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krooz_sd.h
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1 #ifndef CONFIG_KROOZ_SD_H
2 #define CONFIG_KROOZ_SD_H
3 
4 #define BOARD_KROOZ
5 
6 /* KroozSD has a 12MHz external clock and 168MHz internal. */
7 #define EXT_CLK 12000000
8 #define AHB_CLK 168000000
9 
10 /*
11  * Onboard LEDs
12  */
13 
14 /* red, on PA8 */
15 #ifndef USE_LED_1
16 #define USE_LED_1 1
17 #endif
18 #define LED_1_GPIO GPIOA
19 #define LED_1_GPIO_PIN GPIO13
20 #define LED_1_GPIO_ON gpio_clear
21 #define LED_1_GPIO_OFF gpio_set
22 #define LED_1_AFIO_REMAP ((void)0)
23 
24 /* green, shared with JTAG_TRST */
25 #ifndef USE_LED_2
26 #define USE_LED_2 1
27 #endif
28 #define LED_2_GPIO GPIOA
29 #define LED_2_GPIO_PIN GPIO14
30 #define LED_2_GPIO_ON gpio_clear
31 #define LED_2_GPIO_OFF gpio_set
32 #define LED_2_AFIO_REMAP ((void)0)
33 
34 /* green, shared with ADC12 (ADC_6 on connector ANALOG2) */
35 #ifndef USE_LED_3
36 #define USE_LED_3 1
37 #endif
38 #define LED_3_GPIO GPIOA
39 #define LED_3_GPIO_PIN GPIO15
40 #define LED_3_GPIO_ON gpio_clear
41 #define LED_3_GPIO_OFF gpio_set
42 #define LED_3_AFIO_REMAP ((void)0)
43 
44 /*
45  * not actual LEDS, used as GPIOs
46  */
47 
48 /* PB4, Camera power On/Off */
49 #define CAM_SW_GPIO GPIOB
50 #define CAM_SW_GPIO_CLK RCC_GPIOB
51 #define CAM_SW_GPIO_PIN GPIO4
52 #define CAM_SW_AFIO_REMAP ((void)0)
53 
54 /* PC2, Camera shot */
55 #define CAM_SH_GPIO GPIOC
56 #define CAM_SH_GPIO_CLK RCC_GPIOC
57 #define CAM_SH_GPIO_PIN GPIO2
58 #define CAM_SH_AFIO_REMAP ((void)0)
59 
60 /* PC15, Camera video */
61 #define CAM_V_GPIO GPIOC
62 #define CAM_V_GPIO_CLK RCC_GPIOC
63 #define CAM_V_GPIO_PIN GPIO15
64 #define CAM_V_AFIO_REMAP ((void)0)
65 
66 #define BEEPER_GPIO GPIOC
67 #define BEEPER_GPIO_CLK RCC_GPIOC
68 #define BEEPER_GPIO_PIN GPIO14
69 #define BEEPER_AFIO_REMAP ((void)0)
70 
71 
72 /* Default actuators driver */
73 #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
74 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
75 #define ActuatorsDefaultInit() ActuatorsPwmInit()
76 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
77 
78 #define DefaultVoltageOfAdc(adc) (0.008874*adc)
79 
80 /* UART */
81 #define UART1_GPIO_AF GPIO_AF7
82 #define UART1_GPIO_PORT_RX GPIOA
83 #define UART1_GPIO_RX GPIO10
84 #define UART1_GPIO_PORT_TX GPIOA
85 #define UART1_GPIO_TX GPIO9
86 
87 #define UART3_GPIO_AF GPIO_AF7
88 #define UART3_GPIO_PORT_RX GPIOC
89 #define UART3_GPIO_RX GPIO11
90 #define UART3_GPIO_PORT_TX GPIOC
91 #define UART3_GPIO_TX GPIO10
92 
93 #define UART5_GPIO_AF GPIO_AF8
94 #define UART5_GPIO_PORT_RX GPIOD
95 #define UART5_GPIO_RX GPIO2
96 #define UART5_GPIO_PORT_TX GPIOC
