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crazybee_f4_1.0.h
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1 /* Since there is atm no schematic of the board, many pin to pin io was deducted
2  * by measuring on the PCB.
3  * Not all, e.g. the Volt and Current values are measured for the moment
4  * Would be great if one could determine the resitor bridge true values
5  */
6 
7 #ifndef CONFIG_CRAZYBEE_F4_1_0_H
8 #define CONFIG_CRAZYBEE_F4_1_0_H
9 
10 #define BOARD_CRAZYBEE_F4_V1
11 
13 #define SYSTEM_MEMORY_BASE 0x1FFF0000
14 
16 #define EXT_CLK 8000000 // 8mHz
17 #define AHB_CLK 84000000
18 
20 /* Green LED on flight controller */
21 #ifndef USE_LED_1
22 #define USE_LED_1 1
23 #endif
24 #define LED_1_GPIO GPIOC
25 #define LED_1_GPIO_PIN GPIO13
26 #define LED_1_GPIO_ON gpio_clear
27 #define LED_1_GPIO_OFF gpio_set
28 #define LED_1_AFIO_REMAP ((void)0)
29 
30 /* Red/white RX LEDs */
31 /* Note: all LEDs are connected to a single pin */
32 #ifndef USE_LED_2
33 #define USE_LED_2 1
34 #endif
35 #define LED_2_GPIO GPIOB
36 #define LED_2_GPIO_PIN GPIO9
37 #define LED_2_GPIO_ON gpio_set
38 #define LED_2_GPIO_OFF gpio_clear
39 #define LED_2_AFIO_REMAP ((void)0)
40 
42 /* UART1 */
43 #define UART1_GPIO_AF GPIO_AF7
44 #define UART1_GPIO_PORT_TX GPIOA
45 #define UART1_GPIO_TX GPIO9
46 #define UART1_GPIO_PORT_RX GPIOA
47 #define UART1_GPIO_RX GPIO10
48 
49 /* UART2 */
50 //Can connect to built-in DSMX receiver is availabe on UART RX
51 //Not to be confused with DSMX over SPI, that is unrelated
52 #define UART2_GPIO_AF GPIO_AF7
53 #define UART2_GPIO_PORT_TX GPIOA
54 #define UART2_GPIO_TX GPIO2
55 #define UART2_GPIO_PORT_RX GPIOA
56 #define UART2_GPIO_RX GPIO3
57 
58 /* SBUS inverted on UARTx is a separate physical pad on the board
59  * To be used for an receiverv that gives an inverted SBUS out signal */
60 
61 /* FIXME: (re)setting UART based (e.g. Spektum) Serial RADIO_CONTROL_POWER_PORT
62 #define RADIO_CONTROL_POWER_PORT GPIOA
63 #define RADIO_CONTROL_POWER_PIN GPIO10
64 #define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted
65 #define RADIO_CONTROL_POWER_OFF gpio_set
66 */
67 
68 /* FIXME: Soft binding Spektrum */
69 /*
70 #define SPEKTRUM_UART2_RCC RCC_USART1 //But uard 2 if embedded CYRF chip Speksat can be on UART1
71 #define SPEKTRUM_UART2_BANK GPIOA
72 #define SPEKTRUM_UART2_PIN GPIO10
73 #define SPEKTRUM_UART2_AF GPIO_AF7
74 #define SPEKTRUM_UART2_IRQ NVIC_USART1_IRQ
75 #define SPEKTRUM_UART2_ISR usart1_isr
76 #define SPEKTRUM_UART2_DEV USART1
77 */
78 
79 /* FIXME to relate this to ifddefs of PPM config possibilities
80  */
81 #ifndef USE_LED_STRIP
82 #define USE_LED_STRIP 1
83 #endif
84 
85 #if USE_LED_STRIP
86 #define LED_STRIP_GPIO_PORT GPIOA
87 #define LED_STRIP_GPIO_PIN GPIO0
88 #endif
89 
90 /* PPM
91  *
92  * FIXME: Default is PPM config 1, alternative 2 is CPPM input on RX2 pin but
93  * than no UART RX at the same time, but a need for that scenario is unlikely anyhow
94  *
95  * Originaly intended for 2812LED board - DMA1_ST2
