL_PWM_SERVO_5_AF 0 -#define DUAL_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 3 -#define PWM_SERVO_6_TIMER TIM5 -#define PWM_SERVO_6_GPIO GPIOA -#define PWM_SERVO_6_PIN GPIO1 -#define PWM_SERVO_6_AF 0 -#define PWM_SERVO_6_OC TIM_OC2 -#define PWM_SERVO_6_OC_BIT (1<<1) -#elif USE_DUAL_PWM6 -#define DUAL_PWM_SERVO_6_P1 2 -#define DUAL_PWM_SERVO_6_P2 3 - -#define DUAL_PWM_SERVO_6_TIMER TIM5 -#define DUAL_PWM_SERVO_6_GPIO GPIOA -#define DUAL_PWM_SERVO_6_PIN GPIO1 -#define DUAL_PWM_SERVO_6_AF 0 -#define DUAL_PWM_SERVO_6_OC TIM_OC2 -#define PWM_SERVO_6_OC_BIT (1<<1) -#else -#define PWM_SERVO_6_OC_BIT 0 -#endif - - -/* servos 1-4 or 3-4 on TIM4 depending on USE_SERVOS_1AND2 */ -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|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) - -/* SuperbitRF mounted */ -#define SUPERBITRF_SPI_DEV spi2 -#define SUPERBITRF_RST_PORT GPIOC -#define SUPERBITRF_RST_PIN GPIO9 -#define SUPERBITRF_DRDY_PORT GPIOC -#define SUPERBITRF_DRDY_PIN GPIO6 -#define SUPERBITRF_FORCE_DSM2 FALSE - -/* - * RPM sensor on Superbit IRQ pin using TIM8 Channel 1 - */ -#ifdef USE_PWM_INPUT1 -#define PWM_INPUT1_GPIO_PORT GPIOC -#define PWM_INPUT1_GPIO_PIN GPIO6 -#define PWM_INPUT1_GPIO_AF 0 - -#define PWM_INPUT1_TIMER TIM8 -#define PWM_INPUT1_CHANNEL_PERIOD TIM_IC1 -#define PWM_INPUT1_CHANNEL_DUTY TIM_IC2 -#define PWM_INPUT1_TIMER_INPUT TIM_IC_IN_TI1 -#define PWM_INPUT1_SLAVE_TRIG TIM_SMCR_TS_TI1FP1 -#define PWM_INPUT1_IRQ NVIC_TIM8_CC_IRQ -#define PWM_INPUT1_CC_IE (TIM_DIER_CC1IE | TIM_DIER_CC2IE) -#define USE_PWM_INPUT_TIM8 TRUE - -#ifdef PWM_INPUT1_TICKS_PER_USEC -#define TIM8_TICKS_PER_USEC PWM_INPUT1_TICKS_PER_USEC -#endif -#define TIM8_PWM_INPUT_IDX 0 -#define TIM8_CC_IF_PERIOD TIM_SR_CC1IF -#define TIM8_CC_IF_DUTY TIM_SR_CC2IF -#define TIM8_CCR_PERIOD TIM8_CCR1 -#define TIM8_CCR_DUTY TIM8_CCR2 -#endif - -#endif /* CONFIG_LISA_S_1_0_H */ diff --git a/sw/airborne/boards/matek_f405_wing_v1.h b/sw/airborne/boards/matek_f405_wing_v1.h deleted file mode 100644 index 9da3e4d867..0000000000 --- a/sw/airborne/boards/matek_f405_wing_v1.h +++ /dev/null @@ -1,468 +0,0 @@ -/* - * Chris Efstathiou hendrixgr@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_MATEK_F405_WING_1_0_H -#define CONFIG_MATEK_F405_WING_1_0_H - -#define BOARD_MATEK_F405_WING - -/* The Matek F405 Wing autopilot has a 8MHz external clock and 168MHz internal. */ -#define EXT_CLK 8000000 -#define AHB_CLK 168000000 - -// Onboard LEDs -/* STAT blue, on PB5 */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOA -#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) - -/* WARN red, on PB4 */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOA -#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) - -// LED STRIP 2812 -#ifndef USE_LED_3 -#define USE_LED_3 1 -#endif -#define LED_3_GPIO GPIOA -#define LED_3_GPIO_PIN GPIO15 -#define LED_3_GPIO_ON gpio_clear -#define LED_3_GPIO_OFF gpio_set -#define LED_3_AFIO_REMAP ((void)0) - -// BEEPER -#ifndef USE_LED_4 -#define USE_LED_4 1 -#endif -#define LED_4_GPIO GPIOC -#define LED_4_GPIO_PIN GPIO15 -#define LED_4_GPIO_ON gpio_clear -#define LED_4_GPIO_OFF gpio_set -#define LED_4_AFIO_REMAP ((void)0) - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -#define VBUS_GPIO GPIOC -#define VBUS_GPIO_PIN GPIO13 - -/* UART */ -//CAN BE USED AS GPS SERIAL PORT -#define UART1_GPIO_AF GPIO_AF7 -#define UART1_GPIO_PORT_TX GPIOA -#define UART1_GPIO_TX GPIO9 -#define UART1_GPIO_PORT_RX GPIOA -#define UART1_GPIO_RX GPIO10 - -// UART 2 RX INPUT IS USED AS THE PPM INPUT THUS I WILL USE THE TX OUTPUT AS ADC INPUT -#define UART2_GPIO_AF GPIO_AF7 -#define UART2_GPIO_PORT_TX GPIOA -#define UART2_GPIO_TX GPIO2 -#define UART2_GPIO_PORT_RX GPIOA -#define UART2_GPIO_RX GPIO3 - -#define UART3_GPIO_AF GPIO_AF7 -#define UART3_GPIO_PORT_TX GPIOC -#define UART3_GPIO_TX GPIO10 -#define UART3_GPIO_PORT_RX GPIOC -#define UART3_GPIO_RX GPIO11 - -#define UART4_GPIO_AF GPIO_AF8 -#define UART4_GPIO_PORT_TX GPIOA -#define UART4_GPIO_TX GPIO0 -#define UART4_GPIO_PORT_RX GPIOA -#define UART4_GPIO_RX GPIO1 - -#define UART5_GPIO_AF GPIO_AF8 -#define UART5_GPIO_PORT_TX GPIOC -#define UART5_GPIO_TX GPIO12 -#define UART5_GPIO_PORT_RX GPIOD -#define UART5_GPIO_RX GPIO2 - -// CAN BE USED AS A MODEM SERIAL PORT -#define UART6_GPIO_AF GPIO_AF8 -#define UART6_GPIO_PORT_TX GPIOC -#define UART6_GPIO_TX GPIO6 -#define UART6_GPIO_PORT_RX GPIOC -#define UART6_GPIO_RX GPIO7 - -// SPI1, MPU6000 ON SPI1 -#define SPI1_GPIO_AF GPIO_AF5 - -#define SPI1_GPIO_PORT_SCK GPIOA -#define SPI1_GPIO_SCK GPIO5 -#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_NSS GPIOA -#define SPI1_GPIO_NSS GPIO4 - -#define SPI_SELECT_SLAVE0_PORT GPIOA -#define SPI_SELECT_SLAVE0_PIN GPIO4 - -// SPI2 IS USED FOR THE MAX7456 OSD -#define SPI2_GPIO_AF GPIO_AF5 - -#define SPI2_GPIO_PORT_SCK GPIOB -#define SPI2_GPIO_SCK GPIO13 -#define SPI2_GPIO_PORT_MISO GPIOC -#define SPI2_GPIO_MISO GPIO2 -#define SPI2_GPIO_PORT_MOSI GPIOC -#define SPI2_GPIO_MOSI GPIO3 -#define SPI2_GPIO_PORT_NSS GPIOB -#define SPI2_GPIO_NSS GPIO12 - -#define SPI_SELECT_SLAVE1_PORT GPIOB -#define SPI_SELECT_SLAVE1_PIN GPIO12 - -// SDCARD ON SPI3 -#define SPI3_GPIO_AF GPIO_AF5 - -#define SPI3_GPIO_PORT_SCK GPIOB -#define SPI3_GPIO_SCK GPIO3 -#define SPI3_GPIO_PORT_MISO GPIOB -#define SPI3_GPIO_MISO GPIO4 -#define SPI3_GPIO_PORT_MOSI GPIOB -#define SPI3_GPIO_MOSI GPIO5 -#define SPI3_GPIO_PORT_NSS GPIOC -#define SPI3_GPIO_NSS GPIO14 - -#define SPI_SELECT_SLAVE2_PORT GPIOC -#define SPI_SELECT_SLAVE2_PIN GPIO14 - - -/* I2C mapping */ -/* HMC5883L mag on I2C1 with DRDY on PB7 */ -/* MS5611 baro on I2C1 */ -#define I2C1_GPIO_PORT GPIOB -#define I2C1_GPIO_SCL GPIO8 -#define I2C1_GPIO_SDA GPIO9 - -#define I2C2_GPIO_PORT GPIOB -#define I2C2_GPIO_SCL GPIO10 -#define I2C2_GPIO_SDA GPIO11 - -// ADC - -/* Onboard ADCs */ -/* - ADC1 PC2/ADC1,2,3 channel 12 (Voltage input 3.3v max) - ADC2 PC1/ADC1,2,3 channel 11 (Current input 3.3v max) - ADC3 PA3/ADC1,2,3 channel 3 - ADC4 PA2/ADC1,2,3 channel 2 -*/ - -/* 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 - */ - -#define USE_AD_TIM2 1 - -#ifndef USE_ADC_1 -#define USE_ADC_1 1 -#endif - -#ifndef USE_ADC_2 -#define USE_ADC_2 1 -#endif - -#ifndef USE_ADC_3 -#define USE_ADC_3 1 -#endif - -#ifndef USE_ADC_4 -#define USE_ADC_4 1 -#endif - -// POWER SUPPLY VOLTAGE MEASUREMENT INPUT -#if USE_ADC_1 -#define AD1_1_CHANNEL 10 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOC -#define ADC_1_GPIO_PIN GPIO0 -#endif - -// CURRENT MEASUREMENT INPUT -#if USE_ADC_2 -#define AD1_2_CHANNEL 11 -#define ADC_2 AD1_2 -#define ADC_2_GPIO_PORT GPIOC -#define ADC_2_GPIO_PIN GPIO1 -#ifndef CURRENT_ADC_IN -#define CURRENT_ADC_IN ADC_2 -#endif -#endif - -// RSSI MEASUREMENT INPUT -#if USE_ADC_3 -#define AD1_3_CHANNEL 15 -#define ADC_3 AD1_3 -#define ADC_3_GPIO_PORT GPIOC -#define ADC_3_GPIO_PIN GPIO5 -#endif - -// FREE, LABELED AS UART2 TX PIN -#if USE_ADC_4 -#define AD1_4_CHANNEL 2 -#define ADC_4 AD1_4 -#define ADC_4_GPIO_PORT GPIOA -#define ADC_4_GPIO_PIN GPIO2 -#endif - -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_1 -#endif - -#ifndef ADC_CHANNEL_CURRENT -#define ADC_CHANNEL_CURRENT ADC_2 -#endif - -/* no voltage divider on board, adjust VoltageOfAdc in airframe file */ -#define DefaultVoltageOfAdc(adc) (0.008830925*adc) -#define DefaultMilliAmpereOfAdc(adc) (25*adc) - -#define UART2_RX 1 -#define SERVO9_PWM_OUT 2 - -#if defined(RADIO_CONTROL_PPM_PIN) && RADIO_CONTROL_PPM_PIN == UART2_RX - -// THE PPM INPUT IS ALSO THE UART2 RX -#define USE_PPM_TIM9 1 -#define PPM_CHANNEL TIM_IC2 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM1_BRK_TIM9_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC2IE -#define PPM_CC_IF TIM_SR_CC2IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO3 -#define PPM_GPIO_AF GPIO_AF3 - -#else - -#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 -// 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 - -#endif - -// SERVO DEFINITIONS -#define PWM_USE_TIM1 0 -#define PWM_USE_TIM3 1 -#define PWM_USE_TIM4 1 -#define PWM_USE_TIM8 1 -#define PWM_USE_TIM12 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 USE_PWM7 1 -#define USE_PWM8 1 -#define USE_PWM9 0 - -// 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 TIM4 -#define PWM_SERVO_1_GPIO GPIOB -#define PWM_SERVO_1_PIN GPIO7 -#define PWM_SERVO_1_AF GPIO_AF2 -#define PWM_SERVO_1_OC TIM_OC2 -#define PWM_SERVO_1_OC_BIT (1<<1) -#else -#define PWM_SERVO_1_OC_BIT 0 -#endif - -#if USE_PWM2 -#define PWM_SERVO_2 1 -#define PWM_SERVO_2_TIMER TIM4 -#define PWM_SERVO_2_GPIO GPIOB -#define PWM_SERVO_2_PIN GPIO6 -#define PWM_SERVO_2_AF GPIO_AF2 -#define PWM_SERVO_2_OC TIM_OC1 -#define PWM_SERVO_2_OC_BIT (1<<0) -#else -#define PWM_SERVO_2_OC_BIT 0 -#endif - -#if USE_PWM3 -#define PWM_SERVO_3 2 -#define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_GPIO GPIOB -#define PWM_SERVO_3_PIN GPIO0 -#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 TIM3 -#define PWM_SERVO_4_GPIO GPIOB -#define PWM_SERVO_4_PIN GPIO1 -#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 TIM8 -#define PWM_SERVO_5_GPIO GPIOC -#define PWM_SERVO_5_PIN GPIO8 -#define PWM_SERVO_5_AF GPIO_AF3 -#define PWM_SERVO_5_OC TIM_OC3 -#define PWM_SERVO_5_OC_BIT (1<<2) -#else -#define PWM_SERVO_5_OC_BIT 0 -#endif - -#if USE_PWM6 -#define PWM_SERVO_6 5 -#define PWM_SERVO_6_TIMER TIM8 -#define PWM_SERVO_6_GPIO GPIOC -#define PWM_SERVO_6_PIN GPIO9 -#define PWM_SERVO_6_AF GPIO_AF3 -#define PWM_SERVO_6_OC TIM_OC4 -#define PWM_SERVO_6_OC_BIT (1<<3) -#else -#define PWM_SERVO_6_OC_BIT 0 -#endif - -#if USE_PWM7 -#define PWM_SERVO_7 6 -#define PWM_SERVO_7_TIMER TIM12 -#define PWM_SERVO_7_GPIO GPIOB -#define PWM_SERVO_7_PIN GPIO14 -#define PWM_SERVO_7_AF GPIO_AF9 -#define PWM_SERVO_7_OC TIM_OC1 -#define PWM_SERVO_7_OC_BIT (1<<0) -#else -#define PWM_SERVO_7_OC_BIT 0 -#endif - -#if USE_PWM8 -#define PWM_SERVO_8 7 -#define PWM_SERVO_8_TIMER TIM12 -#define PWM_SERVO_8_GPIO GPIOB -#define PWM_SERVO_8_PIN GPIO15 -#define PWM_SERVO_8_AF GPIO_AF9 -#define PWM_SERVO_8_OC TIM_OC2 -#define PWM_SERVO_8_OC_BIT (1<<1) -#else -#define PWM_SERVO_8_OC_BIT 0 -#endif - -#if USE_PWM9 -#define PWM_SERVO_9 8 -#define PWM_SERVO_9_TIMER TIM1 -#define PWM_SERVO_9_GPIO GPIOA -#define PWM_SERVO_9_PIN GPIO8 -#define PWM_SERVO_9_AF GPIO_AF1 -#define PWM_SERVO_9_OC TIM_OC1 -#define PWM_SERVO_9_OC_BIT (1<<0) -#else -#define PWM_SERVO_9_OC_BIT 0 -#endif - - -// servos 1-2 on TIM4 -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_1_OC_BIT | PWM_SERVO_2_OC_BIT) -// servos 3-4 on TIM3 -#define PWM_TIM3_CHAN_MASK (PWM_SERVO_3_OC_BIT | PWM_SERVO_4_OC_BIT) -// servos 5-6 on TIM8 -#define PWM_TIM8_CHAN_MASK (PWM_SERVO_5_OC_BIT | PWM_SERVO_6_OC_BIT) -// servos 7-8 on TIM12 -#define PWM_TIM12_CHAN_MASK (PWM_SERVO_7_OC_BIT | PWM_SERVO_8_OC_BIT) -// servo 9 on TIM1 -#if USE_PWM9 -#define PWM_TIM1_CHAN_MASK (PWM_SERVO_9_OC_BIT) -#endif - - -/* - * 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_UART1_RCC RCC_USART1 -#define SPEKTRUM_UART1_BANK GPIOA -#define SPEKTRUM_UART1_PIN GPIO10 -#define SPEKTRUM_UART1_AF GPIO_AF7 -#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ -#define SPEKTRUM_UART1_ISR usart1_isr -#define SPEKTRUM_UART1_DEV USART1 - -#define SPEKTRUM_UART2_RCC RCC_USART2 -#define SPEKTRUM_UART2_BANK GPIOA -#define SPEKTRUM_UART2_PIN GPIO3 -#define SPEKTRUM_UART2_AF GPIO_AF8 -#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ -#define SPEKTRUM_UART2_ISR usart2_isr -#define SPEKTRUM_UART2_DEV USART2 - -#define SPEKTRUM_UART5_RCC RCC_UART5 -#define SPEKTRUM_UART5_BANK GPIOD -#define SPEKTRUM_UART5_PIN GPIO2 -#define SPEKTRUM_UART5_AF GPIO_AF8 -#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ -#define SPEKTRUM_UART5_ISR uart5_isr -#define SPEKTRUM_UART5_DEV UART5 - - - -#endif // CONFIG_MATEK_F405_WING_1_0_H diff --git a/sw/airborne/boards/naze32/baro_board.h b/sw/airborne/boards/naze32/baro_board.h deleted file mode 100644 index 4a3bb4037b..0000000000 --- a/sw/airborne/boards/naze32/baro_board.h +++ /dev/null @@ -1,19 +0,0 @@ - -/* - * board specific functions for the Naze32 board - * - */ - -#ifndef BOARDS_NAZE32_BARO_H -#define BOARDS_NAZE32_BARO_H - -// only for printing the baro type during compilation -#ifndef BARO_BOARD -#define BARO_BOARD BARO_MS5611_I2C -#endif - -extern void baro_event(void); - -#define BaroEvent baro_event - -#endif /* BOARDS_NAZE32_BARO_H */ diff --git a/sw/airborne/boards/naze32_common.h b/sw/airborne/boards/naze32_common.h deleted file mode 100644 index ff23282242..0000000000 --- a/sw/airborne/boards/naze32_common.h +++ /dev/null @@ -1,305 +0,0 @@ -#ifndef CONFIG_NAZE32_COMMON_H -#define CONFIG_NAZE32_COMMON_H - -#define BOARD_NAZE32 - -/* - * Onboard LEDs - */ - - -/* L0 red status led, on PB4 */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOB -#define LED_1_GPIO_PIN GPIO4 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP { \ - rcc_periph_clock_enable(RCC_AFIO); \ - AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_ON; \ - } - -/* L1 green status led, on PB3 */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOB -#define LED_2_GPIO_PIN GPIO3 -#define LED_2_GPIO_ON gpio_clear -#define LED_2_GPIO_OFF gpio_set -#define LED_2_AFIO_REMAP ((void)0) - -/* - * UART pin configuration - * - * sets on which pins the UARTs are connected - */ -/* UART1 on main port, TX (PA9), RX (PA10) */ -#define UART1_GPIO_AF 0 -#define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX -#define UART1_GPIO_RX GPIO_USART1_RX -#define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX -#define UART1_GPIO_TX GPIO_USART1_TX - -/* UART2 on RC I/O, TX (PA2) pin 5/id "3", RX (PA3) pin 6/id "4" */ -#define UART2_GPIO_AF 0 -#define UART2_GPIO_PORT_RX GPIO_BANK_USART2_RX -#define UART2_GPIO_RX GPIO_USART2_RX -#define UART2_GPIO_PORT_TX GPIO_BANK_USART2_TX -#define UART2_GPIO_TX GPIO_USART2_TX - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -/* set to ppm/servo6 input pin on RC connector for now */ -#define SPEKTRUM_BIND_PIN GPIO1 -#define SPEKTRUM_BIND_PIN_PORT GPIOA - -#define SPEKTRUM_UART1_RCC RCC_USART1 -#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX -#define SPEKTRUM_UART1_PIN GPIO_USART1_RX -#define SPEKTRUM_UART1_AF 0 -#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ -#define SPEKTRUM_UART1_ISR usart1_isr -#define SPEKTRUM_UART1_DEV USART1 - -#define SPEKTRUM_UART2_RCC RCC_USART2 -#define SPEKTRUM_UART2_BANK GPIO_BANK_USART2_RX -#define SPEKTRUM_UART2_PIN GPIO_USART2_RX -#define SPEKTRUM_UART2_AF 0 -#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ -#define SPEKTRUM_UART2_ISR usart2_isr -#define SPEKTRUM_UART2_DEV USART2 - - - -/* PPM - * - * Default: PPM_CONFIG 1: servos 3-6, input on PA0: RC I/O rx_ppm pin 3/id "1" - * PPM_CONFIG 2: servos 1-6, input on PA7: RC I/O unused pin 8/id "6" - */ - -#ifndef PPM_CONFIG -#define PPM_CONFIG 1 -#endif - -#if PPM_CONFIG == 1 -/* input on PA0 (ppm_in), TIM2 CH1 */ -#define USE_PPM_TIM2 1 -#define PPM_CHANNEL TIM_IC1 -#define PPM_TIMER_INPUT TIM_IC_IN_TI1 -#define PPM_IRQ NVIC_TIM2_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 GPIO0 -#define PPM_GPIO_AF 0 - -// Move default ADC timer -#if USE_AD_TIM2 -#undef USE_AD_TIM2 -#endif -#define USE_AD_TIM1 1 - -#elif PPM_CONFIG == 2 -/* input on PA7 (unused), TIM3 CH2 */ -#define USE_PPM_TIM3 1 -#define PPM_CHANNEL TIM_IC2 -#define PPM_TIMER_INPUT TIM_IC_IN_TI2 -#define PPM_IRQ NVIC_TIM3_IRQ -// Capture/Compare InteruptEnable and InterruptFlag -#define PPM_CC_IE TIM_DIER_CC2IE -#define PPM_CC_IF TIM_SR_CC2IF -#define PPM_GPIO_PORT GPIOA -#define PPM_GPIO_PIN GPIO7 -#define PPM_GPIO_AF 0 - -// Move default ADC timer -#if USE_AD_TIM1 -#undef USE_AD_TIM1 -#endif -#define USE_AD_TIM2 1 - -#else -#error "Unknown PPM config" - -#endif // PPM_CONFIG - - -/* - * ADC - */ - -// 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 4 -#define ADC_4 AD1_4 -#define ADC_4_GPIO_PORT GPIOA -#define ADC_4_GPIO_PIN GPIO4 -#endif - -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_4 -#endif - -/* 10k/1k resistor divider, 11 * 3.3V / 4096 */ -#define DefaultVoltageOfAdc(adc) (0.008862*adc) - - -/* by default activate onboard baro */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - -/* - * I2C - */ -/* RC port */ -#define I2C2_GPIO_PORT GPIOB -#define I2C2_GPIO_SCL GPIO10 -#define I2C2_GPIO_SDA GPIO11 - - -/* - * PWM - * - * Servo output numbering on silkscreen starts with '1' - * - * silk default PPM_CONFIG=2 (PPM_PIN=PA7) - * - * '1' PA8 - servo1 - * '2' PA11 - servo2 - * '3' PB6 servo3 servo3 - * '4' PB7 servo4 servo4 - * '5' PB8 servo5 servo5 - * '6' PB9 servo6 servo6 - * - * PPM_in: PA0 PA7 - * - */ - -#if PPM_CONFIG == 2 - -/* use all servos */ -#define ACTUATORS_PWM_NB 6 -#define PWM_USE_TIM1 1 -#define USE_PWM1 1 -#define USE_PWM2 1 -#define PWM_SERVO_1 0 -#define PWM_SERVO_2 1 -#define PWM_SERVO_3 2 -#define PWM_SERVO_4 3 -#define PWM_SERVO_5 4 -#define PWM_SERVO_6 5 - -#else // PPM_CONFIG == 1 - -/* servos 1-2 not usable */ -#define ACTUATORS_PWM_NB 4 -/* servos 1-2 not usable */ -#define PWM_USE_TIM1 0 -#define USE_PWM1 0 -#define USE_PWM2 0 -#define PWM_SERVO_3 0 -#define PWM_SERVO_4 1 -#define PWM_SERVO_5 2 -#define PWM_SERVO_6 3 - -#endif - -/* servos 3-6 */ -#define PWM_USE_TIM4 1 -#define USE_PWM3 1 -#define USE_PWM4 1 -#define USE_PWM5 1 -#define USE_PWM6 1 - -#if USE_PWM1 -#define PWM_SERVO_1_TIMER TIM1 -#define PWM_SERVO_1_GPIO GPIOA -#define PWM_SERVO_1_PIN GPIO8 -#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_TIMER TIM1 -#define PWM_SERVO_2_GPIO GPIOA -#define PWM_SERVO_2_PIN GPIO11 -#define PWM_SERVO_2_AF 0 -#define PWM_SERVO_2_OC TIM_OC4 -#define PWM_SERVO_2_OC_BIT (1<<3) -#else -#define PWM_SERVO_2_OC_BIT 0 -#endif - -#if USE_PWM3 -#define PWM_SERVO_3_TIMER TIM4 -#define PWM_SERVO_3_GPIO GPIOB -#define PWM_SERVO_3_PIN GPIO6 -#define PWM_SERVO_3_AF 0 -#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_TIMER TIM4 -#define PWM_SERVO_4_GPIO GPIOB -#define PWM_SERVO_4_PIN GPIO7 -#define PWM_SERVO_4_AF 0 -#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_TIMER TIM4 -#define PWM_SERVO_5_GPIO GPIOB -#define PWM_SERVO_5_PIN GPIO8 -#define PWM_SERVO_5_AF 0 -#define PWM_SERVO_5_OC TIM_OC3 -#define PWM_SERVO_5_OC_BIT (1<<2) -#else -#define PWM_SERVO_5_OC_BIT 0 -#endif - -#if USE_PWM6 -#define PWM_SERVO_6_TIMER TIM4 -#define PWM_SERVO_6_GPIO GPIOB -#define PWM_SERVO_6_PIN GPIO9 -#define PWM_SERVO_6_AF 0 -#define PWM_SERVO_6_OC TIM_OC4 -#define PWM_SERVO_6_OC_BIT (1<<3) -#else -#define PWM_SERVO_6_OC_BIT 0 -#endif - -/* servos 1-2 on TIM1 */ -#define PWM_TIM1_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT) -/* servos 3-6 on TIM4 */ -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT|PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT) - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -#endif /* CONFIG_NAZE32_COMMON_H */ - diff --git a/sw/airborne/boards/naze32_rev4.h b/sw/airborne/boards/naze32_rev4.h deleted file mode 100644 index 9ce31156fc..0000000000 --- a/sw/airborne/boards/naze32_rev4.h +++ /dev/null @@ -1,11 +0,0 @@ -#ifndef CONFIG_NAZE32_REV4_H -#define CONFIG_NAZE32_REV4_H - -#include "boards/naze32_common.h" - -/* Naze32 rev4 has a 8MHz external clock and 72MHz internal */ -#define EXT_CLK 8000000 -#define AHB_CLK 72000000 - - -#endif /* CONFIG_NAZE32_REV4_H */ diff --git a/sw/airborne/boards/naze32_rev5.h