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lisa_mx_common.h
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1 /*
2  * Copyright (C) 2013 Piotr Esden-Tempski <piotr@esden.net>
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_LISA_MX_COMMON_H
24 #define CONFIG_LISA_MX_COMMON_H
25 
26 #define BOARD_LISA_MX
27 
28 /* Lisa/M has a 12MHz external clock and 168MHz internal. */
29 #define EXT_CLK 12000000
30 #define AHB_CLK 168000000
31 
32 /*
33  * Onboard LEDs
34  */
35 
36 /* red, on PA8 */
37 #ifndef USE_LED_1
38 #define USE_LED_1 1
39 #endif
40 #define LED_1_GPIO GPIOA
41 #define LED_1_GPIO_PIN GPIO8
42 #define LED_1_GPIO_ON gpio_clear
43 #define LED_1_GPIO_OFF gpio_set
44 #define LED_1_AFIO_REMAP ((void)0)
45 
46 /* green, shared with JTAG_TRST */
47 #ifndef USE_LED_2
48 #define USE_LED_2 1
49 #endif
50 #define LED_2_GPIO GPIOB
51 #define LED_2_GPIO_PIN GPIO4
52 #define LED_2_GPIO_ON gpio_clear
53 #define LED_2_GPIO_OFF gpio_set
54 #define LED_2_AFIO_REMAP ((void)0)
55 
56 /* green, shared with ADC12 (ADC_6 on connector ANALOG2) */
57 #ifndef USE_LED_3
58 #define USE_LED_3 1
59 #endif
60 #define LED_3_GPIO GPIOC
61 #define LED_3_GPIO_PIN GPIO2
62 #define LED_3_GPIO_ON gpio_clear
63 #define LED_3_GPIO_OFF gpio_set
64 #define LED_3_AFIO_REMAP ((void)0)
65 
66 /* red, shared with ADC15 (ADC_4 on connector ANALOG2) */
67 #ifndef USE_LED_4
68 #define USE_LED_4 1
69 #endif
70 #define LED_4_GPIO GPIOC
71 #define LED_4_GPIO_PIN GPIO5
72 #define LED_4_GPIO_ON gpio_clear
73 #define LED_4_GPIO_OFF gpio_set
74 #define LED_4_AFIO_REMAP ((void)0)
75 
76 /* green, on PC15 */
77 #ifndef USE_LED_5
78 #define USE_LED_5 1
79 #endif
80 #define LED_5_GPIO GPIOC
81 #define LED_5_GPIO_PIN GPIO15
82 #define LED_5_GPIO_ON gpio_clear
83 #define LED_5_GPIO_OFF gpio_set
84 #define LED_5_AFIO_REMAP ((void)0)
85 
86 /*
87  * LEDs not populated by default
88  */
89 /* PC3, ADC13 on ADC_1 */
90 #define LED_6_GPIO GPIOC
91 #define LED_6_GPIO_PIN GPIO3
92 #define LED_6_GPIO_ON gpio_clear
93 #define LED_6_GPIO_OFF gpio_set
94 #define LED_6_AFIO_REMAP ((void)0)
95 
96 /* PC0, ADC10 on ADC_2 */
97 #define LED_7_GPIO GPIOC
98 #define LED_7_GPIO_PIN GPIO0
99 #define LED_7_GPIO_ON gpio_clear
100 #define LED_7_GPIO_OFF gpio_set
101 #define LED_7_AFIO_REMAP ((void)0)
102 
103 /* PC1, ADC11 on ADC_3 */
104 #define LED_8_GPIO GPIOC
105 #define LED_8_GPIO_PIN GPIO1
106 #define LED_8_GPIO_ON gpio_clear
107 #define LED_8_GPIO_OFF gpio_set
108 #define LED_8_AFIO_REMAP ((void)0)
109 
110 
111 /*
112  * not actual LEDS, used as GPIOs
113  */
114 
115 /* PB1, DRDY on EXT SPI connector*/
116 #define LED_BODY_GPIO GPIOB
117 #define LED_BODY_GPIO_PIN GPIO1
118 #define LED_BODY_GPIO_ON gpio_set
119 #define LED_BODY_GPIO_OFF gpio_clear
