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px4io_2.4.h
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1 #ifndef CONFIG_PX4IO_2_4_H
2 #define CONFIG_PX4IO_2_4_H
3 
4 #define BOARD_PX4IO
5 //STM32F103c8t6 (medium density!)
6 
7 /* Pixhawk board (PX4FIOv2 has a 24MHz external clock and 24MHz internal. */
8 #define EXT_CLK 24000000 //this osc is actually outside of the specs (max 16MHz)
9 #define AHB_CLK 24000000
10 
11 
12 /*
13  * LEDs
14  */
15 /* blue led, a.k.a. ACT */
16 #ifndef USE_LED_1
17 #define USE_LED_1 1
18 #endif
19 #define LED_1_GPIO GPIOB
20 #define LED_1_GPIO_PIN GPIO14
21 #define LED_1_GPIO_ON gpio_clear
22 #define LED_1_GPIO_OFF gpio_set
23 #define LED_1_AFIO_REMAP ((void)0)
24 
25 //led Amber a.k.a b/e led
26 #ifndef USE_LED_2
27 #define USE_LED_2 1
28 #endif
29 #define LED_2_GPIO GPIOB
30 #define LED_2_GPIO_PIN GPIO15
31 #define LED_2_GPIO_ON gpio_clear
32 #define LED_2_GPIO_OFF gpio_set
33 #define LED_2_AFIO_REMAP ((void)0)
34 
35 //safety led in the switch, red
36 #ifndef USE_LED_3
37 #define USE_LED_3 1
38 #endif
39 #define LED_3_GPIO GPIOB
40 #define LED_3_GPIO_PIN GPIO13
41 #define LED_3_GPIO_ON gpio_clear
42 #define LED_3_GPIO_OFF gpio_set
43 #define LED_3_AFIO_REMAP ((void)0)
44 
45 //TODO: safety switch is on PB5!
46 
47 /*
48  * UART
49 */
50 
51 // fmu debug / spektrum receiver (only rx)
52 #define UART1_GPIO_AF 0
53 #define UART1_GPIO_PORT_RX GPIOA
54 #define UART1_GPIO_RX GPIO10
55 #define UART1_GPIO_PORT_TX GPIOA
56 #define UART1_GPIO_TX GPIO9
57 // intermcu fmu
58 #define UART2_GPIO_AF 0
59 #define UART2_GPIO_PORT_RX GPIOA
60 #define UART2_GPIO_RX GPIO3
61 #define UART2_GPIO_PORT_TX GPIOA
62 #define UART2_GPIO_TX GPIO2
63 // SBUS
64 #define UART3_GPIO_AF 0
65 #define UART3_GPIO_PORT_RX GPIOB
66 #define UART3_GPIO_RX GPIO11
67 #define UART3_GPIO_PORT_TX GPIOB
68 #define UART3_GPIO_TX GPIO10
69 
70 /*
71  * Spektrum
72  */
73 /* The line that is pulled low at power up to initiate the bind process */
74 #define RADIO_CONTROL_POWER_PORT GPIOC
75 #define RADIO_CONTROL_POWER_PIN GPIO13
76 #define RADIO_CONTROL_POWER_ON gpio_set
77 #define RADIO_CONTROL_POWER_OFF gpio_clear
78 
79 #define SPEKTRUM_TIMER 3
80 
81 #define SPEKTRUM_UART1_RCC RCC_USART1
82 #define SPEKTRUM_UART1_BANK GPIOA
83 #define SPEKTRUM_UART1_PIN GPIO10
84 #define SPEKTRUM_UART1_AF 0
85 #define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
86 #define SPEKTRUM_UART1_ISR usart1_isr
87 #define SPEKTRUM_UART1_DEV USART1
88 
89 
90 /*
91  * PPM input
92  */
93 #define USE_PPM_TIM1 1
94 #define PPM_CHANNEL TIM_IC1
95 #define PPM_TIMER_INPUT TIM_IC_IN_TI1
96 #define PPM_IRQ NVIC_TIM1_UP_IRQ
97 #define PPM_IRQ2 NVIC_TIM1_CC_IRQ
98 // Capture/Compare InteruptEnable and InterruptFlag
99 #define PPM_CC_IE TIM_DIER_CC1IE
100 #define PPM_CC_IF TIM_SR_CC1IF
101 #define PPM_GPIO_PORT GPIOA
102 #define PPM_GPIO_PIN GPIO8
103 #define PPM_GPIO_AF 0
104 
105 //#define USE_AD_TIM1 1
106 #ifndef USE_ADC_1
107 #define USE_ADC_1 0
108 #endif
109 #if USE_ADC_1 // VDD servo ADC12_IN4, untested
110 #define AD1_1_CHANNEL 12
111 #define ADC_1 AD1_4
112 #define ADC_1_GPIO_PORT GPIOA
113 #define ADC_1_GPIO_PIN GPIO4
114 #endif
115 
116 /*
117  * PWM
118  *
119  */
120 //sevo outputs on px4io f1:
121 //chn: 1 2 3 4 5 6 7 8
122 //pin: A0 A1 B8 B9 A6 A7 B0 B1
123 //timer/channel: 2/1 2/2 4/3 4/4 3/1 3/2 3/3 3/4
124 #define PWM_USE_TIM2 1
125 //#define PWM_USE_TIM3 1 // spektrum already uses tim3
126 #define PWM_USE_TIM4 1