b/sw/airborne/boards/naze32_rev5.h deleted file mode 100644 index 40cec167ce..0000000000 --- a/sw/airborne/boards/naze32_rev5.h +++ /dev/null @@ -1,14 +0,0 @@ -#ifndef CONFIG_NAZE32_REV5_H -#define CONFIG_NAZE32_REV5_H - -#include "boards/naze32_common.h" - -/* Naze32 rev5 has a 12MHz external clock and 72MHz internal */ -#define EXT_CLK 12000000 -#define AHB_CLK 72000000 - -/* 16Mbit flash on spi2 (Naze32 full) */ -#define SPI_SELECT_SLAVE1_PORT GPIOB -#define SPI_SELECT_SLAVE1_PIN GPIO12 - -#endif /* CONFIG_NAZE32_REV5_H */ diff --git a/sw/airborne/boards/opa_ap/baro_board.h b/sw/airborne/boards/opa_ap/baro_board.h deleted file mode 100644 index 95c900a56e..0000000000 --- a/sw/airborne/boards/opa_ap/baro_board.h +++ /dev/null @@ -1,18 +0,0 @@ - -/* - * board specific functions for the opa_ap board - * - */ - -#ifndef BOARDS_OPA_AP_BARO_H -#define BOARDS_OPA_AP_BARO_H - -// only for printing the baro type during compilation -#ifndef BARO_BOARD -#define BARO_BOARD BARO_MS5611_SPI -#endif - -extern void baro_event(void); -#define BaroEvent baro_event - -#endif /* BOARDS_OPA_AP_BARO_H */ diff --git a/sw/airborne/boards/opa_ap_1.0.h b/sw/airborne/boards/opa_ap_1.0.h deleted file mode 100644 index b6ff4d82c4..0000000000 --- a/sw/airborne/boards/opa_ap_1.0.h +++ /dev/null @@ -1,238 +0,0 @@ -/* - * Copyright (C) 2015 Freek van Tienen - * - * 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_OPA_FTD_1_0_H -#define CONFIG_OPA_FTD_1_0_H - -#define BOARD_OPA_AP - -/* OPA/FTD has a 12MHz external clock and 168MHz internal. */ -#define EXT_CLK 12000000 -#define AHB_CLK 168000000 - -/* - * Power control - */ - -/* VISION power */ -#define VISION_PWR GPIOA -#define VISION_PWR_PIN GPIO1 -#define VISION_PWR_ON gpio_set -#define VISION_PWR_OFF gpio_clear - -/* - * Onboard LEDs - */ - -/* Status (red), on PA8 */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOA -#define LED_1_GPIO_PIN GPIO8 -#define LED_1_GPIO_ON gpio_set -#define LED_1_GPIO_OFF gpio_clear -#define LED_1_AFIO_REMAP ((void)0) - - -/* UART */ -#define UART1_GPIO_AF GPIO_AF7 -#define UART1_GPIO_PORT_RX GPIOA -#define UART1_GPIO_RX GPIO10 -#define UART1_GPIO_PORT_TX GPIOA -#define UART1_GPIO_TX GPIO9 - -#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 - -#define UART3_GPIO_AF GPIO_AF7 -#define UART3_GPIO_PORT_RX GPIOB -#define UART3_GPIO_RX GPIO11 -#define UART3_GPIO_PORT_TX GPIOB -#define UART3_GPIO_TX GPIO10 - -#define UART4_GPIO_AF GPIO_AF8 -#define UART4_GPIO_PORT_RX GPIOC -#define UART4_GPIO_RX GPIO11 -#define UART4_GPIO_PORT_TX GPIOC -#define UART4_GPIO_TX GPIO10 - -#define UART5_GPIO_AF GPIO_AF8 -#define UART5_GPIO_PORT_RX GPIOD -#define UART5_GPIO_RX GPIO2 - -/* 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 SPI1_GPIO_PORT_NSS GPIOA -#define SPI1_GPIO_NSS GPIO4 - -#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 - -#define SPI_SELECT_SLAVE0_PORT GPIOA // SD CARD (on spi1) -#define SPI_SELECT_SLAVE0_PIN GPIO4 - -#define SPI_SELECT_SLAVE1_PORT GPIOB // IMU (on spi2) -#define SPI_SELECT_SLAVE1_PIN GPIO12 - -#define SPI_SELECT_SLAVE2_PORT GPIOC // BARO (on spi2) -#define SPI_SELECT_SLAVE2_PIN GPIO13 - - -/* - * RPM sensor - */ -#ifdef USE_PWM_INPUT1 -#define PWM_INPUT1_GPIO_PORT GPIOB -#define PWM_INPUT1_GPIO_PIN GPIO6 -#define PWM_INPUT1_GPIO_AF GPIO_AF2 - -#define PWM_INPUT1_TIMER TIM4 -#define PWM_INPUT1_CHANNEL_PERIOD TIM_IC1 -#define PWM_INPUT1_CHANNEL_DUTY TIM_IC2 -#define PWM_INPUT1_TIMER_INPUT TIM_IC_IN_TI1 -#define PWM_INPUT1_SLAVE_TRIG TIM_SMCR_TS_TI1FP1 -#define PWM_INPUT1_IRQ NVIC_TIM4_IRQ -#define PWM_INPUT1_CC_IE (TIM_DIER_CC1IE | TIM_DIER_CC2IE) -#define USE_PWM_INPUT_TIM4 TRUE - -#ifdef PWM_INPUT1_TICKS_PER_USEC -#define TIM4_TICKS_PER_USEC PWM_INPUT1_TICKS_PER_USEC -#endif -#define TIM4_PWM_INPUT_IDX 0 -#define TIM4_CC_IF_PERIOD TIM_SR_CC1IF -#define TIM4_CC_IF_DUTY TIM_SR_CC2IF -#define TIM4_CCR_PERIOD TIM4_CCR1 -#define TIM4_CCR_DUTY TIM4_CCR2 -#endif - -/* - * ADC - */ - -/* BATT PC4/ADC14 */ -#ifndef USE_ADC_1 -#define USE_ADC_1 1 -#endif -#if USE_ADC_1 -#define AD1_1_CHANNEL 14 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOC -#define ADC_1_GPIO_PIN GPIO4 -#endif - -/* CURRENT PC3/ADC13 */ -#if USE_ADC_2 -#define AD1_2_CHANNEL 13 -#define ADC_2 AD1_2 -#define ADC_2_GPIO_PORT GPIOC -#define ADC_2_GPIO_PIN GPIO3 -#endif - -/* TEMP_MOTOR PC0/ADC10 */ -#ifndef USE_ADC_3 -#define USE_ADC_3 1 -#endif -#if USE_ADC_3 -#define AD1_3_CHANNEL 10 -#define ADC_3 AD1_3 -#define ADC_3_GPIO_PORT GPIOC -#define ADC_3_GPIO_PIN GPIO0 -#endif - -/* TEMP_BATT PC1/ADC11 */ -#ifndef USE_ADC_4 -#define USE_ADC_4 1 -#endif -#if USE_ADC_4 -#define AD1_4_CHANNEL 11 -#define ADC_4 AD1_4 -#define ADC_4_GPIO_PORT GPIOC -#define ADC_4_GPIO_PIN GPIO1 -#endif - -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_1 -#endif - -// Default: 10k / 2k2 -// #define DefaultVoltageOfAdc(adc) (0.0045*adc) -// Opa: 31k6 / 4k7 -#define DefaultVoltageOfAdc(adc) (0.0063*adc) - -// ADC756-B050: +/-50Amp range bidirectional -// 40 mV / Ampere -// 1 ADC-count = 0,000805664 Volt, 0.040 V = 1 Ampere -> 1 Ampere = 49,6484887 ADC ticks: 1 ADC-tck = 20mA -// 5.0/3.3 from datasheet -#define DefaultMilliAmpereOfAdc(adc) (20.142*(adc-2048) * 5.0/3.3) - -/* TEMP MOTOR: NTC with 2k fixed pull up */ -// R0: 10k (@25C) -// T0: 25C -> 298.15K -// B: 3976 K -// a = (1/T0) - (1/B)*ln(R0) = 0.00103753243 -// b = 1/B = 0.00025150905 -// c = 0 -#define TEMP_ADC_CHANNEL1 ADC_3 -#define TEMP_ADC_CHANNEL1_TYPE NTC -#define TEMP_ADC_CHANNEL1_PU_R 2000 -#define TEMP_ADC_CHANNEL1_A 0.00103753243 -#define TEMP_ADC_CHANNEL1_B 0.00025150905 -#define TEMP_ADC_CHANNEL1_C 0 - -/* TEMP BATT: NTC with 2k fixed pull up */ -// R0: 10k (@25C) -// T0: 25C -> 298.15K -// B: 3976 K -// a = (1/T0) - (1/B)*ln(R0) = 0.00103753243 -// b = 1/B = 0.00025150905 -// c = 0 -#define TEMP_ADC_CHANNEL2 ADC_4 -#define TEMP_ADC_CHANNEL2_TYPE NTC -#define TEMP_ADC_CHANNEL2_PU_R 2000 -#define TEMP_ADC_CHANNEL2_A 0.00103753243 -#define TEMP_ADC_CHANNEL2_B 0.00025150905 -#define TEMP_ADC_CHANNEL2_C 0 - -/* by default activate onboard baro */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - -#endif /* CONFIG_OPA_AP_1_0_H */ diff --git a/sw/airborne/boards/opa_ftd_1.0.h b/sw/airborne/boards/opa_ftd_1.0.h deleted file mode 100644 index 3f40dda1a3..0000000000 --- a/sw/airborne/boards/opa_ftd_1.0.h +++ /dev/null @@ -1,366 +0,0 @@ -/* - * Copyright (C) 2015 Freek van Tienen - * - * 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_OPA_FTD_1_0_H -#define CONFIG_OPA_FTD_1_0_H - -#define BOARD_OPA_FTD - -/* OPA/FTD has a 12MHz external clock and 168MHz internal. */ -#define EXT_CLK 12000000 -#define AHB_CLK 168000000 - -/* - * Power control - */ - -/* MCU power */ -#define MCU_PWR GPIOB -#define MCU_PWR_PIN GPIO5 -#define MCU_PWR_ON gpio_set -#define MCU_PWR_OFF gpio_clear - -/* Autopilot power */ -#define AP_PWR GPIOB -#define AP_PWR_PIN GPIO0 -#define AP_PWR_ON gpio_set -#define AP_PWR_OFF gpio_clear - -/* Main power (25V) */ -#define MAIN_PWR GPIOC -#define MAIN_PWR_PIN GPIO12 -#define MAIN_PWR_ON gpio_set -#define MAIN_PWR_OFF gpio_clear - -/* Balancer power */ -#define BAL_PWR GPIOC -#define BAL_PWR_PIN GPIO2 -#define BAL_PWR_ON gpio_set -#define BAL_PWR_OFF gpio_clear - -/* - * Buttons - */ - -/* E-Stop button */ -#define BTN_ESTOP GPIOB -#define BTN_ESTOP_PIN GPIO12 - -/* Arming button */ -#define BTN_ARMING GPIOB -#define BTN_ARMING_PIN GPIO14 - -/* On/Off button */ -#define BTN_ON GPIOC -#define BTN_ON_PIN GPIO1 - -/* - * Onboard LEDs - */ - -/* Status (red), on PA8 */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOA -#define LED_1_GPIO_PIN GPIO8 -#define LED_1_GPIO_ON gpio_set -#define LED_1_GPIO_OFF gpio_clear -#define LED_1_AFIO_REMAP ((void)0) - -/* RC (green), on PC5 */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOC -#define LED_2_GPIO_PIN GPIO5 -#define LED_2_GPIO_ON gpio_set -#define LED_2_GPIO_OFF gpio_clear -#define LED_2_AFIO_REMAP ((void)0) - -/* Status LED ext, PB13 */ -#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_set -#define LED_3_GPIO_OFF gpio_clear -#define LED_3_AFIO_REMAP ((void)0) - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -/* UART */ -#define UART1_GPIO_AF GPIO_AF7 -#define UART1_GPIO_PORT_RX GPIOA -#define UART1_GPIO_RX GPIO10 - -#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 - -#define UART3_GPIO_AF GPIO_AF7 -#define UART3_GPIO_PORT_RX GPIOB -#define UART3_GPIO_RX GPIO11 -#define UART3_GPIO_PORT_TX GPIOB -#define UART3_GPIO_TX GPIO10 - -#define UART4_GPIO_AF GPIO_AF8 -#define UART4_GPIO_PORT_RX GPIOC -#define UART4_GPIO_RX GPIO11 -#define UART4_GPIO_PORT_TX GPIOC -#define UART4_GPIO_TX GPIO10 - -#define UART5_GPIO_AF GPIO_AF8 -#define UART5_GPIO_PORT_RX GPIOD -#define UART5_GPIO_RX GPIO2 - -/* - * Spektrum - */ -/* Define power pin */ -#define RADIO_CONTROL_POWER_PORT GPIOC -#define RADIO_CONTROL_POWER_PIN GPIO13 -#define RADIO_CONTROL_POWER_ON gpio_set -#define RADIO_CONTROL_POWER_OFF gpio_clear - -/* The line that is pulled low at power up to initiate the bind process */ -#define SPEKTRUM_BIND_PIN GPIO2 -#define SPEKTRUM_BIND_PIN_PORT GPIOB - -#define SPEKTRUM_UART1_RCC RCC_USART1 -#define SPEKTRUM_UART1_BANK GPIOA -#define SPEKTRUM_UART1_PIN GPIO10 -#define SPEKTRUM_UART1_AF GPIO_AF7 -#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ -#define SPEKTRUM_UART1_ISR usart1_isr -#define SPEKTRUM_UART1_DEV USART1 - -#define SPEKTRUM_UART5_RCC RCC_UART5 -#define SPEKTRUM_UART5_BANK GPIOD -#define SPEKTRUM_UART5_PIN GPIO2 -#define SPEKTRUM_UART5_AF GPIO_AF8 -#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ -#define SPEKTRUM_UART5_ISR uart5_isr -#define SPEKTRUM_UART5_DEV UART5 - -/* 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 SPI1_GPIO_PORT_NSS GPIOA -#define SPI1_GPIO_NSS GPIO4 - -#define SPI_SELECT_SLAVE0_PORT GPIOA -#define SPI_SELECT_SLAVE0_PIN GPIO4 - - -/* - * ADC - */ - -/* BATT PC4/ADC14 */ -#ifndef USE_ADC_1 -#define USE_ADC_1 1 -#endif -#if USE_ADC_1 -#define AD1_1_CHANNEL 14 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOC -#define ADC_1_GPIO_PIN GPIO4 -#endif - -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_1 -#endif - - -// Default: 10k / 2k2 -> -// #define DefaultVoltageOfAdc(adc) (0.00446777*adc) - -// Opa-FBW: 10k / 4k7 -#define DefaultVoltageOfAdc(adc) (00.00252*adc) - - -/* - * PWM - * - */ -#define PWM_USE_TIM3 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 USE_PWM7 1 -#define USE_PWM8 1 -#define USE_PWM9 1 -#define USE_PWM10 1 -#define ACTUATORS_PWM_NB 10 - - -// 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 TIM3 -#define PWM_SERVO_1_GPIO GPIOC -#define PWM_SERVO_1_PIN GPIO6 -#define PWM_SERVO_1_AF GPIO_AF2 -#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 TIM3 -#define PWM_SERVO_2_GPIO GPIOC -#define PWM_SERVO_2_PIN GPIO7 -#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 2 -#define PWM_SERVO_3_TIMER TIM3 -#define PWM_SERVO_3_GPIO GPIOC -#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 TIM3 -#define PWM_SERVO_4_GPIO GPIOC -#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 - -#if USE_PWM7 -#define PWM_SERVO_7 6 -#define PWM_SERVO_7_TIMER TIM4 -#define PWM_SERVO_7_GPIO GPIOB -#define PWM_SERVO_7_PIN GPIO6 -#define PWM_SERVO_7_AF GPIO_AF2 -#define PWM_SERVO_7_OC TIM_OC1 -#define PWM_SERVO_7_OC_BIT (1<<0) -#else -#define PWM_SERVO_7_OC_BIT 0 -#endif - -#if USE_PWM8 -#define PWM_SERVO_8 7 -#define PWM_SERVO_8_TIMER TIM4 -#define PWM_SERVO_8_GPIO GPIOB -#define PWM_SERVO_8_PIN GPIO7 -#define PWM_SERVO_8_AF GPIO_AF2 -#define PWM_SERVO_8_OC TIM_OC2 -#define PWM_SERVO_8_OC_BIT (1<<1) -#else -#define PWM_SERVO_8_OC_BIT 0 -#endif - -#if USE_PWM9 -#define PWM_SERVO_9 8 -#define PWM_SERVO_9_TIMER TIM4 -#define PWM_SERVO_9_GPIO GPIOB -#define PWM_SERVO_9_PIN GPIO8 -#define PWM_SERVO_9_AF GPIO_AF2 -#define PWM_SERVO_9_OC TIM_OC3 -#define PWM_SERVO_9_OC_BIT (1<<2) -#else -#define PWM_SERVO_9_OC_BIT 0 -#endif - -#if USE_PWM10 -#define PWM_SERVO_10 9 -#define PWM_SERVO_10_TIMER TIM4 -#define PWM_SERVO_10_GPIO GPIOB -#define PWM_SERVO_10_PIN GPIO9 -#define PWM_SERVO_10_AF GPIO_AF2 -#define PWM_SERVO_10_OC TIM_OC4 -#define PWM_SERVO_10_OC_BIT (1<<3) -#else -#define PWM_SERVO_10_OC_BIT 0 -#endif - -/* servos 1-4 on TIM3 */ -#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|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) -/* servos 7-10 on TIM4 */ -#define PWM_TIM4_CHAN_MASK (PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT|PWM_SERVO_9_OC_BIT|PWM_SERVO_10_OC_BIT) - -#endif /* CONFIG_OPA_FTD_1_0_H */ diff --git a/sw/airborne/boards/openpilot_revo/baro_board.h b/sw/airborne/boards/openpilot_revo/baro_board.h deleted file mode 100644 index 4c02123c38..0000000000 --- a/sw/airborne/boards/openpilot_revo/baro_board.h +++ /dev/null @@ -1,17 +0,0 @@ -/* - * board specific functions for the openpilot_revo board - * - */ - -#ifndef BOARDS_OPENPILOT_REVO_BARO_H -#define BOARDS_OPENPILOT_REVO_BARO_H - -// only for printing the baro type during compilation -#ifndef BARO_BOARD -#define BARO_BOARD BARO_MS5611_I2C -#endif - -extern void baro_event(void); -#define BaroEvent baro_event - -#endif /* BOARDS_OPENPILOT_REVO_BARO_H */ diff --git a/sw/airborne/boards/openpilot_revo_1.0.h b/sw/airborne/boards/openpilot_revo_1.0.h deleted file mode 100644 index 90d9c35764..0000000000 --- a/sw/airborne/boards/openpilot_revo_1.0.h +++ /dev/null @@ -1,379 +0,0 @@ -/* - * Copyright (C) 2016 Felix Ruess IN2 corresponds to channel 2) -#define ADC_2 AD1_2 // ADC123 means it can be used by ADC 1 and 2 and 3 (the f4 supports 3 adc's), does not matter which. Each ADC can address 4 pins, so in this case we are using ADC 1, on its second pin. -#define ADC_2_GPIO_PORT GPIOA -#define ADC_2_GPIO_PIN GPIO2 -#endif - -// external current sens -#ifndef USE_ADC_3 -#define USE_ADC_3 1 -#endif -#if USE_ADC_3 -#define AD1_3_CHANNEL 3 // ADC123_IN3 -#define ADC_3 AD1_3 -#define ADC_3_GPIO_PORT GPIOA -#define ADC_3_GPIO_PIN GPIO3 -#endif -#define DefaultMilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f) - -/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ -#ifndef ADC_CHANNEL_VSUPPLY -#define ADC_CHANNEL_VSUPPLY ADC_2 -#define DefaultVoltageOfAdc(adc) (0.00975*adc) -#else -#define DefaultVoltageOfAdc(adc) (0.00384*adc) -#endif - -/* External adc (pressure / air speed / 6.6v) */ -#ifndef USE_ADC_4 -#define USE_ADC_4 1 -#endif -#if USE_ADC_4 -#define AD1_4_CHANNEL 15 // ADC12_IN15 -#define ADC_4 AD1_4 -#define ADC_4_GPIO_PORT GPIOC -#define ADC_4_GPIO_PIN GPIO5 -#endif - -/* External adc 3.3v */ -#if USE_ADC_5 -#define AD1_5_CHANNEL 13 // ADC123_IN13 -#define ADC_5 AD1_5 -#define ADC_5_GPIO_PORT GPIOC -#define ADC_5_GPIO_PIN GPIO3 -#endif - -/* External adc 3.3v */ -#if USE_ADC_6 -#define AD1_6_CHANNEL 14 // ADC12_IN14 -#define ADC_6 AD1_6 -#define ADC_6_GPIO_PORT GPIOC -#define ADC_6_GPIO_PIN GPIO4 -#endif - -/* - * I2C mapping - */ -#define I2C1_GPIO_PORT GPIOB -#define I2C1_GPIO_SCL GPIO8 -#define I2C1_GPIO_SDA GPIO9 - -#define I2C2_GPIO_PORT GPIOB -#define I2C2_GPIO_SCL GPIO10 -#define I2C2_GPIO_SDA GPIO11 - -/* -#define I2C3_GPIO_PORT_SCL GPIOA -#define I2C3_GPIO_SCL GPIO8 -#define I2C3_GPIO_PORT_SDA GPIOC -#define I2C3_GPIO_SDA GPIO9 -*/ - -/* Activate onboard baro by default */ -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - -/* PWM */ -#define PWM_USE_TIM1 1 -#define PWM_USE_TIM4 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 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 - -//servo AUX1 -#if USE_PWM1 -#define PWM_SERVO_1 0 -#define PWM_SERVO_1_TIMER TIM1 -#define PWM_SERVO_1_GPIO GPIOE -#define PWM_SERVO_1_PIN GPIO14 -#define PWM_SERVO_1_AF GPIO_AF1 -#define PWM_SERVO_1_OC TIM_OC4 -#define PWM_SERVO_1_OC_BIT (1<<3) -#else -#define PWM_SERVO_1_OC_BIT 0 -#endif - -//servo AUX2 -#if USE_PWM2 -#define PWM_SERVO_2 1 -#define PWM_SERVO_2_TIMER TIM1 -#define PWM_SERVO_2_GPIO GPIOE -#define PWM_SERVO_2_PIN GPIO13 -#define PWM_SERVO_2_AF GPIO_AF1 -#define PWM_SERVO_2_OC TIM_OC3 -#define PWM_SERVO_2_OC_BIT (1<<2) -#else -#define PWM_SERVO_2_OC_BIT 0 -#endif - -//servo AUX3 -#if USE_PWM3 -#define PWM_SERVO_3 2 //#define PWM_SERVO_3_IDX 2 -#define PWM_SERVO_3_TIMER TIM1 -#define PWM_SERVO_3_GPIO GPIOE -#define PWM_SERVO_3_PIN GPIO11 -#define PWM_SERVO_3_AF GPIO_AF1 -#define PWM_SERVO_3_OC TIM_OC2 -#define PWM_SERVO_3_OC_BIT (1<<1) -#else -#define PWM_SERVO_3_OC_BIT 0 -#endif - -//servo AUX4 -#if USE_PWM4 -#define PWM_SERVO_4 3 -#define PWM_SERVO_4_TIMER TIM1 -#define PWM_SERVO_4_GPIO GPIOE -#define PWM_SERVO_4_PIN GPIO9 -#define PWM_SERVO_4_AF GPIO_AF1 -#define PWM_SERVO_4_OC TIM_OC1 -#define PWM_SERVO_4_OC_BIT (1<<0) -#else -#define PWM_SERVO_4_OC_BIT 0 -#endif - -//servo AUX5 -#if USE_PWM5 -#define PWM_SERVO_5 4 -#define PWM_SERVO_5_TIMER TIM4 -#define PWM_SERVO_5_GPIO GPIOD -#define PWM_SERVO_5_PIN GPIO13 -#define PWM_SERVO_5_AF GPIO_AF2 -#define PWM_SERVO_5_OC TIM_OC2 -#define PWM_SERVO_5_OC_BIT (1<<1) -#else -#define PWM_SERVO_5_OC_BIT 0 -#endif - -//servo AUX6 -#if USE_PWM6 -#define PWM_SERVO_6 5 -#define PWM_SERVO_6_TIMER TIM4 -#define PWM_SERVO_6_GPIO GPIOD -#define PWM_SERVO_6_PIN GPIO14 -#define PWM_SERVO_6_AF GPIO_AF2 -#define PWM_SERVO_6_OC TIM_OC3 -#define PWM_SERVO_6_OC_BIT (1<<2) -#else -#define PWM_SERVO_6_OC_BIT 0 -#endif - -//Buzzer (alarm) -#if USE_BUZZER -#define PWM_BUZZER -#define PWM_BUZZER_TIMER TIM2 -#define PWM_BUZZER_GPIO GPIOA -#define PWM_BUZZER_PIN GPIO15 -#define PWM_BUZZER_AF GPIO_AF1 -#define PWM_BUZZER_OC TIM_OC1 -#define PWM_BUZZER_OC_BIT (1<<0) -#define PWM_TIM2_CHAN_MASK (PWM_BUZZER_OC_BIT) -#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_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/px4fmu_4.0.h b/sw/airborne/boards/px4fmu_4.0.h deleted file mode 100644 index 199997f3f1..0000000000 --- a/sw/airborne/boards/px4fmu_4.0.h +++ /dev/null @@ -1,493 +0,0 @@ -#ifndef CONFIG_PX4FMU_4_0_H -#define CONFIG_PX4FMU_4_0_H - -#define BOARD_PX4FMU_V4 - -/* differences between board not implemented ATM consider them all the same for time being */ -//#define BOARD_PX4FMU_V4_R12 -//#define BOARD_PX4FMU_V4_R14 -//#define BOARD_PX4FMU_V4_R15 - -/* PX4FMU_V4 a.k.a. Pixracer board has a 24MHz external clock and 168MHz internal. */ - -/* STM32F4 STM32F427VIT6 */ -#define EXT_CLK 24000000 -#define AHB_CLK 168000000 - -//#define STM32F4 //to debug ADC on F4 does no work -//#define ADC_SAMPLE_TIME ADC_SMPR_SMP_56CYC //to debug ADC on F4 does no work - -/* On PCB there is a Multicolor LED */ - -/* Red */ -#ifndef USE_LED_1 -#define USE_LED_1 1 -#endif -#define LED_1_GPIO GPIOB -#define LED_1_GPIO_PIN GPIO11 -#define LED_1_GPIO_ON gpio_clear -#define LED_1_GPIO_OFF gpio_set -#define LED_1_AFIO_REMAP ((void)0) - -/* Green */ -#ifndef USE_LED_2 -#define USE_LED_2 1 -#endif -#define LED_2_GPIO GPIOB -#define LED_2_GPIO_PIN GPIO1 -#define LED_2_GPIO_ON gpio_clear -#define LED_2_GPIO_OFF gpio_set -#define LED_2_AFIO_REMAP ((void)0) - -/* Blue */ -#ifndef USE_LED_3 -#define USE_LED_3 1 -#endif -#define LED_3_GPIO GPIOB -#define LED_3_GPIO_PIN GPIO3 -#define LED_3_GPIO_ON gpio_clear -#define LED_3_GPIO_OFF gpio_set -#define LED_3_AFIO_REMAP ((void)0) - -/* On PCB other LEDs */ -/* The Green Pixracer Power LED in not controllable, not on a MCU pin */ - -/* UART */ - -/* -WiFi ESP Connector, it is just a serial port*/ -//TODO: Test -#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 - -//Not used yet unil find