96  * Can be re- used for input to connect a receiver that outputs CPPM pulsestrain
97  */
98 
99 #ifndef PPM_CONFIG
100 #define PPM_CONFIG 1
101 #endif
102 
103 #ifdef PPM_CONFIG
104 #define USE_PPM_TIM5 1
105 #define PPM_CHANNEL TIM_IC1
106 #define PPM_TIMER_INPUT TIM_IC_IN_TI1
107 #define PPM_IRQ NVIC_TIM5_IRQ
108 //#define PPM_IRQ NVIC_TIM5_CC_IRQ
109 // Capture/Compare InteruptEnable and InterruptFlag
110 #define PPM_CC_IE TIM_DIER_CC1IE
111 #define PPM_CC_IF TIM_SR_CC1IF
112 #define PPM_GPIO_PORT GPIOA
113 #define PPM_GPIO_PIN GPIO0
114 #define PPM_GPIO_AF GPIO_AF2
115 
116 //#elif PPM_CONFIG == 2
118 //#define USE_PPM_TIM9 1
119 //#define PPM_CHANNEL TIM_IC2
120 //#define PPM_TIMER_INPUT TIM_IC_IN_TI2
121 //#define PPM_IRQ NVIC_TIM9_IRQ
123 //#define PPM_CC_IE TIM_DIER_CC2IE
124 //#define PPM_CC_IF TIM_SR_CC2IF
125 //#define PPM_GPIO_PORT GPIOA
126 //#define PPM_GPIO_PIN GPIO3
127 //#define PPM_GPIO_AF GPIO_AF3
129 //#else
130 //#error "Unknown PPM config"
131 
132 #endif // PPM_CONFIG
133 
135 /* SPI1 for MPU accel/gyro (MPU6000*/
136 #define SPI1_GPIO_AF GPIO_AF5
137 #define SPI1_GPIO_PORT_SCK GPIOA
138 #define SPI1_GPIO_SCK GPIO5
139 #define SPI1_GPIO_PORT_MISO GPIOA
140 #define SPI1_GPIO_MISO GPIO6
141 #define SPI1_GPIO_PORT_MOSI GPIOA
142 #define SPI1_GPIO_MOSI GPIO7
143 
144 /* SPI slave pin declaration ACC_GYRO_CS on SPI1 ICM 20609-G*/
145 #define SPI_SELECT_SLAVE0_PORT GPIOA
146 #define SPI_SELECT_SLAVE0_PIN GPIO4
147 
148 /* SPI2 for embedded OSD MAX chip*/
149 //#ifndef USE_MAX7456
150 //#define USE_MAX7456 0
151 //#endif
152 
153 //#if USE_MAX7456
154 #define SPI2_GPIO_AF GPIO_AF5 //TODO check datasheet
155 #define SPI2_GPIO_PORT_SCK GPIOB
156 #define SPI2_GPIO_SCK GPIO13
157 #define SPI2_GPIO_PORT_MISO GPIOB
158 #define SPI2_GPIO_MISO GPIO14
159 #define SPI2_GPIO_PORT_MOSI GPIOB
160 #define SPI2_GPIO_MOSI GPIO15
161 
162 /* SPI slave pin declaration OSD */
163 #define SPI_SELECT_SLAVE1_PORT GPIOB
164 #define SPI_SELECT_SLAVE1_PIN GPIO12
165 //#endif
166 
167 /* Used SPI3 for RX direct, if RX solution is implemented in AP */
168 #define SPI3_GPIO_AF GPIO_AF6
169 #define SPI3_GPIO_PORT_SCK GPIOB
170 #define SPI3_GPIO_SCK GPIO3
171 #define SPI3_GPIO_PORT_MISO GPIOB
172 #define SPI3_GPIO_MISO GPIO4
173 #define SPI3_GPIO_PORT_MOSI GPIOB
174 #define SPI3_GPIO_MOSI GPIO5
175 
176 /* SPI slave pin declaration for Receiver */
177 #define SPI_SELECT_SLAVE2_PORT GPIOA
178 #define SPI_SELECT_SLAVE2_PIN GPIO15
179 
180 /* GDO0 pin for receiver */
181 #define CC2500_GDO0_GPIO GPIOC
182 #define CC2500_GDO0_PIN GPIO14
183 
184 /* Bind button */
185 #define BIND_BUTTON_GPIO GPIOB
186 #define BIND_BUTTON_PIN GPIO2
187 
190 #define USE_AD_TIM1 1
191 
192 /* Voltage */
193 #ifndef USE_ADC_1
194 #define USE_ADC_1 1
195 #endif
196 
197 #if USE_ADC_1
198 #define AD1_1_CHANNEL 8
199 #define ADC_1 AD1_1
200 #define ADC_1_GPIO_PORT GPIOB
201 #define ADC_1_GPIO_PIN GPIO0
202 
203 #define ADC_CHANNEL_VSUPPLY ADC_1
204 #define DefaultVoltageOfAdc(adc) (0.009*adc)// TODO: determine 100% correct value
