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https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Open UAS
412 lines
11 KiB
C
412 lines
11 KiB
C
#ifndef CONFIG_PX4FMU_4_0_H
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#define CONFIG_PX4FMU_4_0_H
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#define BOARD_PX4FMU_V4
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/* PX4FMU_V4 a.k.a. Pixracer board has a 24MHz external clock and 168MHz internal. */
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/* STM32F4 STM32F427VIT6 */
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#define EXT_CLK 24000000
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#define AHB_CLK 168000000
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//#define STM32F4 //to debug ADC on F4 does no work
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//#define ADC_SAMPLE_TIME ADC_SMPR_SMP_56CYC //to debug ADC on F4 does no work
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/* On PCB there is a Multicolor LED */
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/* Red */
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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 GPIO11
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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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/* Green */
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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 GPIO1
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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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/* Blue */
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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 GPIO3
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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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/* On PCB other LEDs */
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/* The Green Pixracer Power LED in not controllable, not on a MCU pin */
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/* UART SCHTUFFFF*/
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/* -WiFi ESP Connector, it is just a serial port*/
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//TODO: Test
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#define UART1_GPIO_AF GPIO_AF7
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#define UART1_GPIO_PORT_RX GPIOB
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#define UART1_GPIO_RX GPIO7
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#define UART1_GPIO_PORT_TX GPIOB
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#define UART1_GPIO_TX GPIO6
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/* -TELEM1 Connector */
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#define UART2_GPIO_AF GPIO_AF7
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#define UART2_GPIO_PORT_RX GPIOD
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#define UART2_GPIO_RX GPIO6
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#define UART2_GPIO_PORT_TX GPIOD
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#define UART2_GPIO_TX GPIO5
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#define UART2_GPIO_PORT_CTS GPIOD
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#define UART2_GPIO_CTS GPIO3
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#define UART2_GPIO_PORT_RTS GPIOD
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#define UART2_GPIO_RTS GPIO4
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/* -TELEM2 Connector */
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#define UART3_GPIO_AF GPIO_AF7
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#define UART3_GPIO_PORT_RX GPIOD
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#define UART3_GPIO_RX GPIO9
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#define UART3_GPIO_PORT_TX GPIOD
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#define UART3_GPIO_TX GPIO8
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#define UART3_GPIO_PORT_CTS GPIOD
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#define UART3_GPIO_CTS GPIO11
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#define UART3_GPIO_PORT_RTS GPIOD
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#define UART3_GPIO_RTS GPIO12
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/* -GPS Connector */
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#define UART4_GPIO_AF GPIO_AF8
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#define UART4_GPIO_PORT_RX GPIOA
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#define UART4_GPIO_RX GPIO1
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#define UART4_GPIO_PORT_TX GPIOA
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#define UART4_GPIO_TX GPIO0
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/* e.g. for a Spektrum satellite receiver rx only)*/
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#define UART6_GPIO_AF GPIO_AF8
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#define UART6_GPIO_PORT_RX GPIOC
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#define UART6_GPIO_RX GPIO7
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/* Serial Debugging Connector, not used with PPRZ as of now, use JTAG, can be put to other good use */
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#define UART7_GPIO_AF GPIO_AF8
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#define UART7_GPIO_PORT_RX GPIOE
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#define UART7_GPIO_RX GPIO7
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#define UART7_GPIO_PORT_TX GPIOE
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#define UART7_GPIO_TX GPIO8
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/* Connector -FRS FrSky */
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//TODO: Test
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#define UART8_GPIO_AF GPIO_AF8
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#define UART8_GPIO_PORT_RX GPIOE
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#define UART8_GPIO_RX GPIO0
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#define UART8_GPIO_PORT_TX GPIOE
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#define UART8_GPIO_TX GPIO1
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/* Soft binding Spektrum */
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//TODO: Test and or FIXME:
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#define RADIO_CONTROL_POWER_PORT GPIOE
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#define RADIO_CONTROL_POWER_PIN GPIO4 //SPEKTRUM POWER
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#define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted
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#define RADIO_CONTROL_POWER_OFF gpio_set
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//A receiver on powered on 3.3v
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#define PERIPHERAL3V3_ENABLE_PORT GPIOC //VDD_3V3_PERIPHERAL_EN
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#define PERIPHERAL3V3_ENABLE_PIN GPIO5
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#define PERIPHERAL3V3_ENABLE_ON gpio_set
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#define PERIPHERAL3V3_ENABLE_OFF gpio_clear
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/* Turn SBUS invert */
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//TODO: Test
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#define RC_POLARITY_GPIO_PORT GPIOC
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#define RC_POLARITY_GPIO_PIN GPIO13
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#define SPEKTRUM_UART6_RCC RCC_USART6
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#define SPEKTRUM_UART6_BANK GPIOC
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#define SPEKTRUM_UART6_PIN GPIO7
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#define SPEKTRUM_UART6_AF GPIO_AF8
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#define SPEKTRUM_UART6_IRQ NVIC_USART6_IRQ
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#define SPEKTRUM_UART6_ISR usart6_isr
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#define SPEKTRUM_UART6_DEV USART6
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/* SPI */
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/* SPI1 for MPU and extra accel/gyro/mag */
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#define SPI1_GPIO_AF GPIO_AF5
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#define SPI1_GPIO_PORT_MISO GPIOA
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#define SPI1_GPIO_MISO GPIO6
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#define SPI1_GPIO_PORT_MOSI GPIOA
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#define SPI1_GPIO_MOSI GPIO7
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#define SPI1_GPIO_PORT_SCK GPIOA
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#define SPI1_GPIO_SCK GPIO5
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/* SPI2 for FRAM, connects to BARO */
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#define SPI2_GPIO_AF GPIO_AF5
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#define SPI2_GPIO_PORT_MISO GPIOB
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#define SPI2_GPIO_MISO GPIO14
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#define SPI2_GPIO_PORT_MOSI GPIOB
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#define SPI2_GPIO_MOSI GPIO15
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#define SPI2_GPIO_PORT_SCK GPIOB
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#define SPI2_GPIO_SCK GPIO10
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/*
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* SPI slave pin declaration
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*/
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/* note :
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Active-Low Push-Pull Data-Ready Output. DRDY goes low when a new conversion result is available in the data register.
