Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
naze32_common.h
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#ifndef CONFIG_NAZE32_COMMON_H
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#define CONFIG_NAZE32_COMMON_H
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#define BOARD_NAZE32
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/*
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* Onboard LEDs
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*/
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/* L0 red status led, on PB4 */
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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 GPIO4
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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 { \
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rcc_periph_clock_enable(RCC_AFIO); \
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AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_ON; \
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}
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/* L1 green status led, on PB3 */
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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 GPIO3
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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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/*
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* UART pin configuration
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*
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* sets on which pins the UARTs are connected
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*/
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/* UART1 on main port, TX (PA9), RX (PA10) */
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#define UART1_GPIO_AF 0
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#define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX
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#define UART1_GPIO_RX GPIO_USART1_RX
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#define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX
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#define UART1_GPIO_TX GPIO_USART1_TX
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/* UART2 on RC I/O, TX (PA2) pin 5/id "3", RX (PA3) pin 6/id "4" */
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#define UART2_GPIO_AF 0
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#define UART2_GPIO_PORT_RX GPIO_BANK_USART2_RX
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#define UART2_GPIO_RX GPIO_USART2_RX
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#define UART2_GPIO_PORT_TX GPIO_BANK_USART2_TX
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#define UART2_GPIO_TX GPIO_USART2_TX
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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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/* set to ppm/servo6 input pin on RC connector for now */
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#define SPEKTRUM_BIND_PIN GPIO1
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#define SPEKTRUM_BIND_PIN_PORT GPIOA
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#define SPEKTRUM_UART1_RCC RCC_USART1
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#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX
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#define SPEKTRUM_UART1_PIN GPIO_USART1_RX
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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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#define SPEKTRUM_UART2_RCC RCC_USART2
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#define SPEKTRUM_UART2_BANK GPIO_BANK_USART2_RX
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#define SPEKTRUM_UART2_PIN GPIO_USART2_RX
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#define SPEKTRUM_UART2_AF 0
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#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ
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#define SPEKTRUM_UART2_ISR usart2_isr
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#define SPEKTRUM_UART2_DEV USART2
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/* PPM
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*
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* Default: PPM_CONFIG 1: servos 3-6, input on PA0: RC I/O rx_ppm pin 3/id "1"
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* PPM_CONFIG 2: servos 1-6, input on PA7: RC I/O unused pin 8/id "6"
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*/
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#ifndef PPM_CONFIG
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#define PPM_CONFIG 1
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#endif
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#if PPM_CONFIG == 1
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/* input on PA0 (ppm_in), TIM2 CH1 */
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#define USE_PPM_TIM2 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_TIM2_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 GPIO0
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#define PPM_GPIO_AF 0
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// Move default ADC timer
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#if USE_AD_TIM2
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#undef USE_AD_TIM2
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#endif
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#define USE_AD_TIM1 1
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#elif PPM_CONFIG == 2
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/* input on PA7 (unused), TIM3 CH2 */
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#define USE_PPM_TIM3 1
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#define PPM_CHANNEL TIM_IC2
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#define PPM_TIMER_INPUT TIM_IC_IN_TI2
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#define PPM_IRQ NVIC_TIM3_IRQ
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// Capture/Compare InteruptEnable and InterruptFlag
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#define PPM_CC_IE TIM_DIER_CC2IE
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#define PPM_CC_IF TIM_SR_CC2IF
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#define PPM_GPIO_PORT GPIOA
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#define PPM_GPIO_PIN GPIO7
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#define PPM_GPIO_AF 0
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// Move default ADC timer
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#if USE_AD_TIM1
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#undef USE_AD_TIM1
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#endif
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#define USE_AD_TIM2 1
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#else
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#error "Unknown PPM config"
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#endif
// PPM_CONFIG
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/*
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* ADC
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*/
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// Internal ADC for battery enabled by default
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#ifndef USE_ADC_4
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#define USE_ADC_4 1
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#endif
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#if USE_ADC_4
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#define AD1_4_CHANNEL 4
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#define ADC_4 AD1_4
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#define ADC_4_GPIO_PORT GPIOA
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#define ADC_4_GPIO_PIN GPIO4
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#endif