97 #define UART5_GPIO_TX GPIO12
98 
99 /* SPI */
100 #define SPI1_GPIO_AF GPIO_AF5
101 #define SPI1_GPIO_PORT_MISO GPIOA
102 #define SPI1_GPIO_MISO GPIO6
103 #define SPI1_GPIO_PORT_MOSI GPIOA
104 #define SPI1_GPIO_MOSI GPIO7
105 #define SPI1_GPIO_PORT_SCK GPIOA
106 #define SPI1_GPIO_SCK GPIO5
107 
108 #define SPI2_GPIO_AF GPIO_AF5
109 #define SPI2_GPIO_PORT_MISO GPIOB
110 #define SPI2_GPIO_MISO GPIO14
111 #define SPI2_GPIO_PORT_MOSI GPIOB
112 #define SPI2_GPIO_MOSI GPIO15
113 #define SPI2_GPIO_PORT_SCK GPIOB
114 #define SPI2_GPIO_SCK GPIO13
115 
116 #define SPI_SELECT_SLAVE0_PORT GPIOA
117 #define SPI_SELECT_SLAVE0_PIN GPIO4
118 #define SPI_SELECT_SLAVE1_PORT GPIOB
119 #define SPI_SELECT_SLAVE1_PIN GPIO12
120 #define SPI_SELECT_SLAVE2_PORT GPIOB
121 #define SPI_SELECT_SLAVE2_PIN GPIO2
122 
123 /* I2C mapping */
124 #define I2C1_GPIO_PORT GPIOB
125 #define I2C1_GPIO_SCL GPIO8
126 #define I2C1_GPIO_SDA GPIO9
127 
128 #define I2C2_GPIO_PORT GPIOB
129 #define I2C2_GPIO_SCL GPIO10
130 #define I2C2_GPIO_SDA GPIO11
131 
132 #define I2C3_GPIO_PORT_SCL GPIOA
133 #define I2C3_GPIO_PORT_SDA GPIOC
134 #define I2C3_GPIO_SCL GPIO8
135 #define I2C3_GPIO_SDA GPIO9
136 
137 /* Onboard ADCs */
138 #define USE_AD_TIM1 1
139 
140 /* provide defines that can be used to access the ADC_x in the code or airframe file
141  * these directly map to the index number of the 4 adc channels defined above
142  * 4th (index 3) is used for bat monitoring by default
143  */
144 /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
145 #ifndef ADC_CHANNEL_VSUPPLY
146 #define ADC_CHANNEL_VSUPPLY ADC_4
147 #endif
148 
149 #define ADC_CHANNEL_CAM1 ADC_1
150 
151 /* provide defines that can be used to access the ADC_x in the code or airframe file
152  * these directly map to the index number of the 4 adc channels defined above
153  * 4th (index 3) is used for bat monitoring by default
154  */
155 #if USE_ADC_1
156 #define AD1_1_CHANNEL 12
157 #define ADC_1 AD1_1
158 #define ADC_1_GPIO_PORT GPIOC
159 #define ADC_1_GPIO_PIN GPIO2
160 #endif
161 
162 #if USE_ADC_2
163 #define AD1_2_CHANNEL 10
164 #define ADC_2 AD1_2
165 #define ADC_2_GPIO_PORT GPIOC
166 #define ADC_2_GPIO_PIN GPIO0
167 #endif
168 
169 #if USE_ADC_3
170 #define AD1_3_CHANNEL 11
171 #define ADC_3 AD1_3
172 #define ADC_3_GPIO_PORT GPIOC
173 #define ADC_3_GPIO_PIN GPIO1
174 #endif
175 
176 // Internal ADC for battery enabled by default
177 #ifndef USE_ADC_4
178 #define USE_ADC_4 1
179 #endif
180 #if USE_ADC_4
181 #define AD1_4_CHANNEL 13
182 #define ADC_4 AD1_4
183 #define ADC_4_GPIO_PORT GPIOC
184 #define ADC_4_GPIO_PIN GPIO3
185 #endif
186 
187 
188 /* by default activate onboard baro */
189 #ifndef USE_BARO_BOARD
190 #define USE_BARO_BOARD 1
191 #endif