some time to test -/* -#define ESP8266_TX -#define ESP8266_RX -#define ESP8266_PD ( power down ) -#define ESP8266_GPIO2 -#define ESP8266_RESET -#define ESP8266_GPIO0 -#define ESP8266_RTS -#define ESP8266_CTS -*/ - -/* -TELEM1 Connector */ -#define UART2_GPIO_AF GPIO_AF7 -#define UART2_GPIO_PORT_RX GPIOD -#define UART2_GPIO_RX GPIO6 -#define UART2_GPIO_PORT_TX GPIOD -#define UART2_GPIO_TX GPIO5 -#define UART2_GPIO_PORT_CTS GPIOD -#define UART2_GPIO_CTS GPIO3 -#define UART2_GPIO_PORT_RTS GPIOD -#define UART2_GPIO_RTS GPIO4 - -/* -TELEM2 Connector */ -#define UART3_GPIO_AF GPIO_AF7 -#define UART3_GPIO_PORT_RX GPIOD -#define UART3_GPIO_RX GPIO9 -#define UART3_GPIO_PORT_TX GPIOD -#define UART3_GPIO_TX GPIO8 -#define UART3_GPIO_PORT_CTS GPIOD -#define UART3_GPIO_CTS GPIO11 -#define UART3_GPIO_PORT_RTS GPIOD -#define UART3_GPIO_RTS GPIO12 - -/* -GPS Connector */ -#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 - -/* e.g. for a Spektrum satellite receiver rx only)*/ -#define UART6_GPIO_AF GPIO_AF8 -#define UART6_GPIO_PORT_RX GPIOC -#define UART6_GPIO_RX GPIO7 - -/* Serial Debugging Info Connector, not used with PPRZ as of now, use JTAG for debugging, so this uart can be put to other use if really needed */ -#define UART7_GPIO_AF GPIO_AF8 -#define UART7_GPIO_PORT_RX GPIOE -#define UART7_GPIO_RX GPIO7 -#define UART7_GPIO_PORT_TX GPIOE -#define UART7_GPIO_TX GPIO8 - -/* Connector -FRS FrSky */ -#define UART8_GPIO_AF GPIO_AF8 -#define UART8_GPIO_PORT_RX GPIOE -#define UART8_GPIO_RX GPIO0 -#define UART8_GPIO_PORT_TX GPIOE -#define UART8_GPIO_TX GPIO1 - -/* Soft binding Spektrum */ -//TODO: Test and or FIXME: -#define RADIO_CONTROL_POWER_PORT GPIOE -#define RADIO_CONTROL_POWER_PIN GPIO4 //SPEKTRUM POWER -#define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted -#define RADIO_CONTROL_POWER_OFF gpio_set - -//A receiver on powered on 3.3v -#define PERIPHERAL3V3_ENABLE_PORT GPIOC //VDD_3V3_PERIPHERAL_EN -#define PERIPHERAL3V3_ENABLE_PIN GPIO5 -#define PERIPHERAL3V3_ENABLE_ON gpio_set -#define PERIPHERAL3V3_ENABLE_OFF gpio_clear - -/* Turn SBUS invert */ -//TODO: Test -#define RC_POLARITY_GPIO_PORT GPIOC -#define RC_POLARITY_GPIO_PIN GPIO13 - -#define SPEKTRUM_UART6_RCC RCC_USART6 -#define SPEKTRUM_UART6_BANK GPIOC -#define SPEKTRUM_UART6_PIN GPIO7 -#define SPEKTRUM_UART6_AF GPIO_AF8 -#define SPEKTRUM_UART6_IRQ NVIC_USART6_IRQ -#define SPEKTRUM_UART6_ISR usart6_isr -#define SPEKTRUM_UART6_DEV USART6 - -/* SPI */ - -/* SPI1 for MPU and extra accel/gyro/mag */ -#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 - -/* SPI2 for FRAM, connects to BARO */ -#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 GPIO10 - -/* - * SPI slave pin declaration - */ - -/* note : -Active-Low Push-Pull Data-Ready Output. DRDY goes low when a new conversion result is available in the data register. -When a read-operation of an RTD resistance data register occurs, DRDY returns high. -*/ -/* - * SPI slave pin declaration - */ - -//So use best spec'd sensors as second or ref the other or determine it on task type? -/* EXTRA ACC_GYRO_CS on SPI1 ICM 20609-G*/ -// TODO: Make it useful -#define SPI_SELECT_SLAVE0_PORT GPIOC -#define SPI_SELECT_SLAVE0_PIN GPIO15 - -/* EXTRA_MAG_CS on SPI1 HMC5983*/ -//See https://docs.google.com/spreadsheets/d/1gVlKZBvRNTXldoxTXwipGaaHmtF9DNPaftDrzKA47mM/edit#gid=0 -#define SPI_SELECT_SLAVE1_PORT GPIOE -#define SPI_SELECT_SLAVE1_PIN GPIO15 - -/* MDL */ -// FIXME: Test n fix or emoveal -//#define SPI_SELECT_SLAVE1_PORT GPIOE -//#define SPI_SELECT_SLAVE1_PIN GPIO15 - -/* MPU_9250_CS on SPI1 */ -#define SPI_SELECT_SLAVE2_PORT GPIOC -#define SPI_SELECT_SLAVE2_PIN GPIO2 - -/* MS5611 BARO_CS on SPI2 - FRAM*/ -#define SPI_SELECT_SLAVE3_PORT GPIOD -#define SPI_SELECT_SLAVE3_PIN GPIO7 - -/* FRAM on SPI2 */ -#define SPI_SELECT_SLAVE4_PORT GPIOD -#define SPI_SELECT_SLAVE4_PIN GPIO10 - -/* SPI3 NSS on microSD connector */ -//FIXME: not tested -//#define SPI_SELECT_SLAVE5_PORT GPIOA -//#define SPI_SELECT_SLAVE5_PIN GPIO4 - -/* SDIO to microSD card connector */ -#define SDIO_AF GPIO_AF12 -#define SDIO_D0_PORT GPIOC -#define SDIO_D0_PIN GPIO8 -#define SDIO_D1_PORT GPIOC -#define SDIO_D1_PIN GPIO9 -#define SDIO_D2_PORT GPIOC -#define SDIO_D2_PIN GPIO10 -#define SDIO_D3_PORT GPIOC -#define SDIO_D3_PIN GPIO11 -#define SDIO_CK_PORT GPIOC -#define SDIO_CK_PIN GPIO12 -#define SDIO_CMD_PORT GPIOD -#define SDIO_CMD_PIN GPIO2 - -/* Onboard ADCs */ -#if USE_AD_TIM2 -#undef USE_AD_TIM2 // timer2 is used by the buzzer -#endif -#define USE_AD_TIM3 1 - -// Internal ADC used for board voltage level measurement -#ifndef USE_ADC_1 -#define USE_ADC_1 1 -#endif -#if USE_ADC_1 -#define AD1_1_CHANNEL 4 //ADC12_IN4 -#define ADC_1 AD1_1 -#define ADC_1_GPIO_PORT GPIOA -#define ADC_1_GPIO_PIN GPIO4 -#endif - -#ifndef USE_ADC_2 -#define USE_ADC_2 1 -#endif -#if USE_ADC_2 -#define AD1_2_CHANNEL 2 // ADC123_IN2 (--> IN2 corresponds to channel 2) -#define ADC_2 AD1_2 // ADC123 means it can be used by ADC 1 and 2 and 3 (the f4 supports 3 adc's), does not matter which. Each ADC can address 4 pins, so in this case we are using ADC 1, on its second pin. -#define ADC_2_GPIO_PORT GPIOA -#define ADC_2_GPIO_PIN GPIO2 -#endif - -#ifndef USE_ADC_3 -#define USE_ADC_3 1 -#endif -#if USE_ADC_3 -#define AD1_3_CHANNEL 3 // ADC123_IN3 -#define ADC_3 AD1_3 -#define ADC_3_GPIO_PORT GPIOA -#define ADC_3_GPIO_PIN GPIO3 -#endif - -//ADC_pin_RSSI_IN -#ifndef USE_ADC_4 -#define USE_ADC_4 1 -#endif -#if USE_ADC_4 -#define AD1_4_CHANNEL 11 // ADC123_IN11 -#define ADC_4 AD1_4 -#define ADC_4_GPIO_PORT GPIOC -#define ADC_4_GPIO_PIN GPIO1 -#endif - -/* Allow to define another ADC_CHANNEL_VSUPPLY in the airframe file */ -#ifndef ADC_CHANNEL_VSUPPLY - #define ADC_CHANNEL_VSUPPLY ADC_1 // Per default for the board to sense voltage (V) level via external sensor is via ADC_2 - #define DefaultVoltageOfAdc(adc) (10.5 * (float)adc) // FIXME: More precise value scale internal vdd to 5V -#else - #if USE_ADC_2 - #define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f) * 10.245f * (float)adc) // About the value scale for a common 3DR clone Power Brick - #else - #define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f) * 6.0f * (float)adc) // About the value scale for a common other sensor - #endif -#endif - -/* Allow to define another ADC for Current measurement in the airframe file */ -#ifndef ADC_CHANNEL_CURRENT -#define ADC_CHANNEL_CURRENT ADC_3 // Per default for the board to sense