127 
128 //#define ACTUATORS_PWM_NB 4
129 
130 #define USE_PWM1 1
131 #define USE_PWM2 1
132 #define USE_PWM3 1
133 #define USE_PWM4 1
134 //#define USE_PWM5 1
135 //#define USE_PWM6 1
136 //#define USE_PWM7 1
137 //#define USE_PWM8 1
138 
139 // PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
140 #if USE_PWM1
141 #define PWM_SERVO_1 0
142 #define PWM_SERVO_1_TIMER TIM2
143 #define PWM_SERVO_1_GPIO GPIOA
144 #define PWM_SERVO_1_PIN GPIO0
145 #define PWM_SERVO_1_AF 0
146 #define PWM_SERVO_1_OC TIM_OC1
147 #define PWM_SERVO_1_OC_BIT (1<<0)
148 #else
149 #define PWM_SERVO_1_OC_BIT 0
150 #endif
151 
152 #if USE_PWM2
153 #define PWM_SERVO_2 1
154 #define PWM_SERVO_2_TIMER TIM2
155 #define PWM_SERVO_2_GPIO GPIOA
156 #define PWM_SERVO_2_PIN GPIO1
157 #define PWM_SERVO_2_AF 0
158 #define PWM_SERVO_2_OC TIM_OC2
159 #define PWM_SERVO_2_OC_BIT (1<<1)
160 #else
161 #define PWM_SERVO_2_OC_BIT 0
162 #endif
163 
164 #if USE_PWM3
165 #define PWM_SERVO_3 2
166 #define PWM_SERVO_3_TIMER TIM4
167 #define PWM_SERVO_3_GPIO GPIOB
168 #define PWM_SERVO_3_PIN GPIO8
169 #define PWM_SERVO_3_AF 0
170 #define PWM_SERVO_3_OC TIM_OC3
171 #define PWM_SERVO_3_OC_BIT (1<<2)
172 #else
173 #define PWM_SERVO_3_OC_BIT 0
174 #endif
175 
176 #if USE_PWM4
177 #define PWM_SERVO_4 3
178 #define PWM_SERVO_4_TIMER TIM4
179 #define PWM_SERVO_4_GPIO GPIOB
180 #define PWM_SERVO_4_PIN GPIO9
181 #define PWM_SERVO_4_AF 0
182 #define PWM_SERVO_4_OC TIM_OC4
183 #define PWM_SERVO_4_OC_BIT (1<<3)
184 #else
185 #define PWM_SERVO_4_OC_BIT 0
186 #endif
187 
188 #if USE_PWM5
189 #define PWM_SERVO_5 4
190 #define PWM_SERVO_5_TIMER TIM3
191 #define PWM_SERVO_5_GPIO GPIOA
192 #define PWM_SERVO_5_PIN GPIO6
193 #define PWM_SERVO_5_AF 0
194 #define PWM_SERVO_5_OC TIM_OC1
195 #define PWM_SERVO_5_OC_BIT (1<<0)
196 #else
197 #define PWM_SERVO_5_OC_BIT 0
198 #endif
199 
200 #if USE_PWM6
201 #define PWM_SERVO_6 5
202 #define PWM_SERVO_6_TIMER TIM3
203 #define PWM_SERVO_6_GPIO GPIOA
204 #define PWM_SERVO_6_PIN GPIO7
205 #define PWM_SERVO_6_AF 0
206 #define PWM_SERVO_6_OC TIM_OC2
207 #define PWM_SERVO_6_OC_BIT (1<<1)
208 #else
209 #define PWM_SERVO_6_OC_BIT 0
210 #endif
211 
212 #if USE_PWM7
213 #define PWM_SERVO_7 6
214 #define PWM_SERVO_7_TIMER TIM3
215 #define PWM_SERVO_7_GPIO GPIOB
216 #define PWM_SERVO_7_PIN GPIO0
217 #define PWM_SERVO_7_AF 0
218 #define PWM_SERVO_7_OC TIM_OC3
219 #define PWM_SERVO_7_OC_BIT (1<<2)
220 #else
221 #define PWM_SERVO_7_OC_BIT 0
222 #endif
223 
224 #if USE_PWM8
225 #define PWM_SERVO_8 7
226 #define PWM_SERVO_8_TIMER TIM3
227 #define PWM_SERVO_8_GPIO GPIOB
228 #define PWM_SERVO_8_PIN GPIO1
229 #define PWM_SERVO_8_AF 0
230 #define PWM_SERVO_8_OC TIM_OC4
231 #define PWM_SERVO_8_OC_BIT (1<<3)
232 #else
233 #define PWM_SERVO_8_OC_BIT 0
234 #endif
235 
236 /* servos 1-2 on TIM2 */
237 #define PWM_TIM2_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT)
238 /* servos 3-4 on TIM4 */
239 #define PWM_TIM4_CHAN_MASK (PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)
240 /* servos 5-8 on TIM3 */
241 //#define PWM_TIM3_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT|PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT)
242 
243 /* Default actuators driver */
244 #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
245 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
246 #define ActuatorsDefaultInit() ActuatorsPwmInit()
247 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
248 
249 
250 #endif /* CONFIG_PX4IO_2_4_H */