Paparazzi UAS  v5.15_devel-81-gd13dafb
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px4fmu_4.0.h
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1 #ifndef CONFIG_PX4FMU_4_0_H
2 #define CONFIG_PX4FMU_4_0_H
3 
4 #define BOARD_PX4FMU_V4
5 
6 /* PX4FMU_V4 a.k.a. Pixracer board has a 24MHz external clock and 168MHz internal. */
7 
8 /* STM32F4 STM32F427VIT6 */
9 #define EXT_CLK 24000000
10 #define AHB_CLK 168000000
11 
12 //#define STM32F4 //to debug ADC on F4 does no work
13 //#define ADC_SAMPLE_TIME ADC_SMPR_SMP_56CYC //to debug ADC on F4 does no work
14 
15 /* On PCB there is a Multicolor LED */
16 
17 /* Red */
18 #ifndef USE_LED_1
19 #define USE_LED_1 1
20 #endif
21 #define LED_1_GPIO GPIOB
22 #define LED_1_GPIO_PIN GPIO11
23 #define LED_1_GPIO_ON gpio_clear
24 #define LED_1_GPIO_OFF gpio_set
25 #define LED_1_AFIO_REMAP ((void)0)
26 
27 /* Green */
28 #ifndef USE_LED_2
29 #define USE_LED_2 1
30 #endif
31 #define LED_2_GPIO GPIOB
32 #define LED_2_GPIO_PIN GPIO1
33 #define LED_2_GPIO_ON gpio_clear
34 #define LED_2_GPIO_OFF gpio_set
35 #define LED_2_AFIO_REMAP ((void)0)
36 
37 /* Blue */
38 #ifndef USE_LED_3
39 #define USE_LED_3 1
40 #endif
41 #define LED_3_GPIO GPIOB
42 #define LED_3_GPIO_PIN GPIO3
43 #define LED_3_GPIO_ON gpio_clear
44 #define LED_3_GPIO_OFF gpio_set
45 #define LED_3_AFIO_REMAP ((void)0)
46 
47 /* On PCB other LEDs */
48 /* The Green Pixracer Power LED in not controllable, not on a MCU pin */
49 
50 /* UART SCHTUFFFF*/
51 
52 /* -WiFi ESP Connector, it is just a serial port*/
53 //TODO: Test
54 #define UART1_GPIO_AF GPIO_AF7
55 #define UART1_GPIO_PORT_RX GPIOB
56 #define UART1_GPIO_RX GPIO7
57 #define UART1_GPIO_PORT_TX GPIOB
58 #define UART1_GPIO_TX GPIO6
59 
60 /* -TELEM1 Connector */
61 #define UART2_GPIO_AF GPIO_AF7
62 #define UART2_GPIO_PORT_RX GPIOD
63 #define UART2_GPIO_RX GPIO6
64 #define UART2_GPIO_PORT_TX GPIOD
65 #define UART2_GPIO_TX GPIO5
66 #define UART2_GPIO_PORT_CTS GPIOD
67 #define UART2_GPIO_CTS GPIO3
68 #define UART2_GPIO_PORT_RTS GPIOD
69 #define UART2_GPIO_RTS GPIO4
70 
71 /* -TELEM2 Connector */
72 #define UART3_GPIO_AF GPIO_AF7
73 #define UART3_GPIO_PORT_RX GPIOD
74 #define UART3_GPIO_RX GPIO9
75 #define UART3_GPIO_PORT_TX GPIOD
76 #define UART3_GPIO_TX GPIO8
77 #define UART3_GPIO_PORT_CTS GPIOD
78 #define UART3_GPIO_CTS GPIO11
79 #define UART3_GPIO_PORT_RTS GPIOD
80 #define UART3_GPIO_RTS GPIO12
81 
82 /* -GPS Connector */
83 #define UART4_GPIO_AF GPIO_AF8
84 #define UART4_GPIO_PORT_RX GPIOA
85 #define UART4_GPIO_RX GPIO1
86 #define UART4_GPIO_PORT_TX GPIOA
87 #define UART4_GPIO_TX GPIO0
88 
89 /* e.g. for a Spektrum satellite receiver rx only)*/
90 #define UART6_GPIO_AF GPIO_AF8
91 #define UART6_GPIO_PORT_RX GPIOC
92 #define UART6_GPIO_RX GPIO7
93 
94 /* Serial Debugging Connector, not used with PPRZ as of now, use JTAG, can be put to other good use */
95 #define UART7_GPIO_AF GPIO_AF8
96 #define UART7_GPIO_PORT_RX GPIOE
97 #define UART7_GPIO_RX GPIO7
98 #define UART7_GPIO_PORT_TX GPIOE
99 #define UART7_GPIO_TX GPIO8
100 
101 /* Connector -FRS FrSky */
102 //TODO: Test
103 #define UART8_GPIO_AF GPIO_AF8
104 #define UART8_GPIO_PORT_RX GPIOE
105 #define UART8_GPIO_RX GPIO0
106 #define UART8_GPIO_PORT_TX GPIOE