120 #define LED_BODY_AFIO_REMAP ((void)0)
121 
122 /* PC12, on GPIO connector*/
123 #define LED_12_GPIO GPIOC
124 #define LED_12_GPIO_PIN GPIO12
125 #define LED_12_GPIO_ON gpio_clear
126 #define LED_12_GPIO_OFF gpio_set
127 #define LED_12_AFIO_REMAP ((void)0)
128 
129 
130 /* Default actuators driver */
131 #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
132 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
133 #define ActuatorsDefaultInit() ActuatorsPwmInit()
134 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
135 
136 
137 /* UART */
138 #define UART1_GPIO_AF GPIO_AF7
139 #define UART1_GPIO_PORT_RX GPIOA
140 #define UART1_GPIO_RX GPIO10
141 #define UART1_GPIO_PORT_TX GPIOA
142 #define UART1_GPIO_TX GPIO9
143 
144 #define UART2_GPIO_AF GPIO_AF7
145 #define UART2_GPIO_PORT_RX GPIOA
146 #define UART2_GPIO_RX GPIO3
147 #define UART2_GPIO_PORT_TX GPIOA
148 #define UART2_GPIO_TX GPIO2
149 
150 #if REMAP_UART3 // For UART4 we need to remap UART 3
151 #define UART3_GPIO_AF GPIO_AF7
152 #define UART3_GPIO_PORT_RX GPIOB
153 #define UART3_GPIO_RX GPIO11
154 #define UART3_GPIO_PORT_TX GPIOB
155 #define UART3_GPIO_TX GPIO10
156 
157 #define UART4_GPIO_AF GPIO_AF8
158 #define UART4_GPIO_PORT_RX GPIOC
159 #define UART4_GPIO_RX GPIO11
160 #define UART4_GPIO_PORT_TX GPIOC
161 #define UART4_GPIO_TX GPIO10
162 
163 #else
164 #define UART3_GPIO_AF GPIO_AF7
165 #define UART3_GPIO_PORT_RX GPIOC
166 #define UART3_GPIO_RX GPIO11
167 #define UART3_GPIO_PORT_TX GPIOC
168 #define UART3_GPIO_TX GPIO10
169 #endif
170 
171 
172 #define UART5_GPIO_AF GPIO_AF8
173 #define UART5_GPIO_PORT_RX GPIOD
174 #define UART5_GPIO_RX GPIO2
175 #define UART5_GPIO_PORT_TX GPIOC
176 #define UART5_GPIO_TX GPIO12
177 
178 #define UART6_GPIO_AF GPIO_AF8
179 #define UART6_GPIO_PORT_RX GPIOC
180 #define UART6_GPIO_RX GPIO7
181 #define UART6_GPIO_PORT_TX GPIOC
182 #define UART6_GPIO_TX GPIO6
183 
184 /*
185  * Spektrum
186  */
187 /* The line that is pulled low at power up to initiate the bind process */
188 /* These are not common between versions of lisa/mx and thus defined in the
189  * version specific header files. */
190 /* #define SPEKTRUM_BIND_PIN GPIO0 */
191 /* #define SPEKTRUM_BIND_PIN_PORT GPIOB */
192 
193 #define SPEKTRUM_UART1_RCC RCC_USART1
194 #define SPEKTRUM_UART1_BANK GPIOA
195 #define SPEKTRUM_UART1_PIN GPIO10
196 #define SPEKTRUM_UART1_AF GPIO_AF7
197 #define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
198 #define SPEKTRUM_UART1_ISR usart1_isr
199 #define SPEKTRUM_UART1_DEV USART1
200 
201 #define SPEKTRUM_UART5_RCC RCC_UART5
202 #define SPEKTRUM_UART5_BANK GPIOD
203 #define SPEKTRUM_UART5_PIN GPIO2
204 #define SPEKTRUM_UART5_AF GPIO_AF8
205 #define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