205 #endif
206 
207 /* Current */
208 #ifndef USE_ADC_2
209 #define USE_ADC_2 1
210 #endif
211 
212 #if USE_ADC_2
213 #define AD1_2_CHANNEL 9
214 #define ADC_2 AD1_2
215 #define ADC_2_GPIO_PORT GPIOB
216 #define ADC_2_GPIO_PIN GPIO1
217 
218 #define ADC_CHANNEL_CURRENT ADC_2
219 #define MilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)// TODO: determine 100% correct value
220 #endif
221 
222 /* TODO: Somehere on the board find PHiSICAL easily reachable I2C SDL SDA so to connect e.g. GNSS, Baro, Magneto
223  * TODO: Finish the I2C mapping if Pins found */
224 
225 //#define I2C1_GPIO_AF GPIO_AF4
226 //#define I2C1_GPIO_PORT GPIOB
227 //#define I2C1_GPIO_SCL GPIO8
228 //#define I2C1_GPIO_SDA GPIO9
229 
230 /* Default actuators driver */
231 #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
232 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
233 #define ActuatorsDefaultInit() ActuatorsPwmInit()
234 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
235 
236 /* PWM */
237 #define PWM_USE_TIM2 1
238 #define PWM_USE_TIM4 1
239 
240 #define USE_PWM1 1
241 #define USE_PWM2 1
242 #define USE_PWM3 1
243 #define USE_PWM4 1
244 
245 /* ESC 1 (B10, TIM2, CH3)*/
246 #if USE_PWM1
247 #define PWM_SERVO_1 0
248 #define PWM_SERVO_1_TIMER TIM2
249 #define PWM_SERVO_1_GPIO GPIOB
250 #define PWM_SERVO_1_PIN GPIO10
251 #define PWM_SERVO_1_AF GPIO_AF1
252 #define PWM_SERVO_1_OC TIM_OC3
253 #define PWM_SERVO_1_OC_BIT (1<<2)
254 #else
255 #define PWM_SERVO_1_OC_BIT 0
256 #endif
257 
258 /* ESC 2 (B6, TIM4, CH1)*/
259 #if USE_PWM2
260 #define PWM_SERVO_2 1
261 #define PWM_SERVO_2_TIMER TIM4
262 #define PWM_SERVO_2_GPIO GPIOB
263 #define PWM_SERVO_2_PIN GPIO6
264 #define PWM_SERVO_2_AF GPIO_AF2
265 #define PWM_SERVO_2_OC TIM_OC1
266 #define PWM_SERVO_2_OC_BIT (1<<0)
267 #else
268 #define PWM_SERVO_2_OC_BIT 0
269 #endif
270 
271 /* ESC 3 (B7, TIM4, CH2) */
272 #if USE_PWM3
273 #define PWM_SERVO_3 2
274 #define PWM_SERVO_3_TIMER TIM4
275 #define PWM_SERVO_3_GPIO GPIOB
276 #define PWM_SERVO_3_PIN GPIO7
277 #define PWM_SERVO_3_AF GPIO_AF2
278 #define PWM_SERVO_3_OC TIM_OC2
279 #define PWM_SERVO_3_OC_BIT (1<<1)
280 #else
281 #define PWM_SERVO_3_OC_BIT 0
282 #endif
283 
284 /* ESC 4 (B8, TIM4, CH3) */
285 #if USE_PWM4
286 #define PWM_SERVO_4 3
287 #define PWM_SERVO_4_TIMER TIM4
288 #define PWM_SERVO_4_GPIO GPIOB
289 #define PWM_SERVO_4_PIN GPIO8
290 #define PWM_SERVO_4_AF GPIO_AF2
291 #define PWM_SERVO_4_OC TIM_OC3
292 #define PWM_SERVO_4_OC_BIT (1<<2)
293 #else
294 #define PWM_SERVO_4_OC_BIT 0
295 #endif
296 
297 #define PWM_TIM2_CHAN_MASK (PWM_SERVO_1_OC_BIT)
298 #define PWM_TIM4_CHAN_MASK (PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)
299 
300 /* Buzzer (C15, inverted) */
301 #if USE_BUZZER
302 #define PWM_BUZZER
303 #define PWM_BUZZER_GPIO GPIOC
304 #define PWM_BUZZER_PIN GPI15
305 #define PWM_BUZZER_GPIO_ON gpio_clear
306 #define PWM_BUZZER_GPIO_OFF gpio_set
307 #endif
308 
309 #endif /* CONFIG_CRAZYBEE_F4_1_0_H */