107 #define UART8_GPIO_TX GPIO1
108 
109 /* Soft binding Spektrum */
110 //TODO: Test and or FIXME:
111 #define RADIO_CONTROL_POWER_PORT GPIOE
112 #define RADIO_CONTROL_POWER_PIN GPIO4 //SPEKTRUM POWER
113 #define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted
114 #define RADIO_CONTROL_POWER_OFF gpio_set
115 
116 //A receiver on powered on 3.3v
117 #define PERIPHERAL3V3_ENABLE_PORT GPIOC //VDD_3V3_PERIPHERAL_EN
118 #define PERIPHERAL3V3_ENABLE_PIN GPIO5
119 #define PERIPHERAL3V3_ENABLE_ON gpio_set
120 #define PERIPHERAL3V3_ENABLE_OFF gpio_clear
121 
122 /* Turn SBUS invert */
123 //TODO: Test
124 #define RC_POLARITY_GPIO_PORT GPIOC
125 #define RC_POLARITY_GPIO_PIN GPIO13
126 
127 #define SPEKTRUM_UART6_RCC RCC_USART6
128 #define SPEKTRUM_UART6_BANK GPIOC
129 #define SPEKTRUM_UART6_PIN GPIO7
130 #define SPEKTRUM_UART6_AF GPIO_AF8
131 #define SPEKTRUM_UART6_IRQ NVIC_USART6_IRQ
132 #define SPEKTRUM_UART6_ISR usart6_isr
133 #define SPEKTRUM_UART6_DEV USART6
134 
135 /* SPI */
136 
137 /* SPI1 for MPU and extra accel/gyro/mag */
138 #define SPI1_GPIO_AF GPIO_AF5
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 #define SPI1_GPIO_PORT_SCK GPIOA
144 #define SPI1_GPIO_SCK GPIO5
145 
146 /* SPI2 for FRAM, connects to BARO */
147 #define SPI2_GPIO_AF GPIO_AF5
148 #define SPI2_GPIO_PORT_MISO GPIOB
149 #define SPI2_GPIO_MISO GPIO14
150 #define SPI2_GPIO_PORT_MOSI GPIOB
151 #define SPI2_GPIO_MOSI GPIO15
152 #define SPI2_GPIO_PORT_SCK GPIOB
153 #define SPI2_GPIO_SCK GPIO10
154 
155 /*
156  * SPI slave pin declaration
157  */
158 
159 /* note :
160 Active-Low Push-Pull Data-Ready Output. DRDY goes low when a new conversion result is available in the data register.
161 When a read-operation of an RTD resistance data register occurs, DRDY returns high.
162 */
163 /*
164  * SPI slave pin declaration
165  */
166 
167 //So use best spec'd sensors as second or ref the other or determine it on task type?
168 /* EXTRA ACC_GYRO_CS on SPI1 ICM 20609-G*/
169 // TODO: Make it useful
170 #define SPI_SELECT_SLAVE0_PORT GPIOC
171 #define SPI_SELECT_SLAVE0_PIN GPIO15
172 
173 /* EXTRA_MAG_CS on SPI1 HMC5983*/
174 //See https://docs.google.com/spreadsheets/d/1gVlKZBvRNTXldoxTXwipGaaHmtF9DNPaftDrzKA47mM/edit#gid=0
175 #define SPI_SELECT_SLAVE1_PORT GPIOE
176 #define SPI_SELECT_SLAVE1_PIN GPIO15
177 
178 /* MDL */
179 // FIXME: Test n fix or emoveal
180 //#define SPI_SELECT_SLAVE1_PORT GPIOE
181 //#define SPI_SELECT_SLAVE1_PIN GPIO15
182 
183 /* MPU_9250_CS on SPI1 */
184 #define SPI_SELECT_SLAVE2_PORT GPIOC
185 #define SPI_SELECT_SLAVE2_PIN GPIO2
186 
187 /* MS5611 BARO_CS on SPI2 - FRAM*/
188 #define SPI_SELECT_SLAVE3_PORT GPIOD
189 #define SPI_SELECT_SLAVE3_PIN GPIO7
190 
191 /* FRAM on SPI2 */
192 #define SPI_SELECT_SLAVE4_PORT GPIOD
193 #define SPI_SELECT_SLAVE4_PIN GPIO10
194 
195 /* SPI3 NSS on microSD connector */
196 //FIXME: not tested
197 //#define SPI_SELECT_SLAVE5_PORT GPIOA
198 //#define SPI_SELECT_SLAVE5_PIN GPIO4
199 
200 
201 /* SDIO to microSD card connector */
202 //FIXME: Fix and test
203 #define SDIO_AF GPIO_AF12
204 #define SDIO_D0_PORT GPIOC
205 #define SDIO_D0_PIN GPIO8
206 #define SDIO_D1_PORT GPIOC
207 #define SDIO_D1_PIN GPIO9
208 #define SDIO_D2_PORT GPIOC