192 
193 
194 /* PWM */
195 #define PWM_USE_TIM3 1
196 #define PWM_USE_TIM4 1
197 #define PWM_USE_TIM5 1
198 
199 #define USE_PWM0 1
200 #define USE_PWM1 1
201 #define USE_PWM2 1
202 #define USE_PWM3 1
203 #define USE_PWM4 1
204 #define USE_PWM5 1
205 #define USE_PWM6 1
206 #define USE_PWM7 1
207 #define USE_PWM8 1
208 #define USE_PWM9 1
209 //#define USE_PWM10 1
210 
211 #if USE_PWM10
212 #define ACTUATORS_PWM_NB 11
213 #define PWM_USE_TIM2 1
214 #else
215 #define ACTUATORS_PWM_NB 10
216 #endif
217 
218 // PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
219 #if USE_PWM0
220 #define PWM_SERVO_0 0
221 #define PWM_SERVO_0_TIMER TIM3
222 #define PWM_SERVO_0_GPIO GPIOB
223 #define PWM_SERVO_0_PIN GPIO1
224 #define PWM_SERVO_0_AF GPIO_AF2
225 #define PWM_SERVO_0_OC TIM_OC4
226 #define PWM_SERVO_0_OC_BIT (1<<3)
227 #else
228 #define PWM_SERVO_0_OC_BIT 0
229 #endif
230 
231 #if USE_PWM1
232 #define PWM_SERVO_1 1
233 #define PWM_SERVO_1_TIMER TIM3
234 #define PWM_SERVO_1_GPIO GPIOC
235 #define PWM_SERVO_1_PIN GPIO8
236 #define PWM_SERVO_1_AF GPIO_AF2
237 #define PWM_SERVO_1_OC TIM_OC3
238 #define PWM_SERVO_1_OC_BIT (1<<2)
239 #else
240 #define PWM_SERVO_1_OC_BIT 0
241 #endif
242 
243 #if USE_PWM2
244 #define PWM_SERVO_2 2
245 #define PWM_SERVO_2_TIMER TIM3
246 #define PWM_SERVO_2_GPIO GPIOC
247 #define PWM_SERVO_2_PIN GPIO7
248 #define PWM_SERVO_2_AF GPIO_AF2
249 #define PWM_SERVO_2_OC TIM_OC2
250 #define PWM_SERVO_2_OC_BIT (1<<1)
251 #else
252 #define PWM_SERVO_2_OC_BIT 0
253 #endif
254 
255 #if USE_PWM3
256 #define PWM_SERVO_3 3
257 #define PWM_SERVO_3_TIMER TIM3
258 #define PWM_SERVO_3_GPIO GPIOB
259 #define PWM_SERVO_3_PIN GPIO4
260 #define PWM_SERVO_3_AF GPIO_AF2
261 #define PWM_SERVO_3_OC TIM_OC1
262 #define PWM_SERVO_3_OC_BIT (1<<0)
263 #else
264 #define PWM_SERVO_3_OC_BIT 0
265 #endif
266 
267 #if USE_PWM4
268 #define PWM_SERVO_4 4
269 #define PWM_SERVO_4_TIMER TIM4
270 #define PWM_SERVO_4_GPIO GPIOB
271 #define PWM_SERVO_4_PIN GPIO7
272 #define PWM_SERVO_4_AF GPIO_AF2
273 #define PWM_SERVO_4_OC TIM_OC2
274 #define PWM_SERVO_4_OC_BIT (1<<1)
275 #else
276 #define PWM_SERVO_4_OC_BIT 0
277 #endif
278 
279 #if USE_PWM5
280 #define PWM_SERVO_5 5
281 #define PWM_SERVO_5_TIMER TIM4
282 #define PWM_SERVO_5_GPIO GPIOB
283 #define PWM_SERVO_5_PIN GPIO6
284 #define PWM_SERVO_5_AF GPIO_AF2
285 #define PWM_SERVO_5_OC TIM_OC1
286 #define PWM_SERVO_5_OC_BIT (1<<0)
287 #else
288 #define PWM_SERVO_5_OC_BIT 0
289 #endif
290 
291 #if USE_PWM6
292 #define PWM_SERVO_6 6
293 #define PWM_SERVO_6_TIMER TIM5
294 #define PWM_SERVO_6_GPIO GPIOA
295 #define PWM_SERVO_6_PIN GPIO3
296 #define PWM_SERVO_6_AF GPIO_AF2
297 #define PWM_SERVO_6_OC TIM_OC4
298 #define PWM_SERVO_6_OC_BIT (1<<3)
