Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
opa_ap_1.0.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#ifndef CONFIG_OPA_FTD_1_0_H
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#define CONFIG_OPA_FTD_1_0_H
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#define BOARD_OPA_AP
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/* OPA/FTD has a 12MHz external clock and 168MHz internal. */
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#define EXT_CLK 12000000
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#define AHB_CLK 168000000
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/*
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* Power control
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*/
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/* VISION power */
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#define VISION_PWR GPIOA
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#define VISION_PWR_PIN GPIO1
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#define VISION_PWR_ON gpio_set
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#define VISION_PWR_OFF gpio_clear
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/*
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* Onboard LEDs
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*/
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/* Status (red), on PA8 */
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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 GPIOA
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#define LED_1_GPIO_PIN GPIO8
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#define LED_1_GPIO_ON gpio_set
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#define LED_1_GPIO_OFF gpio_clear
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#define LED_1_AFIO_REMAP ((void)0)
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/* UART */
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#define UART1_GPIO_AF GPIO_AF7
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#define UART1_GPIO_PORT_RX GPIOA
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#define UART1_GPIO_RX GPIO10
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#define UART1_GPIO_PORT_TX GPIOA
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#define UART1_GPIO_TX GPIO9
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#define UART2_GPIO_AF GPIO_AF7
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#define UART2_GPIO_PORT_RX GPIOA
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#define UART2_GPIO_RX GPIO3
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#define UART2_GPIO_PORT_TX GPIOA
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#define UART2_GPIO_TX GPIO2
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#define UART3_GPIO_AF GPIO_AF7
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#define UART3_GPIO_PORT_RX GPIOB
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#define UART3_GPIO_RX GPIO11
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#define UART3_GPIO_PORT_TX GPIOB
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#define UART3_GPIO_TX GPIO10
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#define UART4_GPIO_AF GPIO_AF8
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#define UART4_GPIO_PORT_RX GPIOC
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#define UART4_GPIO_RX GPIO11
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#define UART4_GPIO_PORT_TX GPIOC
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#define UART4_GPIO_TX GPIO10
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#define UART5_GPIO_AF GPIO_AF8
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#define UART5_GPIO_PORT_RX GPIOD
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#define UART5_GPIO_RX GPIO2
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/* SPI */
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#define SPI1_GPIO_AF GPIO_AF5
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#define SPI1_GPIO_PORT_MISO GPIOA
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#define SPI1_GPIO_MISO GPIO6
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#define SPI1_GPIO_PORT_MOSI GPIOA
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#define SPI1_GPIO_MOSI GPIO7
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#define SPI1_GPIO_PORT_SCK GPIOA
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#define SPI1_GPIO_SCK GPIO5
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#define SPI1_GPIO_PORT_NSS GPIOA
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#define SPI1_GPIO_NSS GPIO4
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#define SPI2_GPIO_AF GPIO_AF5
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#define SPI2_GPIO_PORT_MISO GPIOB
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#define SPI2_GPIO_MISO GPIO14
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#define SPI2_GPIO_PORT_MOSI GPIOB
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#define SPI2_GPIO_MOSI GPIO15
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#define SPI2_GPIO_PORT_SCK GPIOB
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#define SPI2_GPIO_SCK GPIO13
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#define SPI2_GPIO_PORT_NSS GPIOB
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#define SPI2_GPIO_NSS GPIO12
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#define SPI_SELECT_SLAVE0_PORT GPIOA
// SD CARD (on spi1)
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#define SPI_SELECT_SLAVE0_PIN GPIO4
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#define SPI_SELECT_SLAVE1_PORT GPIOB
// IMU (on spi2)
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#define SPI_SELECT_SLAVE1_PIN GPIO12
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#define SPI_SELECT_SLAVE2_PORT GPIOC
// BARO (on spi2)
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#define SPI_SELECT_SLAVE2_PIN GPIO13
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/*
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* RPM sensor
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*/
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#ifdef USE_PWM_INPUT1
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#define PWM_INPUT1_GPIO_PORT GPIOB
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#define PWM_INPUT1_GPIO_PIN GPIO6
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#define PWM_INPUT1_GPIO_AF GPIO_AF2
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#define PWM_INPUT1_TIMER TIM4
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#define PWM_INPUT1_CHANNEL_PERIOD TIM_IC1
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#define PWM_INPUT1_CHANNEL_DUTY TIM_IC2
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#define PWM_INPUT1_TIMER_INPUT TIM_IC_IN_TI1
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#define PWM_INPUT1_SLAVE_TRIG TIM_SMCR_TS_TI1FP1
