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openpilot_revo_nano.h
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1 /*
2  * Copyright (C) 2016 Felix Ruess <felix.ruess@gmail.com
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
22 
23 #ifndef CONFIG_OPENPILOT_REVO_NANO_H
24 #define CONFIG_OPENPILOT_REVO_NANO_H
25 
26 /* Some info about this board can be found at:
27  * https://librepilot.atlassian.net/wiki/display/LPDOC/OpenPilot+Revolution+Nano
28  */
29 
30 
31 /* OpenPilot Revo Nano has a STM32F411 with 8MHz external clock and up to 100MHz internal.
32  * Libopencm3 doesn't explicitly support the STM32F41x yet,
33  * but using the 84MHz clock setup from the STM32F401 should work...
34  */
35 #define EXT_CLK 8000000
36 #define AHB_CLK 84000000
37 
38 /*
39  * Onboard LEDs
40  */
41 
42 /* blue, on PC14 */
43 #ifndef USE_LED_1
44 #define USE_LED_1 1
45 #endif
46 #define LED_1_GPIO GPIOC
47 #define LED_1_GPIO_PIN GPIO14
48 #define LED_1_GPIO_ON gpio_clear
49 #define LED_1_GPIO_OFF gpio_set
50 #define LED_1_AFIO_REMAP ((void)0)
51 
52 /* orange, on PC13 */
53 #ifndef USE_LED_2
54 #define USE_LED_2 1
55 #endif
56 #define LED_2_GPIO GPIOC
57 #define LED_2_GPIO_PIN GPIO13
58 #define LED_2_GPIO_ON gpio_clear
59 #define LED_2_GPIO_OFF gpio_set
60 #define LED_2_AFIO_REMAP ((void)0)
61 
62 
63 /* Default actuators driver */
64 #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
65 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
66 #define ActuatorsDefaultInit() ActuatorsPwmInit()
67 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
68 
69 
70 /* UART */
71 /* Flexi port, shared with I2C1 */
72 #define UART1_GPIO_AF GPIO_AF7
73 #define UART1_GPIO_PORT_RX GPIOB
74 #define UART1_GPIO_RX GPIO7
75 #define UART1_GPIO_PORT_TX GPIOB
76 #define UART1_GPIO_TX GPIO6
77 
78 /* Main port */
79 #define UART2_GPIO_AF GPIO_AF7
80 #define UART2_GPIO_PORT_RX GPIOA
81 #define UART2_GPIO_RX GPIO3
82 #define UART2_GPIO_PORT_TX GPIOA
83 #define UART2_GPIO_TX GPIO2
84 
85 
86 /*
87  * Spektrum
88  */
89 /* The line that is pulled low at power up to initiate the bind process */
90 #define SPEKTRUM_BIND_PIN GPIO0
91 #define SPEKTRUM_BIND_PIN_PORT GPIOB
92 
93 #define SPEKTRUM_UART2_RCC RCC_USART2
94 #define SPEKTRUM_UART2_BANK GPIOA
95 #define SPEKTRUM_UART2_PIN GPIO3
96 #define SPEKTRUM_UART2_AF GPIO_AF7
97 #define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ
98 #define SPEKTRUM_UART2_ISR usart2_isr
99 #define SPEKTRUM_UART2_DEV USART2
100 
101 /* S.Bus inverter control on PC15 */
102 #define RC_POLARITY_GPIO_PORT GPIOC
103 #define RC_POLARITY_GPIO_PIN GPIO15
104 
105 
106 /* PPM
107  *
108  * PPM sum in is on FlexIO pin 4 (blue)
109  */
110 
111 /* input on PB1 */