206 #define SPEKTRUM_UART5_ISR uart5_isr
207 #define SPEKTRUM_UART5_DEV UART5
208 
209 /* PPM
210  *
211  * Default is PPM config 2, input on GPIOA1 (Servo pin 6)
212  */
213 
214 #ifndef PPM_CONFIG
215 #define PPM_CONFIG 2
216 #endif
217 
218 #if PPM_CONFIG == 1
219 /* input on PA10 (UART1_RX) */
220 #define USE_PPM_TIM1 1
221 #define PPM_CHANNEL TIM_IC3
222 #define PPM_TIMER_INPUT TIM_IC_IN_TI3
223 #define PPM_IRQ NVIC_TIM1_CC_IRQ
224 #define PPM_IRQ2 NVIC_TIM1_UP_TIM10_IRQ
225 // Capture/Compare InteruptEnable and InterruptFlag
226 #define PPM_CC_IE TIM_DIER_CC3IE
227 #define PPM_CC_IF TIM_SR_CC3IF
228 #define PPM_GPIO_PORT GPIOA
229 #define PPM_GPIO_PIN GPIO10
230 #define PPM_GPIO_AF GPIO_AF1
231 
232 #elif PPM_CONFIG == 2
233 /* input on PA01 (Servo 6 pin) */
234 #define USE_PPM_TIM2 1
235 #define PPM_CHANNEL TIM_IC2
236 #define PPM_TIMER_INPUT TIM_IC_IN_TI2
237 #define PPM_IRQ NVIC_TIM2_IRQ
238 // Capture/Compare InteruptEnable and InterruptFlag
239 #define PPM_CC_IE TIM_DIER_CC2IE
240 #define PPM_CC_IF TIM_SR_CC2IF
241 #define PPM_GPIO_PORT GPIOA
242 #define PPM_GPIO_PIN GPIO1
243 #define PPM_GPIO_AF GPIO_AF1
244 
245 // Move default ADC timer
246 #if USE_AD_TIM2
247 #undef USE_AD_TIM2
248 #endif
249 #define USE_AD_TIM1 1
250 
251 #else
252 #error "Unknown PPM config"
253 
254 #endif // PPM_CONFIG
255 
256 /* SPI */
257 #define SPI1_GPIO_AF GPIO_AF5
258 #define SPI1_GPIO_PORT_MISO GPIOA
259 #define SPI1_GPIO_MISO GPIO6
260 #define SPI1_GPIO_PORT_MOSI GPIOA
261 #define SPI1_GPIO_MOSI GPIO7
262 #define SPI1_GPIO_PORT_SCK GPIOA
263 #define SPI1_GPIO_SCK GPIO5
264 
265 #define SPI2_GPIO_AF GPIO_AF5
266 #define SPI2_GPIO_PORT_MISO GPIOB
267 #define SPI2_GPIO_MISO GPIO14
268 #define SPI2_GPIO_PORT_MOSI GPIOB
269 #define SPI2_GPIO_MOSI GPIO15
270 #define SPI2_GPIO_PORT_SCK GPIOB
271 #define SPI2_GPIO_SCK GPIO13
272 
273 #define SPI_SELECT_SLAVE0_PORT GPIOA
274 #define SPI_SELECT_SLAVE0_PIN GPIO15
275 
276 #define SPI_SELECT_SLAVE1_PORT GPIOA
277 #define SPI_SELECT_SLAVE1_PIN GPIO4
278 
279 #define SPI_SELECT_SLAVE2_PORT GPIOB
280 #define SPI_SELECT_SLAVE2_PIN GPIO12
281 
282 #define SPI_SELECT_SLAVE3_PORT GPIOC
283 #define SPI_SELECT_SLAVE3_PIN GPIO13
284 
285 #define SPI_SELECT_SLAVE4_PORT GPIOC
286 #define SPI_SELECT_SLAVE4_PIN GPIO12
287 
288 #define SPI_SELECT_SLAVE5_PORT GPIOC
289 #define SPI_SELECT_SLAVE5_PIN GPIO4
290 
291 
292 #define SPI1_GPIO_PORT_NSS GPIOA
293 #define SPI1_GPIO_NSS GPIO4
294 
295 #define SPI2_GPIO_PORT_NSS GPIOB
296 #define SPI2_GPIO_NSS GPIO12
297 
298 #define SPI3_GPIO_PORT_NSS GPIOA
299 #define SPI3_GPIO_NSS GPIO15
300 
301 /* I2C mapping */
302 #define I2C1_GPIO_PORT GPIOB
303 #define I2C1_GPIO_SCL GPIO6
304 #define I2C1_GPIO_SDA GPIO7
