Paparazzi UAS  v5.15_devel-111-g8fb4629
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booz_1.0.h
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1 #ifndef CONFIG_BOOZ2_V1_0_H
2 #define CONFIG_BOOZ2_V1_0_H
3 
4 /* Master oscillator freq. */
5 #define FOSC (12000000)
6 
7 /* PLL multiplier */
8 #define PLL_MUL (5)
9 
10 /* CPU clock freq. */
11 #define CCLK (FOSC * PLL_MUL)
12 
13 /* Peripheral bus speed mask 0x00->4, 0x01-> 1, 0x02 -> 2 */
14 #define PBSD_BITS 0x02
15 #define PBSD_VAL 2
16 
17 /* Peripheral bus clock freq. */
18 #define PCLK (CCLK / PBSD_VAL)
19 
20 /* Onboard LEDs */
21 #ifndef USE_LED_1
22 #define USE_LED_1 1
23 #endif
24 #define LED_1_BANK 1
25 #define LED_1_PIN 25
26 
27 #ifndef USE_LED_2
28 #define USE_LED_2 1
29 #endif
30 #define LED_2_BANK 1
31 #define LED_2_PIN 24
32 
33 #ifndef USE_LED_3
34 #define USE_LED_3 1
35 #endif
36 #define LED_3_BANK 1
37 #define LED_3_PIN 23
38 
39 #ifndef USE_LED_4
40 #define USE_LED_4 1
41 #endif
42 #define LED_4_BANK 1
43 #define LED_4_PIN 31
44 
45 #define POWER_SWITCH_GPIO GPIOB,GPIO18
46 
47 #define CAM_SWITCH_GPIO GPIOB,GPIO22
48 
49 /* PPM : rc rx on P0.28 ( CAP0.2 ) */
50 #define PPM_PINSEL PINSEL1
51 #define PPM_PINSEL_VAL 0x02
52 #define PPM_PINSEL_BIT 24
53 #define PPM_CRI TIR_CR2I
54 #define PPM_CCR_CRF TCCR_CR2_F
55 #define PPM_CCR_CRR TCCR_CR2_R
56 #define PPM_CCR_CRI TCCR_CR2_I
57 #define PPM_CR T0CR2
58 
59 
60 /* ADC */
61 
62 /* select P0.13 (ADC_SPARE) as AD1.4 for ADC_0 */
63 #define ADC_0 AdcBank1(4)
64 #if USE_ADC_0
65 #ifndef USE_AD1
66 #define USE_AD1
67 #endif
68 #define USE_AD1_4
69 #endif
70 
71 /* select P0.4 (SCK_0) as AD0.6 for ADC_1 */
72 #define ADC_1 AdcBank0(6)
73 #if USE_ADC_1
74 #ifndef USE_AD0
75 #define USE_AD0
76 #endif
77 #define USE_AD0_6
78 #endif
79 
80 /* select P0.5 (MISO_0) as AD0.7 for ADC_2 */
81 #define ADC_2 AdcBank0(7)
82 #if USE_ADC_2
83 #ifndef USE_AD0
84 #define USE_AD0
85 #endif
86 #define USE_AD0_7
87 #endif
88 
89 /* select P0.6 (MOSI_0) as AD1.0 for ADC_3 */
90 #define ADC_3 AdcBank1(0)
91 #if USE_ADC_3
92 #ifndef USE_AD1
93 #define USE_AD1
94 #endif
95 #define USE_AD1_0
96 #endif
97 
98 /* battery */
99 /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
100 #ifndef ADC_CHANNEL_VSUPPLY
101 #define ADC_CHANNEL_VSUPPLY AdcBank0(2)
102 #ifndef USE_AD0
103 #define USE_AD0
104 #endif
105 #define USE_AD0_2
106 #endif
107 
108 #define DefaultVoltageOfAdc(adc) (0.0183*adc)
109 
110 /* baro */
111 #define ADC_CHANNEL_BARO AdcBank1(2)
112 #ifndef USE_AD1
113 #define USE_AD1
114 #endif
115 #define USE_AD1_2
116 
117 
118 /* SPI slaves (IMU connector) */
119 #define SPI_SELECT_SLAVE0_PORT 0
120 #define SPI_SELECT_SLAVE0_PIN 20
121 #define SPI_SELECT_SLAVE0_PINSEL PINSEL1
122 #define SPI_SELECT_SLAVE0_PINSEL_BIT 8
123 #define SPI_SELECT_SLAVE0_PINSEL_VAL 0
124 
125 #define SPI_SELECT_SLAVE1_PORT 1
126 #define SPI_SELECT_SLAVE1_PIN 28
127 #define SPI_SELECT_SLAVE1_PINSEL PINSEL2
128 #define SPI_SELECT_SLAVE1_PINSEL_BIT 2
129 #define SPI_SELECT_SLAVE1_PINSEL_VAL 0
130 
131 
132 /* MAX1168 EOC pin (booz2 imu) */
133 #define MAX1168_EOC_PIN 16
134 #define MAX1168_EOC_PINSEL PINSEL1
135 #define MAX1168_EOC_PINSEL_BIT 0
136 #define MAX1168_EOC_PINSEL_VAL 1
137 #define MAX1168_EOC_EINT 0
138 #define MAX1168_EOC_VIC_IT VIC_EINT0
139 
140 
141 /* MS2100 EOC and reset pins (booz2 imu) */
142 #define MS2100_RESET_PIN 19
143 #define MS2100_RESET_IODIR IO1DIR
144 #define MS2100_RESET_IOSET IO1SET
145 #define MS2100_RESET_IOCLR IO1CLR
146 
147 #define MS2100_DRDY_PIN 30
148 #define MS2100_DRDY_PINSEL PINSEL1
149 #define MS2100_DRDY_PINSEL_BIT 28
150 #define MS2100_DRDY_PINSEL_VAL 2
151 #define MS2100_DRDY_EINT 3
152 #define MS2100_DRDY_VIC_IT VIC_EINT3
153 
154 
155 /* Servo definition for actruators_pwm driver */
156 
157 /* BOOZ PWM0 = PWM_SERVO_5 (driver) = PWM5 (lpc)
158  * on CAM connector */
159 #if USE_PWM0
160 #define PWM_SERVO_5 1
161 #define SERVO_REG_0 PWMMR5
162 #endif
163 
164 /* BOOZ PWM1 = PWM_SERVO_2 (driver) = PWM2 (lpc)
165  * on SPI connector */
166 #if USE_PWM1
167 #define PWM_SERVO_2 1
168 #define SERVO_REG_1 PWMMR2
169 #endif
170 
171 
172 /* by default enable onboard baro */
173 #ifndef USE_BARO_BOARD
174 #define USE_BARO_BOARD 1
175 #endif
176 
177 #endif /* CONFIG_BOOZ2_V1_0_H */