112 #define USE_PPM_TIM3 1
113 #define PPM_CHANNEL TIM_IC4
114 #define PPM_TIMER_INPUT TIM_IC_IN_TI4
115 #define PPM_IRQ NVIC_TIM3_IRQ
116 // Capture/Compare InteruptEnable and InterruptFlag
117 #define PPM_CC_IE TIM_DIER_CC4IE
118 #define PPM_CC_IF TIM_SR_CC4IF
119 #define PPM_GPIO_PORT GPIOB
120 #define PPM_GPIO_PIN GPIO1
121 #define PPM_GPIO_AF GPIO_AF2
122 
123 
124 /* SPI */
125 /* MPU9250 */
126 #define SPI2_GPIO_AF GPIO_AF5
127 #define SPI2_GPIO_PORT_MISO GPIOB
128 #define SPI2_GPIO_MISO GPIO14
129 #define SPI2_GPIO_PORT_MOSI GPIOB
130 #define SPI2_GPIO_MOSI GPIO15
131 #define SPI2_GPIO_PORT_SCK GPIOB
132 #define SPI2_GPIO_SCK GPIO13
133 #define SPI2_GPIO_PORT_NSS GPIOB
134 #define SPI2_GPIO_NSS GPIO12
135 
136 /* MPU9250 select */
137 #define SPI_SELECT_SLAVE0_PORT GPIOB
138 #define SPI_SELECT_SLAVE0_PIN GPIO12
139 
140 
141 
142 /* I2C mapping */
143 /* I2C1 on flexi port shared with UART1 */
144 #define I2C1_GPIO_PORT GPIOB
145 #define I2C1_GPIO_SCL GPIO6
146 #define I2C1_GPIO_SDA GPIO7
147 
148 /* I2C3 for baro and flash */
149 #define I2C3_GPIO_PORT_SCL GPIOA
150 #define I2C3_GPIO_SCL GPIO8
151 #define I2C3_GPIO_PORT_SDA GPIOB
152 #define I2C3_GPIO_SDA GPIO4
153 #define I2C3_GPIO_SDA_AF GPIO_AF9
154 
155 /*
156  * ADC
157  */
158 /* not tested, channels and ADx_1 not correct yet */
159 
160 #ifndef USE_ADC_1
161 #define USE_ADC_1 0
162 #endif
163 
164 /* Pin 4 on FlexIO, blue */
165 #if USE_ADC_0
166 #define AD1_0_CHANNEL 12
167 #define ADC_0 AD1_1
168 #define ADC_0_GPIO_PORT GPIOB
169 #define ADC_0_GPIO_PIN GPIO1
170 #endif
171 
172 /* Pin 5 on FlexIO, yellow */
173 #if USE_ADC_1
174 #define AD1_1_CHANNEL 12
175 #define ADC_1 AD1_1
176 #define ADC_1_GPIO_PORT GPIOB
177 #define ADC_1_GPIO_PIN GPIO0
178 #endif
179 
180 /* pin 6 on FlexIO, green */
181 #if USE_ADC_2
182 #define AD1_2_CHANNEL 11
183 #define ADC_2 AD1_2
184 #define ADC_2_GPIO_PORT GPIOA
185 #define ADC_2_GPIO_PIN GPIO7
186 #endif
187 
188 /* pin 7 on FlexIO, orange */
189 #if USE_ADC_3
190 #define AD1_3_CHANNEL 11
191 #define ADC_3 AD1_2
192 #define ADC_3_GPIO_PORT GPIOA
193 #define ADC_3_GPIO_PIN GPIO6
194 #endif
195 
196 /* pin 8 on FlexIO, violet */
197 #if USE_ADC_4
198 #define AD1_4_CHANNEL 11
199 #define ADC_4 AD1_2
200 #define ADC_4_GPIO_PORT GPIOA
201 #define ADC_4_GPIO_PIN GPIO5
202 #endif
203 
204 /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
205 //#ifndef ADC_CHANNEL_VSUPPLY
206 //#define ADC_CHANNEL_VSUPPLY ADC_1
207 //#endif
208 
209 /* no voltage divider on board, adjust VoltageOfAdc in airframe file */
210 #define DefaultVoltageOfAdc(adc) (0.0045*adc)
211 
212 
213 /*
214  * PWM
215  *
216  */
217 #define PWM_USE_TIM1 1
218 #define PWM_USE_TIM2 1
219 #define PWM_USE_TIM4 1