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#define PWM_INPUT1_IRQ NVIC_TIM4_IRQ
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#define PWM_INPUT1_CC_IE (TIM_DIER_CC1IE | TIM_DIER_CC2IE)
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#define USE_PWM_INPUT_TIM4 TRUE
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#ifdef PWM_INPUT1_TICKS_PER_USEC
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#define TIM4_TICKS_PER_USEC PWM_INPUT1_TICKS_PER_USEC
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#endif
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#define TIM4_PWM_INPUT_IDX 0
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#define TIM4_CC_IF_PERIOD TIM_SR_CC1IF
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#define TIM4_CC_IF_DUTY TIM_SR_CC2IF
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#define TIM4_CCR_PERIOD TIM4_CCR1
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#define TIM4_CCR_DUTY TIM4_CCR2
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#endif
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/*
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* ADC
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*/
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/* BATT PC4/ADC14 */
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#ifndef USE_ADC_1
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#define USE_ADC_1 1
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#endif
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#if USE_ADC_1
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#define AD1_1_CHANNEL 14
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#define ADC_1 AD1_1
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#define ADC_1_GPIO_PORT GPIOC
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#define ADC_1_GPIO_PIN GPIO4
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#endif
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/* CURRENT PC3/ADC13 */
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#if USE_ADC_2
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#define AD1_2_CHANNEL 13
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#define ADC_2 AD1_2
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#define ADC_2_GPIO_PORT GPIOC
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#define ADC_2_GPIO_PIN GPIO3
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#endif
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/* TEMP_MOTOR PC0/ADC10 */
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#ifndef USE_ADC_3
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#define USE_ADC_3 1
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#endif
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#if USE_ADC_3
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#define AD1_3_CHANNEL 10
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#define ADC_3 AD1_3
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#define ADC_3_GPIO_PORT GPIOC
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#define ADC_3_GPIO_PIN GPIO0
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#endif
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/* TEMP_BATT PC1/ADC11 */
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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 11
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#define ADC_4 AD1_4
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#define ADC_4_GPIO_PORT GPIOC
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#define ADC_4_GPIO_PIN GPIO1
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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_1
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#endif
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// Default: 10k / 2k2
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// #define DefaultVoltageOfAdc(adc) (0.0045*adc)
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// Opa: 31k6 / 4k7
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#define DefaultVoltageOfAdc(adc) (0.0063*adc)
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// ADC756-B050: +/-50Amp range bidirectional
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// 40 mV / Ampere
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// 1 ADC-count = 0,000805664 Volt, 0.040 V = 1 Ampere -> 1 Ampere = 49,6484887 ADC ticks: 1 ADC-tck = 20mA
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// 5.0/3.3 from datasheet
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#define DefaultMilliAmpereOfAdc(adc) (20.142*(adc-2048) * 5.0/3.3)
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/* TEMP MOTOR: NTC with 2k fixed pull up */
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// R0: 10k (@25C)
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// T0: 25C -> 298.15K
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// B: 3976 K
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// a = (1/T0) - (1/B)*ln(R0) = 0.00103753243
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// b = 1/B = 0.00025150905
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// c = 0
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#define TEMP_ADC_CHANNEL1 ADC_3
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#define TEMP_ADC_CHANNEL1_TYPE NTC
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#define TEMP_ADC_CHANNEL1_PU_R 2000
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#define TEMP_ADC_CHANNEL1_A 0.00103753243
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#define TEMP_ADC_CHANNEL1_B 0.00025150905
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#define TEMP_ADC_CHANNEL1_C 0
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/* TEMP BATT: NTC with 2k fixed pull up */
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// R0: 10k (@25C)
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// T0: 25C -> 298.15K
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// B: 3976 K
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// a = (1/T0) - (1/B)*ln(R0) = 0.00103753243
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// b = 1/B = 0.00025150905
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// c = 0
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#define TEMP_ADC_CHANNEL2 ADC_4
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#define TEMP_ADC_CHANNEL2_TYPE NTC
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#define TEMP_ADC_CHANNEL2_PU_R 2000
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#define TEMP_ADC_CHANNEL2_A 0.00103753243
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#define TEMP_ADC_CHANNEL2_B 0.00025150905
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#define TEMP_ADC_CHANNEL2_C 0
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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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#endif
/* CONFIG_OPA_AP_1_0_H */
sw
airborne
boards
opa_ap_1.0.h
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