209 #define SDIO_D2_PIN GPIO10
210 #define SDIO_D3_PORT GPIOC
211 #define SDIO_D3_PIN GPIO11
212 #define SDIO_CK_PORT GPIOC
213 #define SDIO_CK_PIN GPIO12
214 #define SDIO_CMD_PORT GPIOD
215 #define SDIO_CMD_PIN GPIO2
216 
217 /* Onboard ADCs */
218 #if USE_AD_TIM2
219 #undef USE_AD_TIM2 // timer2 is used by the buzzer
220 #endif
221 #define USE_AD_TIM3 1
222 
223 // Internal ADC for voltage level measurement
225 #ifndef USE_ADC_1
226 #define USE_ADC_1 1
227 #endif
228 
229 #if USE_ADC_1
230 #define AD1_1_CHANNEL 4 //ADC12_IN4
231 #define ADC_1 AD1_1
232 #define ADC_1_GPIO_PORT GPIOA
233 #define ADC_1_GPIO_PIN GPIO4
234 #endif
235 
236 // Per default for the board to sense voltage level via external sensor on ADC
237 //FIXME: test and fix if still not working
238 #ifndef USE_ADC_2
239 #define USE_ADC_2 1
240 #endif
241 #if USE_ADC_2
242 #define AD1_2_CHANNEL 2 // ADC123_IN2 (--> IN2 corresponds to channel 2)
243 #define ADC_2 AD1_2 // ADC123 means it can be used by ADC 1 and 2 and 3 (the f4 supports 3 adc's), does not matter which. Each ADC can address 4 pins, so in this case we are using ADC 1, on its second pin.
244 #define ADC_2_GPIO_PORT GPIOA
245 #define ADC_2_GPIO_PIN GPIO2
246 #endif
247 
248 // Per default for the board to sense current via external sensor on ADC
249 #ifndef USE_ADC_3
250 #define USE_ADC_3 1
251 #endif
252 #if USE_ADC_3
253 #define AD1_3_CHANNEL 3 // ADC123_IN3
254 #define ADC_3 AD1_3
255 #define ADC_3_GPIO_PORT GPIOA
256 #define ADC_3_GPIO_PIN GPIO3
257 #endif
258 #define MilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f) //TODO: test if valid
259 
260 /* Allow to define ADC_CHANNEL_VSUPPLY in the airframe file */
261 #ifndef ADC_CHANNEL_VSUPPLY
262 #define ADC_CHANNEL_VSUPPLY ADC_2
263 #endif
264 
265 /* Allow to define another ADC for Current measurement in the airframe file */
266 #ifndef ADC_CHANNEL_CURRENT
267 #define ADC_CHANNEL_CURRENT ADC_3
268 #endif
269 
270 //??FT = Five-volt tolerant. In order to sustain a voltage higher than VDD+0.3 the internal pull-up/pull-down resistors must be disabled.
271 //FIXME: Determine best stock values
272 #if USE_ADC_2
273 #define DefaultVoltageOfAdc(adc) (0.004f * (float)adc) // FIXME: Value scale for a common PowerBrick
274 #else
275 #define DefaultVoltageOfAdc(adc) (0.004f * (float)adc) // FIXME: Value scale internal vdd to 5V
276 #endif
277 
278 /* I2C mapping */
279 #define I2C1_GPIO_PORT GPIOB
280 #define I2C1_GPIO_SCL GPIO8
281 #define I2C1_GPIO_SDA GPIO9
282 
283 //Onboard Barometer
284 #ifndef USE_BARO_BOARD
285 #define USE_BARO_BOARD 1
286 #endif
287 
288 /* Another Magnetometer on board a HMC5983 not the one in the IMU 9250*/
289 //FIXME: better default option for use of maybe fuse data
290 #ifndef USE_MAGNETOMETER_B
291 #define USE_MAGNETOMETER_B 0
292 #endif
293 
294 /* Default actuators driver */
295 #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
296 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
297 #define ActuatorsDefaultInit() ActuatorsPwmInit()
298 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
299 
300 /* PWM */
301 #define PWM_USE_TIM1 1
302 #define PWM_USE_TIM4 1
303 
304 
305 //TODO: ifdef USE_SERVO6 for PPM out to e.g. servo extender board ...