220 #define PWM_USE_TIM5 1
221 
222 #define USE_PWM1 1
223 #define USE_PWM2 1
224 #define USE_PWM3 1
225 #define USE_PWM4 1
226 #define USE_PWM5 1
227 #define USE_PWM6 1
228 
229 
230 #define ACTUATORS_PWM_NB 6
231 
232 
233 // PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
234 #if USE_PWM1
235 #define PWM_SERVO_1 0
236 #define PWM_SERVO_1_TIMER TIM1
237 #define PWM_SERVO_1_GPIO GPIOA
238 #define PWM_SERVO_1_PIN GPIO10
239 #define PWM_SERVO_1_AF GPIO_AF1
240 #define PWM_SERVO_1_OC TIM_OC3
241 #define PWM_SERVO_1_OC_BIT (1<<2)
242 #else
243 #define PWM_SERVO_1_OC_BIT 0
244 #endif
245 
246 #if USE_PWM2
247 #define PWM_SERVO_2 1
248 #define PWM_SERVO_2_TIMER TIM2
249 #define PWM_SERVO_2_GPIO GPIOB
250 #define PWM_SERVO_2_PIN GPIO3
251 #define PWM_SERVO_2_AF GPIO_AF1
252 #define PWM_SERVO_2_OC TIM_OC2
253 #define PWM_SERVO_2_OC_BIT (1<<1)
254 #else
255 #define PWM_SERVO_2_OC_BIT 0
256 #endif
257 
258 #if USE_PWM3
259 #define PWM_SERVO_3 2
260 #define PWM_SERVO_3_TIMER TIM4
261 #define PWM_SERVO_3_GPIO GPIOB
262 #define PWM_SERVO_3_PIN GPIO8
263 #define PWM_SERVO_3_AF GPIO_AF2
264 #define PWM_SERVO_3_OC TIM_OC3
265 #define PWM_SERVO_3_OC_BIT (1<<2)
266 #else
267 #define PWM_SERVO_3_OC_BIT 0
268 #endif
269 
270 #if USE_PWM4
271 #define PWM_SERVO_4 3
272 #define PWM_SERVO_4_TIMER TIM4
273 #define PWM_SERVO_4_GPIO GPIOB
274 #define PWM_SERVO_4_PIN GPIO9
275 #define PWM_SERVO_4_AF GPIO_AF2
276 #define PWM_SERVO_4_OC TIM_OC4
277 #define PWM_SERVO_4_OC_BIT (1<<3)
278 #else
279 #define PWM_SERVO_4_OC_BIT 0
280 #endif
281 
282 #if USE_PWM5
283 #define PWM_SERVO_5 4
284 #define PWM_SERVO_5_TIMER TIM5
285 #define PWM_SERVO_5_GPIO GPIOA
286 #define PWM_SERVO_5_PIN GPIO0
287 #define PWM_SERVO_5_AF GPIO_AF2
288 #define PWM_SERVO_5_OC TIM_OC1
289 #define PWM_SERVO_5_OC_BIT (1<<0)
290 #else
291 #define PWM_SERVO_5_OC_BIT 0
292 #endif
293 
294 #if USE_PWM6
295 #define PWM_SERVO_6 5
296 #define PWM_SERVO_6_TIMER TIM5
297 #define PWM_SERVO_6_GPIO GPIOA
298 #define PWM_SERVO_6_PIN GPIO1
299 #define PWM_SERVO_6_AF GPIO_AF2
300 #define PWM_SERVO_6_OC TIM_OC2
301 #define PWM_SERVO_6_OC_BIT (1<<1)
302 #else
303 #define PWM_SERVO_6_OC_BIT 0
304 #endif
305 
306 
307 /* servo 1 on TIM1 */
308 #define PWM_TIM1_CHAN_MASK (PWM_SERVO_1_OC_BIT)
309 /* servo 2 on TIM2 */
310 #define PWM_TIM2_CHAN_MASK (PWM_SERVO_2_OC_BIT)
311 /* servos 3-4 on TIM4 */
312 #define PWM_TIM4_CHAN_MASK (PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)
313 /* servos 5-6 on TIM5 */
314 #define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
315 
316 
317 /* by default activate onboard baro */
318 #ifndef USE_BARO_BOARD
319 #define USE_BARO_BOARD 1
320 #endif
321 
322 #endif /* CONFIG_OPENPILOT_REVO_NANO_H */