305 
306 #define I2C2_GPIO_PORT GPIOB
307 #define I2C2_GPIO_SCL GPIO10
308 #define I2C2_GPIO_SDA GPIO11
309 
310 
311 /*
312  * ADC
313  */
314 
315 /* Onboard ADCs */
316 /*
317  ADC1 PC3/ADC13
318  ADC2 PC0/ADC10
319  ADC3 PC1/ADC11
320  ADC4 PC5/ADC15
321  ADC6 PC2/ADC12
322  BATT PC4/ADC14
323 */
324 
325 /* provide defines that can be used to access the ADC_x in the code or airframe file
326  * these directly map to the index number of the 4 adc channels defined above
327  * 4th (index 3) is used for bat monitoring by default
328  */
329 #if USE_ADC_1
330 #define AD1_1_CHANNEL 13
331 #define ADC_1 AD1_1
332 #define ADC_1_GPIO_PORT GPIOC
333 #define ADC_1_GPIO_PIN GPIO3
334 #endif
335 
336 #if USE_ADC_2
337 #define AD1_2_CHANNEL 10
338 #define ADC_2 AD1_2
339 #define ADC_2_GPIO_PORT GPIOC
340 #define ADC_2_GPIO_PIN GPIO0
341 #endif
342 
343 #if USE_ADC_3
344 #define AD1_3_CHANNEL 11
345 #define ADC_3 AD1_3
346 #define ADC_3_GPIO_PORT GPIOC
347 #define ADC_3_GPIO_PIN GPIO1
348 #endif
349 
350 #if USE_ADC_4
351 #define AD2_1_CHANNEL 15
352 #define ADC_4 AD2_1
353 #define ADC_4_GPIO_PORT GPIOC
354 #define ADC_4_GPIO_PIN GPIO5
355 #endif
356 
357 // Internal ADC for battery enabled by default
358 #ifndef USE_ADC_5
359 #define USE_ADC_5 1
360 #endif
361 #if USE_ADC_5
362 #define AD1_4_CHANNEL 14
363 #define ADC_5 AD1_4
364 #define ADC_5_GPIO_PORT GPIOC
365 #define ADC_5_GPIO_PIN GPIO4
366 #endif
367 
368 #if USE_ADC_6
369 #define AD2_2_CHANNEL 12
370 #define ADC_6 AD2_2
371 #define ADC_6_GPIO_PORT GPIOC
372 #define ADC_6_GPIO_PIN GPIO2
373 #endif
374 
375 /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
376 #ifndef ADC_CHANNEL_VSUPPLY
377 #define ADC_CHANNEL_VSUPPLY ADC_5
378 #endif
379 
380 #define DefaultVoltageOfAdc(adc) (0.0045*adc)
381 
382 
383 /*
384  * PWM
385  *
386  */
387 #define PWM_USE_TIM3 1
388 #define PWM_USE_TIM5 1
389 
390 #define USE_PWM1 1
391 #define USE_PWM2 1
392 #define USE_PWM3 1
393 #define USE_PWM4 1
394 #define USE_PWM5 1
395 #define USE_PWM6 1
396 
397 #if USE_SERVOS_7AND8
398 #if USE_I2C1
399 #error "You cannot USE_SERVOS_7AND8 and USE_I2C1 at the same time"
400 #else
401 #define ACTUATORS_PWM_NB 8
402 #define USE_PWM7 1
403 #define USE_PWM8 1
404 #define PWM_USE_TIM4 1
405 #endif
406 #else
407 #define ACTUATORS_PWM_NB 6
408 #endif
409 
410 // Servo numbering on LisaM silkscreen/docs starts with 1
411 
412 // PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
413 #if USE_PWM1
414 #define PWM_SERVO_1 0
415 #define PWM_SERVO_1_TIMER TIM3
416 #define PWM_SERVO_1_GPIO GPIOC
417 #define PWM_SERVO_1_PIN GPIO6
418 #define PWM_SERVO_1_AF GPIO_AF2
419 #define PWM_SERVO_1_OC TIM_OC1
420 #define PWM_SERVO_1_OC_BIT (1<<0)
421 #else
