mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-04 13:55:40 +08:00
kevindehecker
244 lines
5.6 KiB
C
244 lines
5.6 KiB
C
#ifndef CONFIG_PX4IO_2_4_H
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#define CONFIG_PX4IO_2_4_H
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#define BOARD_PX4IO
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//STM32F103c8t6 (medium density!)
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/* Pixhawk board (PX4FIOv2 has a 24MHz external clock and 24MHz internal. */
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#define EXT_CLK 24000000 //this osc is actually outside of the specs (max 16MHz)
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#define AHB_CLK 24000000
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/*
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* LEDs
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*/
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/* blue led, a.k.a. ACT */
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#ifndef USE_LED_1
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#define USE_LED_1 1
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#endif
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#define LED_1_GPIO GPIOB
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#define LED_1_GPIO_PIN GPIO14
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#define LED_1_GPIO_ON gpio_clear
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#define LED_1_GPIO_OFF gpio_set
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#define LED_1_AFIO_REMAP ((void)0)
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//led Amber a.k.a b/e led
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#ifndef USE_LED_2
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#define USE_LED_2 1
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#endif
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#define LED_2_GPIO GPIOB
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#define LED_2_GPIO_PIN GPIO15
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#define LED_2_GPIO_ON gpio_clear
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#define LED_2_GPIO_OFF gpio_set
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#define LED_2_AFIO_REMAP ((void)0)
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//safety led in the switch, red
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#ifndef USE_LED_3
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#define USE_LED_3 1
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#endif
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#define LED_3_GPIO GPIOB
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#define LED_3_GPIO_PIN GPIO13
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#define LED_3_GPIO_ON gpio_clear
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#define LED_3_GPIO_OFF gpio_set
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#define LED_3_AFIO_REMAP ((void)0)
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//TODO: safety switch is on PB5!
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/*
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* UART
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*/
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// fmu debug / spektrum receiver (only rx)
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#define UART1_GPIO_AF 0
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#define UART1_GPIO_PORT_RX GPIOA
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#define UART1_GPIO_RX GPIO10
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#define UART1_GPIO_PORT_TX GPIOA
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#define UART1_GPIO_TX GPIO9
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// intermcu fmu
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#define UART2_GPIO_AF 0
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#define UART2_GPIO_PORT_RX GPIOA
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#define UART2_GPIO_RX GPIO3
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#define UART2_GPIO_PORT_TX GPIOA
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#define UART2_GPIO_TX GPIO2
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/*
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* Spektrum
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*/
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/* The line that is pulled low at power up to initiate the bind process */
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#define SPEKTRUM_POWER_PIN_PORT GPIOC
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#define SPEKTRUM_POWER_PIN GPIO13
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#define SPEKTRUM_TIMER 3
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#define SPEKTRUM_UART1_RCC RCC_USART1
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#define SPEKTRUM_UART1_BANK GPIOA
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#define SPEKTRUM_UART1_PIN GPIO10
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#define SPEKTRUM_UART1_AF 0
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#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
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#define SPEKTRUM_UART1_ISR usart1_isr
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#define SPEKTRUM_UART1_DEV USART1
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/*
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* PPM input
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*/
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#define USE_PPM_TIM1 1
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#define PPM_CHANNEL TIM_IC1
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#define PPM_TIMER_INPUT TIM_IC_IN_TI1
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#define PPM_IRQ NVIC_TIM1_UP_IRQ
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#define PPM_IRQ2 NVIC_TIM1_CC_IRQ
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// Capture/Compare InteruptEnable and InterruptFlag
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#define PPM_CC_IE TIM_DIER_CC1IE
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#define PPM_CC_IF TIM_SR_CC1IF
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#define PPM_GPIO_PORT GPIOA
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#define PPM_GPIO_PIN GPIO8
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#define PPM_GPIO_AF 0
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//#define USE_AD_TIM1 1
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#ifndef USE_ADC_1
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#define USE_ADC_1 0
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#endif
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#if USE_ADC_1 // VDD servo ADC12_IN4, untested
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#define AD1_1_CHANNEL 12
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#define ADC_1 AD1_4
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#define ADC_1_GPIO_PORT GPIOA
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#define ADC_1_GPIO_PIN GPIO4
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#endif
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/*
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* PWM
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*
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*/
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//sevo outputs on px4io f1:
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//chn: 1 2 3 4 5 6 7 8
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//pin: A0 A1 B8 B9 A6 A7 B0 B1
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//timer/channel: 2/1 2/2 4/3 4/4 3/1 3/2 3/3 3/4
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#define PWM_USE_TIM2 1
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//#define PWM_USE_TIM3 1 // spektrum already uses tim3
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#define PWM_USE_TIM4 1
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//#define ACTUATORS_PWM_NB 4
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#define USE_PWM1 1