current (I) via external sensor is via ADC_3 -#endif - -#if USE_ADC_3 -#define DefaultMilliAmpereOfAdc(adc) (9.55 * ((float)adc))// Quite close to the value scale for a common 3DR clone Power Brick -#else -#define DefaultMilliAmpereOfAdc(adc) (0.1 * ((float)adc)) // FIXME: Value scale internal current use, for whatever it is useful -#endif - -#ifndef ADC_CHANNEL_RSSI -#define ADC_CHANNEL_RSSI ADC_4 -#endif - -/* I2C mapping */ -#define I2C1_GPIO_PORT GPIOB -#define I2C1_GPIO_SCL GPIO8 -#define I2C1_GPIO_SDA GPIO9 - -//Enable Onboard Barometer per default -#ifndef USE_BARO_BOARD -#define USE_BARO_BOARD 1 -#endif - -/* Another Magnetometer on board on R14 a HMC5983 on R15 ST ,so not the one in the IMU 9250*/ -//FIXME: better default option for use of maybe fuse data -#ifndef USE_MAGNETOMETER_B -#define USE_MAGNETOMETER_B 0 -#endif - -/* Default actuators driver */ -#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - -/* PWM */ -#define PWM_USE_TIM1 1 -#define PWM_USE_TIM4 1 - -//TODO: ifdef USE_SERVO6 for PPM out to e.g. servo extender board ... -// Basically a inter mcu Extra device ;) - -#define USE_PWM1 1 -#define USE_PWM2 1 -#define USE_PWM3 1 -#define USE_PWM4 1 -#define USE_PWM5 1 -#define USE_PWM6 1 - -/* Servo 1 */ -#if USE_PWM1 -#define PWM_SERVO_1 0 -#define PWM_SERVO_1_TIMER TIM1 -#define PWM_SERVO_1_GPIO GPIOE -#define PWM_SERVO_1_PIN GPIO14 -#define PWM_SERVO_1_AF GPIO_AF1 -#define PWM_SERVO_1_OC TIM_OC4 -#define PWM_SERVO_1_OC_BIT (1<<3) -#else -#define PWM_SERVO_1_OC_BIT 0 -#endif - -/* Servo 2 */ -#if USE_PWM2 -#define PWM_SERVO_2 1 -#define PWM_SERVO_2_TIMER TIM1 -#define PWM_SERVO_2_GPIO GPIOE -#define PWM_SERVO_2_PIN GPIO13 -#define PWM_SERVO_2_AF GPIO_AF1 -#define PWM_SERVO_2_OC TIM_OC3 -#define PWM_SERVO_2_OC_BIT (1<<2) -#else -#define PWM_SERVO_2_OC_BIT 0 -#endif - -/* Servo 3 */ -#if USE_PWM3 -#define PWM_SERVO_3 2 //#define PWM_SERVO_3_IDX 2 -#define PWM_SERVO_3_TIMER TIM1 -#define PWM_SERVO_3_GPIO GPIOE -#define PWM_SERVO_3_PIN GPIO11 -#define PWM_SERVO_3_AF GPIO_AF1 -#define PWM_SERVO_3_OC TIM_OC2 -#define PWM_SERVO_3_OC_BIT (1<<1) -#else -#define PWM_SERVO_3_OC_BIT 0 -#endif - -/* Servo 4 */ -#if USE_PWM4 -#define PWM_SERVO_4 3 -#define PWM_SERVO_4_TIMER TIM1 -#define PWM_SERVO_4_GPIO GPIOE -#define PWM_SERVO_4_PIN GPIO9 -#define PWM_SERVO_4_AF GPIO_AF1 -#define PWM_SERVO_4_OC TIM_OC1 -#define PWM_SERVO_4_OC_BIT (1<<0) -#else -#define PWM_SERVO_4_OC_BIT 0 -#endif - -/* Servo 5 */ -#if USE_PWM5 -#define PWM_SERVO_5 4 -#define PWM_SERVO_5_TIMER TIM4 -#define PWM_SERVO_5_GPIO GPIOD -#define PWM_SERVO_5_PIN GPIO13 -#define PWM_SERVO_5_AF GPIO_AF2 -#define PWM_SERVO_5_OC TIM_OC2 -#define PWM_SERVO_5_OC_BIT (1<<1) -#else -#define PWM_SERVO_5_OC_BIT 0 -#endif - -/* Servo 6 */ -#if USE_PWM6 -#define PWM_SERVO_6 5 -#define PWM_SERVO_6_TIMER TIM4 -#define PWM_SERVO_6_GPIO GPIOD -#define PWM_SERVO_6_PIN GPIO14 -#define PWM_SERVO_6_AF GPIO_AF2 -#define PWM_SERVO_6_OC TIM_OC3 -#define PWM_SERVO_6_OC_BIT (1<<2) -#else -#define PWM_SERVO_6_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_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT) - -/* - * PWM input, also could be used for - */ -// PWM_INPUT1 on TIM4 -#ifdef USE_PWM_INPUT1 -#define PWM_INPUT1_GPIO_PORT GPIOD -#define PWM_INPUT1_GPIO_PIN GPIO12 -#define PWM_INPUT1_GPIO_AF GPIO_AF2 - -#define PWM_INPUT1_TIMER TIM4 -#define PWM_INPUT1_CHANNEL_PERIOD TIM_IC1 -#define PWM_INPUT1_CHANNEL_DUTY TIM_IC2 -#define PWM_INPUT1_TIMER_INPUT TIM_IC_IN_TI1 -#define PWM_INPUT1_SLAVE_TRIG TIM_SMCR_TS_TI1FP1 -#define PWM_INPUT1_IRQ NVIC_TIM4_IRQ -#define PWM_INPUT1_CC_IE (TIM_DIER_CC1IE | TIM_DIER_CC2IE) -#define USE_PWM_INPUT_TIM4 TRUE - -#ifdef PWM_INPUT1_TICKS_PER_USEC -#define TIM4_TICKS_PER_USEC PWM_INPUT1_TICKS_PER_USEC -#endif -#define TIM4_PWM_INPUT_IDX 0 -#define TIM4_CC_IF_PERIOD TIM_SR_CC1IF -#define TIM4_CC_IF_DUTY TIM_SR_CC2IF -#define TIM4_CCR_PERIOD TIM4_CCR1 -#define TIM4_CCR_DUTY TIM4_CCR2 -#endif - -// PWM_INPUT2 on TIM? -//FIXME: Find some useful not often used pin to outside world... - -/* Ofboard LED Safety LED */ -#ifndef USE_LED_4 -#define USE_LED_4 1 -#endif -#define LED_4_GPIO GPIOC -#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) - -//#if USE_LED_4 -//#ifndef SAFETY_WARNING_LED -#define SAFETY_WARNING_LED 4 -//#endif -//#endif -// #define LED_SAFETY_GPIO_PORT LED_4_GPIO -// #define LED_SAFETY_GPIO_PIN LED_4_GPIO_PIN -// #define LED_SAFETY_GPIO_ON LED_4_GPIO_ON -// #define LED_SAFETY_GPIO_OFF LED_4_GPIO_OFF -// #define LED_SAFETY_AFIO_REMAP LED_4_AFIO_REMAP - -/* Safety Button */ -#define BUTTON_SAFETY_GPIO_PORT GPIOC -#define BUTTON_SAFETY_GPIO_PIN GPIO4 - -/* Buzzer (A.k.a. Alarm) */ -#if USE_BUZZER -#define PWM_BUZZER -#define PWM_BUZZER_TIMER TIM2 -#define PWM_BUZZER_GPIO GPIOA -#define PWM_BUZZER_PIN GPIO15 -#define PWM_BUZZER_AF GPIO_AF1 -#define PWM_BUZZER_OC TIM_OC1 -#define PWM_BUZZER_OC_BIT (1<<0) -#define PWM_TIM2_CHAN_MASK (PWM_BUZZER_OC_BIT) -#else -#define PWM_BUZZER_OC_BIT 0 -#endif - -#endif /* CONFIG_PX4FMU_4_0_H */ diff --git a/sw/airborne/boards/px4io_2.4.h b/sw/airborne/boards/px4io_2.4.h deleted file mode 100644 index fe66e95ecd..0000000000 --- a/sw/airborne/boards/px4io_2.4.h +++ /dev/null @@ -1,250 +0,0 @@ -#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 -// SBUS -#define UART3_GPIO_AF 0 -#define UART3_GPIO_PORT_RX GPIOB -#define UART3_GPIO_RX GPIO11 -#define UART3_GPIO_PORT_TX GPIOB -#define UART3_GPIO_TX GPIO10 - -/* - * Spektrum - */ -/* The line that is pulled low at power up to initiate the bind process */ -#define RADIO_CONTROL_POWER_PORT GPIOC -#define RADIO_CONTROL_POWER_PIN GPIO13 -#define RADIO_CONTROL_POWER_ON gpio_set -#define RADIO_CONTROL_POWER_OFF gpio_clear - -#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 "modules/actuators/actuators_pwm.h" -#define ActuatorDefaultSet ActuatorPwmSet -#define ActuatorsDefaultInit() ActuatorsPwmInit() -#define ActuatorsDefaultCommit() ActuatorsPwmCommit() - - -#endif /* CONFIG_PX4IO_2_4_H */ diff --git a/sw/tools/px4/px4io-v2.prototype b/sw/tools/px4/px4io-v2.prototype deleted file mode 100644 index 57589314f1..0000000000 --- a/sw/tools/px4/px4io-v2.prototype +++ /dev/null @@ -1,13 +0,0 @@ -{ - "board_id": 10, - "magic": "PX4FWv2", - "description": "Firmware for the PX4IOv2 board", - "image": "", - "build_time": 0, - "summary": "PX4IOv2", - "version": "2.0", - "image_size": 0, - "image_maxsize": 61440, - "git_identity": "", - "board_revision": 0 -}