422 #define PWM_SERVO_1_OC_BIT 0
423 #endif
424 
425 #if USE_PWM2
426 #define PWM_SERVO_2 1
427 #define PWM_SERVO_2_TIMER TIM3
428 #define PWM_SERVO_2_GPIO GPIOC
429 #define PWM_SERVO_2_PIN GPIO7
430 #define PWM_SERVO_2_AF GPIO_AF2
431 #define PWM_SERVO_2_OC TIM_OC2
432 #define PWM_SERVO_2_OC_BIT (1<<1)
433 #else
434 #define PWM_SERVO_2_OC_BIT 0
435 #endif
436 
437 #if USE_PWM3
438 #define PWM_SERVO_3 2
439 #define PWM_SERVO_3_TIMER TIM3
440 #define PWM_SERVO_3_GPIO GPIOC
441 #define PWM_SERVO_3_PIN GPIO8
442 #define PWM_SERVO_3_AF GPIO_AF2
443 #define PWM_SERVO_3_OC TIM_OC3
444 #define PWM_SERVO_3_OC_BIT (1<<2)
445 #else
446 #define PWM_SERVO_3_OC_BIT 0
447 #endif
448 
449 #if USE_PWM4
450 #define PWM_SERVO_4 3
451 #define PWM_SERVO_4_TIMER TIM3
452 #define PWM_SERVO_4_GPIO GPIOC
453 #define PWM_SERVO_4_PIN GPIO9
454 #define PWM_SERVO_4_AF GPIO_AF2
455 #define PWM_SERVO_4_OC TIM_OC4
456 #define PWM_SERVO_4_OC_BIT (1<<3)
457 #else
458 #define PWM_SERVO_4_OC_BIT 0
459 #endif
460 
461 #if USE_PWM5
462 #define PWM_SERVO_5 4
463 #define PWM_SERVO_5_TIMER TIM5
464 #define PWM_SERVO_5_GPIO GPIOA
465 #define PWM_SERVO_5_PIN GPIO0
466 #define PWM_SERVO_5_AF GPIO_AF2
467 #define PWM_SERVO_5_OC TIM_OC1
468 #define PWM_SERVO_5_OC_BIT (1<<0)
469 #else
470 #define PWM_SERVO_5_OC_BIT 0
471 #endif
472 
473 #if USE_PWM6
474 #define PWM_SERVO_6 5
475 #define PWM_SERVO_6_TIMER TIM5
476 #define PWM_SERVO_6_GPIO GPIOA
477 #define PWM_SERVO_6_PIN GPIO1
478 #define PWM_SERVO_6_AF GPIO_AF2
479 #define PWM_SERVO_6_OC TIM_OC2
480 #define PWM_SERVO_6_OC_BIT (1<<1)
481 #else
482 #define PWM_SERVO_6_OC_BIT 0
483 #endif
484 
485 #if USE_PWM7
486 #define PWM_SERVO_7 6
487 #define PWM_SERVO_7_TIMER TIM4
488 #define PWM_SERVO_7_GPIO GPIOB
489 #define PWM_SERVO_7_PIN GPIO6
490 #define PWM_SERVO_7_AF GPIO_AF2
491 #define PWM_SERVO_7_OC TIM_OC1
492 #define PWM_SERVO_7_OC_BIT (1<<0)
493 #else
494 #define PWM_SERVO_7_OC_BIT 0
495 #endif
496 
497 #if USE_PWM8
498 #define PWM_SERVO_8 7
499 #define PWM_SERVO_8_TIMER TIM4
500 #define PWM_SERVO_8_GPIO GPIOB
501 #define PWM_SERVO_8_PIN GPIO7
502 #define PWM_SERVO_8_AF GPIO_AF2
503 #define PWM_SERVO_8_OC TIM_OC2
504 #define PWM_SERVO_8_OC_BIT (1<<1)
505 #else
506 #define PWM_SERVO_8_OC_BIT 0
507 #endif
508 
509 /* servos 1-4 on TIM3 */
510 #define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)
511 /* servos 5-6 on TIM5 */
512 #define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
513 /* servos 7-8 on TIM4 if USE_SERVOS_7AND8 */
514 #define PWM_TIM4_CHAN_MASK (PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT)
515 
516 
517 /* by default activate onboard baro */
518 #ifndef USE_BARO_BOARD
519 #define USE_BARO_BOARD 1
520 #endif
521 
522 #endif /* CONFIG_LISA_MX_COMMON_H */