306 // Basically a inter mcu Extra device;)
307 
308 #define USE_PWM1 1
309 #define USE_PWM2 1
310 #define USE_PWM3 1
311 #define USE_PWM4 1
312 #define USE_PWM5 1
313 #define USE_PWM6 1
314 
315 /* Servo 1 */
316 #if USE_PWM1
317 #define PWM_SERVO_1 0
318 #define PWM_SERVO_1_TIMER TIM1
319 #define PWM_SERVO_1_GPIO GPIOE
320 #define PWM_SERVO_1_PIN GPIO14
321 #define PWM_SERVO_1_AF GPIO_AF1
322 #define PWM_SERVO_1_OC TIM_OC4
323 #define PWM_SERVO_1_OC_BIT (1<<3)
324 #else
325 #define PWM_SERVO_1_OC_BIT 0
326 #endif
327 
328 /* Servo 2 */
329 #if USE_PWM2
330 #define PWM_SERVO_2 1
331 #define PWM_SERVO_2_TIMER TIM1
332 #define PWM_SERVO_2_GPIO GPIOE
333 #define PWM_SERVO_2_PIN GPIO13
334 #define PWM_SERVO_2_AF GPIO_AF1
335 #define PWM_SERVO_2_OC TIM_OC3
336 #define PWM_SERVO_2_OC_BIT (1<<2)
337 #else
338 #define PWM_SERVO_2_OC_BIT 0
339 #endif
340 
341 /* Servo 3 */
342 #if USE_PWM3
343 #define PWM_SERVO_3 2 //#define PWM_SERVO_3_IDX 2
344 #define PWM_SERVO_3_TIMER TIM1
345 #define PWM_SERVO_3_GPIO GPIOE
346 #define PWM_SERVO_3_PIN GPIO11
347 #define PWM_SERVO_3_AF GPIO_AF1
348 #define PWM_SERVO_3_OC TIM_OC2
349 #define PWM_SERVO_3_OC_BIT (1<<1)
350 #else
351 #define PWM_SERVO_3_OC_BIT 0
352 #endif
353 
354 /* Servo 4 */
355 #if USE_PWM4
356 #define PWM_SERVO_4 3
357 #define PWM_SERVO_4_TIMER TIM1
358 #define PWM_SERVO_4_GPIO GPIOE
359 #define PWM_SERVO_4_PIN GPIO9
360 #define PWM_SERVO_4_AF GPIO_AF1
361 #define PWM_SERVO_4_OC TIM_OC1
362 #define PWM_SERVO_4_OC_BIT (1<<0)
363 #else
364 #define PWM_SERVO_4_OC_BIT 0
365 #endif
366 
367 /* Servo 5 */
368 #if USE_PWM5
369 #define PWM_SERVO_5 4
370 #define PWM_SERVO_5_TIMER TIM4
371 #define PWM_SERVO_5_GPIO GPIOD
372 #define PWM_SERVO_5_PIN GPIO13
373 #define PWM_SERVO_5_AF GPIO_AF2
374 #define PWM_SERVO_5_OC TIM_OC2
375 #define PWM_SERVO_5_OC_BIT (1<<1)
376 #else
377 #define PWM_SERVO_5_OC_BIT 0
378 #endif
379 
380 /* Servo 6 */
381 #if USE_PWM6
382 #define PWM_SERVO_6 5
383 #define PWM_SERVO_6_TIMER TIM4
384 #define PWM_SERVO_6_GPIO GPIOD
385 #define PWM_SERVO_6_PIN GPIO14
386 #define PWM_SERVO_6_AF GPIO_AF2
387 #define PWM_SERVO_6_OC TIM_OC3
388 #define PWM_SERVO_6_OC_BIT (1<<2)
389 #else
390 #define PWM_SERVO_6_OC_BIT 0
391 #endif
392 
393 #define PWM_TIM1_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)
394 #define PWM_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
395 
396 /* Buzzer (A.k.a. Alarm) */
397 //TODO: Test
398 #if USE_BUZZER
399 #define PWM_BUZZER
400 #define PWM_BUZZER_TIMER TIM2
401 #define PWM_BUZZER_GPIO GPIOA
402 #define PWM_BUZZER_PIN GPIO15
403 #define PWM_BUZZER_AF GPIO_AF1
404 #define PWM_BUZZER_OC TIM_OC1
405 #define PWM_BUZZER_OC_BIT (1<<0)
406 #define PWM_TIM2_CHAN_MASK (PWM_BUZZER_OC_BIT)
407 #else
408 #define PWM_BUZZER_OC_BIT 0
409 #endif
410 
411 #endif /* CONFIG_PX4FMU_4_0_H */