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#define USE_PWM2 1
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#define USE_PWM3 1
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#define USE_PWM4 1
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//#define USE_PWM5 1
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//#define USE_PWM6 1
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//#define USE_PWM7 1
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//#define USE_PWM8 1
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// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
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#if USE_PWM1
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#define PWM_SERVO_1 0
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#define PWM_SERVO_1_TIMER TIM2
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#define PWM_SERVO_1_GPIO GPIOA
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#define PWM_SERVO_1_PIN GPIO0
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#define PWM_SERVO_1_AF 0
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#define PWM_SERVO_1_OC TIM_OC1
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#define PWM_SERVO_1_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_1_OC_BIT 0
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#endif
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#if USE_PWM2
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#define PWM_SERVO_2 1
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#define PWM_SERVO_2_TIMER TIM2
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#define PWM_SERVO_2_GPIO GPIOA
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#define PWM_SERVO_2_PIN GPIO1
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#define PWM_SERVO_2_AF 0
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#define PWM_SERVO_2_OC TIM_OC2
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#define PWM_SERVO_2_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_2_OC_BIT 0
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#endif
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#if USE_PWM3
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#define PWM_SERVO_3 2
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#define PWM_SERVO_3_TIMER TIM4
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#define PWM_SERVO_3_GPIO GPIOB
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#define PWM_SERVO_3_PIN GPIO8
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#define PWM_SERVO_3_AF 0
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#define PWM_SERVO_3_OC TIM_OC3
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#define PWM_SERVO_3_OC_BIT (1<<2)
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#else
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#define PWM_SERVO_3_OC_BIT 0
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#endif
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#if USE_PWM4
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#define PWM_SERVO_4 3
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#define PWM_SERVO_4_TIMER TIM4
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#define PWM_SERVO_4_GPIO GPIOB
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#define PWM_SERVO_4_PIN GPIO9
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#define PWM_SERVO_4_AF 0
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#define PWM_SERVO_4_OC TIM_OC4
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#define PWM_SERVO_4_OC_BIT (1<<3)
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#else
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#define PWM_SERVO_4_OC_BIT 0
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#endif
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#if USE_PWM5
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#define PWM_SERVO_5 4
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#define PWM_SERVO_5_TIMER TIM3
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#define PWM_SERVO_5_GPIO GPIOA
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#define PWM_SERVO_5_PIN GPIO6
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#define PWM_SERVO_5_AF 0
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#define PWM_SERVO_5_OC TIM_OC1
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#define PWM_SERVO_5_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_5_OC_BIT 0
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#endif
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#if USE_PWM6
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#define PWM_SERVO_6 5
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#define PWM_SERVO_6_TIMER TIM3
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#define PWM_SERVO_6_GPIO GPIOA
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#define PWM_SERVO_6_PIN GPIO7
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#define PWM_SERVO_6_AF 0
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#define PWM_SERVO_6_OC TIM_OC2
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#define PWM_SERVO_6_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_6_OC_BIT 0
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#endif
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#if USE_PWM7
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#define PWM_SERVO_7 6
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#define PWM_SERVO_7_TIMER TIM3
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#define PWM_SERVO_7_GPIO GPIOB
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#define PWM_SERVO_7_PIN GPIO0
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#define PWM_SERVO_7_AF 0
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#define PWM_SERVO_7_OC TIM_OC3
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#define PWM_SERVO_7_OC_BIT (1<<2)
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#else
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#define PWM_SERVO_7_OC_BIT 0
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#endif
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#if USE_PWM8
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#define PWM_SERVO_8 7
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#define PWM_SERVO_8_TIMER TIM3
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#define PWM_SERVO_8_GPIO GPIOB
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#define PWM_SERVO_8_PIN GPIO1
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#define PWM_SERVO_8_AF 0
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#define PWM_SERVO_8_OC TIM_OC4
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#define PWM_SERVO_8_OC_BIT (1<<3)
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#else
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#define PWM_SERVO_8_OC_BIT 0
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#endif
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/* servos 1-2 on TIM2 */
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#define PWM_TIM2_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT)
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/* servos 3-4 on TIM4 */
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#define PWM_TIM4_CHAN_MASK (PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)
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/* servos 5-8 on TIM3 */
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//#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)
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/* Default actuators driver */
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#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
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#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
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#define ActuatorsDefaultInit() ActuatorsPwmInit()
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#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
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#endif /* CONFIG_PX4IO_2_4_H */
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