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When a read-operation of an RTD resistance data register occurs, DRDY returns high.
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*/
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/*
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* SPI slave pin declaration
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*/
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//So use best spec'd sensors as second or ref the other or determine it on task type?
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/* EXTRA ACC_GYRO_CS on SPI1 ICM 20609-G*/
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// TODO: Make it useful
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#define SPI_SELECT_SLAVE0_PORT GPIOC
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#define SPI_SELECT_SLAVE0_PIN GPIO15
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/* EXTRA_MAG_CS on SPI1 HMC5983*/
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//See https://docs.google.com/spreadsheets/d/1gVlKZBvRNTXldoxTXwipGaaHmtF9DNPaftDrzKA47mM/edit#gid=0
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#define SPI_SELECT_SLAVE1_PORT GPIOE
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#define SPI_SELECT_SLAVE1_PIN GPIO15
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/* MDL */
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// FIXME: Test n fix or emoveal
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//#define SPI_SELECT_SLAVE1_PORT GPIOE
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//#define SPI_SELECT_SLAVE1_PIN GPIO15
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/* MPU_9250_CS on SPI1 */
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#define SPI_SELECT_SLAVE2_PORT GPIOC
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#define SPI_SELECT_SLAVE2_PIN GPIO2
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/* MS5611 BARO_CS on SPI2 - FRAM*/
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#define SPI_SELECT_SLAVE3_PORT GPIOD
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#define SPI_SELECT_SLAVE3_PIN GPIO7
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/* FRAM on SPI2 */
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#define SPI_SELECT_SLAVE4_PORT GPIOD
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#define SPI_SELECT_SLAVE4_PIN GPIO10
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/* SPI3 NSS on microSD connector */
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//FIXME: not tested
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//#define SPI_SELECT_SLAVE5_PORT GPIOA
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//#define SPI_SELECT_SLAVE5_PIN GPIO4
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/* SDIO to microSD card connector */
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//FIXME: Fix and test
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#define SDIO_AF GPIO_AF12
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#define SDIO_D0_PORT GPIOC
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#define SDIO_D0_PIN GPIO8
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#define SDIO_D1_PORT GPIOC
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#define SDIO_D1_PIN GPIO9
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#define SDIO_D2_PORT GPIOC
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#define SDIO_D2_PIN GPIO10
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#define SDIO_D3_PORT GPIOC
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#define SDIO_D3_PIN GPIO11
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#define SDIO_CK_PORT GPIOC
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#define SDIO_CK_PIN GPIO12
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#define SDIO_CMD_PORT GPIOD
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#define SDIO_CMD_PIN GPIO2
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/* Onboard ADCs */
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#if USE_AD_TIM2
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#undef USE_AD_TIM2 // timer2 is used by the buzzer
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#endif
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#define USE_AD_TIM3 1
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// Internal ADC for voltage level measurement
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////FIXME: test and fix if still not working
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#ifndef USE_ADC_1
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#define USE_ADC_1 1
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#endif
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#if USE_ADC_1
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#define AD1_1_CHANNEL 4 //ADC12_IN4
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#define ADC_1 AD1_1
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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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// Per default for the board to sense voltage level via external sensor on ADC
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//FIXME: test and fix if still not working
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#ifndef USE_ADC_2
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#define USE_ADC_2 1
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#endif
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#if USE_ADC_2
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#define AD1_2_CHANNEL 2 // ADC123_IN2 (--> IN2 corresponds to channel 2)
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#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.