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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_4
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#endif
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/* 10k/1k resistor divider, 11 * 3.3V / 4096 */
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#define DefaultVoltageOfAdc(adc) (0.008862*adc)
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/* by default activate onboard baro */
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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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/*
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* I2C
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*/
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/* RC port */
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#define I2C2_GPIO_PORT GPIOB
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#define I2C2_GPIO_SCL GPIO10
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#define I2C2_GPIO_SDA GPIO11
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/*
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* PWM
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*
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* Servo output numbering on silkscreen starts with '1'
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*
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* silk default PPM_CONFIG=2 (PPM_PIN=PA7)
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*
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* '1' PA8 - servo1
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* '2' PA11 - servo2
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* '3' PB6 servo3 servo3
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* '4' PB7 servo4 servo4
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* '5' PB8 servo5 servo5
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* '6' PB9 servo6 servo6
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*
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* PPM_in: PA0 PA7
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*
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*/
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#if PPM_CONFIG == 2
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/* use all servos */
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#define ACTUATORS_PWM_NB 6
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#define PWM_USE_TIM1 1
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#define USE_PWM1 1
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#define USE_PWM2 1
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#define PWM_SERVO_1 0
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#define PWM_SERVO_2 1
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#define PWM_SERVO_3 2
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#define PWM_SERVO_4 3
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#define PWM_SERVO_5 4
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#define PWM_SERVO_6 5
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#else
// PPM_CONFIG == 1
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/* servos 1-2 not usable */
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#define ACTUATORS_PWM_NB 4
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/* servos 1-2 not usable */
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#define PWM_USE_TIM1 0
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#define USE_PWM1 0
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#define USE_PWM2 0
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#define PWM_SERVO_3 0
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#define PWM_SERVO_4 1
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#define PWM_SERVO_5 2
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#define PWM_SERVO_6 3
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#endif
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/* servos 3-6 */
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#define PWM_USE_TIM4 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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#if USE_PWM1
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#define PWM_SERVO_1_TIMER TIM1
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#define PWM_SERVO_1_GPIO GPIOA
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#define PWM_SERVO_1_PIN GPIO8
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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_TIMER TIM1
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#define PWM_SERVO_2_GPIO GPIOA
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#define PWM_SERVO_2_PIN GPIO11
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#define PWM_SERVO_2_AF 0
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#define PWM_SERVO_2_OC TIM_OC4
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#define PWM_SERVO_2_OC_BIT (1<<3)
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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_TIMER TIM4
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#define PWM_SERVO_3_GPIO GPIOB
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#define PWM_SERVO_3_PIN GPIO6
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#define PWM_SERVO_3_AF 0
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#define PWM_SERVO_3_OC TIM_OC1
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#define PWM_SERVO_3_OC_BIT (1<<0)
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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_TIMER TIM4
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#define PWM_SERVO_4_GPIO GPIOB
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#define PWM_SERVO_4_PIN GPIO7
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#define PWM_SERVO_4_AF 0
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#define PWM_SERVO_4_OC TIM_OC2
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#define PWM_SERVO_4_OC_BIT (1<<1)
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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_TIMER TIM4
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#define PWM_SERVO_5_GPIO GPIOB
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#define PWM_SERVO_5_PIN GPIO8
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#define PWM_SERVO_5_AF 0
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#define PWM_SERVO_5_OC TIM_OC3
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#define PWM_SERVO_5_OC_BIT (1<<2)
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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_TIMER TIM4
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#define PWM_SERVO_6_GPIO GPIOB
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#define PWM_SERVO_6_PIN GPIO9
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#define PWM_SERVO_6_AF 0
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#define PWM_SERVO_6_OC TIM_OC4
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#define PWM_SERVO_6_OC_BIT (1<<3)
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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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/* servos 1-2 on TIM1 */
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#define PWM_TIM1_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT)
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/* servos 3-6 on TIM4 */
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#define PWM_TIM4_CHAN_MASK (PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT|PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
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/* Default actuators driver */
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#define DEFAULT_ACTUATORS "modules/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_NAZE32_COMMON_H */
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sw
airborne
boards
naze32_common.h
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