299 #else
300 #define PWM_SERVO_6_OC_BIT 0
301 #endif
302 
303 #if USE_PWM7
304 #define PWM_SERVO_7 7
305 #define PWM_SERVO_7_TIMER TIM5
306 #define PWM_SERVO_7_GPIO GPIOA
307 #define PWM_SERVO_7_PIN GPIO2
308 #define PWM_SERVO_7_AF GPIO_AF2
309 #define PWM_SERVO_7_OC TIM_OC3
310 #define PWM_SERVO_7_OC_BIT (1<<2)
311 #else
312 #define PWM_SERVO_7_OC_BIT 0
313 #endif
314 
315 #if USE_PWM8
316 #define PWM_SERVO_8 8
317 #define PWM_SERVO_8_TIMER TIM5
318 #define PWM_SERVO_8_GPIO GPIOA
319 #define PWM_SERVO_8_PIN GPIO1
320 #define PWM_SERVO_8_AF GPIO_AF2
321 #define PWM_SERVO_8_OC TIM_OC2
322 #define PWM_SERVO_8_OC_BIT (1<<1)
323 #else
324 #define PWM_SERVO_8_OC_BIT 0
325 #endif
326 
327 #if USE_PWM9
328 #define PWM_SERVO_9 9
329 #define PWM_SERVO_9_TIMER TIM5
330 #define PWM_SERVO_9_GPIO GPIOA
331 #define PWM_SERVO_9_PIN GPIO0
332 #define PWM_SERVO_9_AF GPIO_AF2
333 #define PWM_SERVO_9_OC TIM_OC1
334 #define PWM_SERVO_9_OC_BIT (1<<0)
335 #else
336 #define PWM_SERVO_9_OC_BIT 0
337 #endif
338 
339 #if USE_PWM10
340 #define PWM_SERVO_10 10
341 #define PWM_SERVO_10_TIMER TIM2
342 #define PWM_SERVO_10_GPIO GPIOB
343 #define PWM_SERVO_10_PIN GPIO3
344 #define PWM_SERVO_10_AF GPIO_AF1
345 #define PWM_SERVO_10_OC TIM_OC2
346 #define PWM_SERVO_10_OC_BIT (1<<1)
347 #else
348 #define PWM_SERVO_10_OC_BIT 0
349 #endif
350 
351 #define PWM_TIM2_CHAN_MASK (PWM_SERVO_10_OC_BIT)
352 #define PWM_TIM3_CHAN_MASK (PWM_SERVO_0_OC_BIT|PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT)
353 #define PWM_TIM4_CHAN_MASK (PWM_SERVO_4_OC_BIT|PWM_SERVO_5_OC_BIT)
354 #define PWM_TIM5_CHAN_MASK (PWM_SERVO_6_OC_BIT|PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT|PWM_SERVO_9_OC_BIT)
355 
356 /* PPM */
357 
358 #define USE_PPM_TIM2 1
359 
360 #define PPM_CHANNEL TIM_IC2
361 #define PPM_TIMER_INPUT TIM_IC_IN_TI2
362 #define PPM_IRQ NVIC_TIM2_IRQ
363 //#define PPM_IRQ2 NVIC_TIM2_UP_TIM10_IRQ
364 // Capture/Compare InteruptEnable and InterruptFlag
365 #define PPM_CC_IE TIM_DIER_CC2IE
366 #define PPM_CC_IF TIM_SR_CC2IF
367 #define PPM_GPIO_PORT GPIOB
368 #define PPM_GPIO_PIN GPIO3
369 #define PPM_GPIO_AF GPIO_AF1
370 
371 /*
372  * Spektrum
373  */
374 /* The line that is pulled low at power up to initiate the bind process */
375 /* CSW pin on CAM connector */
376 #define SPEKTRUM_BIND_PIN GPIO0
377 #define SPEKTRUM_BIND_PIN_PORT GPIOB
378 
379 #define SPEKTRUM_UART1_RCC RCC_USART1
380 #define SPEKTRUM_UART1_BANK GPIOA
381 #define SPEKTRUM_UART1_PIN GPIO10
382 #define SPEKTRUM_UART1_AF GPIO_AF7
383 #define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
384 #define SPEKTRUM_UART1_ISR usart1_isr
385 #define SPEKTRUM_UART1_DEV USART1
386 
387 #endif /* CONFIG_KROOZ_SD_H */