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#define ADC_2_GPIO_PORT GPIOA
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#define ADC_2_GPIO_PIN GPIO2
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#endif
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// Per default for the board to sense current via external sensor on ADC
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#ifndef USE_ADC_3
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#define USE_ADC_3 1
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#endif
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#if USE_ADC_3
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#define AD1_3_CHANNEL 3 // ADC123_IN3
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#define ADC_3 AD1_3
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#define ADC_3_GPIO_PORT GPIOA
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#define ADC_3_GPIO_PIN GPIO3
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#endif
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#define MilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f) //TODO: test if valid
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/* Allow to define ADC_CHANNEL_VSUPPLY in the airframe file */
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#ifndef ADC_CHANNEL_VSUPPLY
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#define ADC_CHANNEL_VSUPPLY ADC_2
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#endif
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/* Allow to define another ADC for Current measurement in the airframe file */
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#ifndef ADC_CHANNEL_CURRENT
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#define ADC_CHANNEL_CURRENT ADC_3
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#endif
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//??FT = Five-volt tolerant. In order to sustain a voltage higher than VDD+0.3 the internal pull-up/pull-down resistors must be disabled.
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//FIXME: Determine best stock values
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#if USE_ADC_2
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#define DefaultVoltageOfAdc(adc) (0.004f * (float)adc) // FIXME: Value scale for a common PowerBrick
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#else
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#define DefaultVoltageOfAdc(adc) (0.004f * (float)adc) // FIXME: Value scale internal vdd to 5V
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#endif
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/* I2C mapping */
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#define I2C1_GPIO_PORT GPIOB
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#define I2C1_GPIO_SCL GPIO8
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#define I2C1_GPIO_SDA GPIO9
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//Onboard Barometer
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#ifndef USE_BARO_BOARD
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#define USE_BARO_BOARD 1
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#endif
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/* Another Magnetometer on board a HMC5983 not the one in the IMU 9250*/
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//FIXME: better default option for use of maybe fuse data
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#ifndef USE_MAGNETOMETER_B
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#define USE_MAGNETOMETER_B 0
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#endif
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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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/* PWM */
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#define PWM_USE_TIM1 1
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#define PWM_USE_TIM4 1
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//TODO: ifdef USE_SERVO6 for PPM out to e.g. servo extender board ...
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// Basically a inter mcu Extra device;)
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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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/* Servo 1 */
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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 TIM1
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#define PWM_SERVO_1_GPIO GPIOE
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#define PWM_SERVO_1_PIN GPIO14
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#define PWM_SERVO_1_AF GPIO_AF1
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#define PWM_SERVO_1_OC TIM_OC4
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#define PWM_SERVO_1_OC_BIT (1<<3)
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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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/* Servo 2 */
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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 TIM1
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#define PWM_SERVO_2_GPIO GPIOE
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#define PWM_SERVO_2_PIN GPIO13
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#define PWM_SERVO_2_AF GPIO_AF1
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#define PWM_SERVO_2_OC TIM_OC3
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#define PWM_SERVO_2_OC_BIT (1<<2)
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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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/* Servo 3 */
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#if USE_PWM3
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#define PWM_SERVO_3 2 //#define PWM_SERVO_3_IDX 2
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#define PWM_SERVO_3_TIMER TIM1
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#define PWM_SERVO_3_GPIO GPIOE
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#define PWM_SERVO_3_PIN GPIO11
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#define PWM_SERVO_3_AF GPIO_AF1
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#define PWM_SERVO_3_OC TIM_OC2
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#define PWM_SERVO_3_OC_BIT (1<<1)
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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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/* Servo 4 */
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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 TIM1
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#define PWM_SERVO_4_GPIO GPIOE
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#define PWM_SERVO_4_PIN GPIO9
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#define PWM_SERVO_4_AF GPIO_AF1
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#define PWM_SERVO_4_OC TIM_OC1
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#define PWM_SERVO_4_OC_BIT (1<<0)
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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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/* Servo 5 */
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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 TIM4
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#define PWM_SERVO_5_GPIO GPIOD
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#define PWM_SERVO_5_PIN GPIO13
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#define PWM_SERVO_5_AF GPIO_AF2
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#define PWM_SERVO_5_OC TIM_OC2
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#define PWM_SERVO_5_OC_BIT (1<<1)
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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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/* Servo 6 */
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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 TIM4
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#define PWM_SERVO_6_GPIO GPIOD
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#define PWM_SERVO_6_PIN GPIO14
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#define PWM_SERVO_6_AF GPIO_AF2
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#define PWM_SERVO_6_OC TIM_OC3
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#define PWM_SERVO_6_OC_BIT (1<<2)
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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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#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)
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#define PWM_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
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/* Buzzer (A.k.a. Alarm) */
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//TODO: Test
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#if USE_BUZZER
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#define PWM_BUZZER
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#define PWM_BUZZER_TIMER TIM2
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#define PWM_BUZZER_GPIO GPIOA
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#define PWM_BUZZER_PIN GPIO15
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#define PWM_BUZZER_AF GPIO_AF1
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#define PWM_BUZZER_OC TIM_OC1
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#define PWM_BUZZER_OC_BIT (1<<0)
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#define PWM_TIM2_CHAN_MASK (PWM_BUZZER_OC_BIT)
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#else
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#define PWM_BUZZER_OC_BIT 0
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#endif
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#endif /* CONFIG_PX4FMU_4_0_H */
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