latest/opa__ftd__1_80_8h_source.html

/*

 * Copyright (C) 2015 Freek van Tienen <freek.v.tienen@gmail.com>

 *

 * This file is part of paparazzi.

 *

 * paparazzi is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation; either version 2, or (at your option)

 * any later version.

 *

 * paparazzi is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with paparazzi; see the file COPYING.  If not, write to

 * the Free Software Foundation, 59 Temple Place - Suite 330,

 * Boston, MA 02111-1307, USA.

 *

 */


#ifndef CONFIG_OPA_FTD_1_0_H

#define CONFIG_OPA_FTD_1_0_H


#define BOARD_OPA_FTD


/* OPA/FTD has a 12MHz external clock and 168MHz internal. */

#define EXT_CLK 12000000

#define AHB_CLK 168000000


/*

 * Power control

 */


/* MCU power */

#define MCU_PWR GPIOB

#define MCU_PWR_PIN GPIO5

#define MCU_PWR_ON gpio_set

#define MCU_PWR_OFF gpio_clear


/* Autopilot power */

#define AP_PWR GPIOB

#define AP_PWR_PIN GPIO0

#define AP_PWR_ON gpio_set

#define AP_PWR_OFF gpio_clear


/* Main power (25V) */

#define MAIN_PWR GPIOC

#define MAIN_PWR_PIN GPIO12

#define MAIN_PWR_ON gpio_set

#define MAIN_PWR_OFF gpio_clear


/* Balancer power */

#define BAL_PWR GPIOC

#define BAL_PWR_PIN GPIO2

#define BAL_PWR_ON gpio_set

#define BAL_PWR_OFF gpio_clear


/*

 * Buttons

 */


/* E-Stop button */

#define BTN_ESTOP GPIOB

#define BTN_ESTOP_PIN GPIO12


/* Arming button */

#define BTN_ARMING GPIOB

#define BTN_ARMING_PIN GPIO14


/* On/Off button */

#define BTN_ON GPIOC

#define BTN_ON_PIN GPIO1


/*

 * Onboard LEDs

 */


/* Status (red), on PA8 */

#ifndef USE_LED_1

#define USE_LED_1 1

#endif

#define LED_1_GPIO GPIOA

#define LED_1_GPIO_PIN GPIO8

#define LED_1_GPIO_ON gpio_set

#define LED_1_GPIO_OFF gpio_clear

#define LED_1_AFIO_REMAP ((void)0)


/* RC (green), on PC5 */

#ifndef USE_LED_2

#define USE_LED_2 1

#endif

#define LED_2_GPIO GPIOC

#define LED_2_GPIO_PIN GPIO5

#define LED_2_GPIO_ON gpio_set

#define LED_2_GPIO_OFF gpio_clear

#define LED_2_AFIO_REMAP ((void)0)


/* Status LED ext, PB13 */

#ifndef USE_LED_3

#define USE_LED_3 1

#endif

#define LED_3_GPIO GPIOB

#define LED_3_GPIO_PIN GPIO13

#define LED_3_GPIO_ON gpio_set

#define LED_3_GPIO_OFF gpio_clear

#define LED_3_AFIO_REMAP ((void)0)


/* Default actuators driver */

#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"

#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)

#define ActuatorsDefaultInit() ActuatorsPwmInit()

#define ActuatorsDefaultCommit() ActuatorsPwmCommit()


/* UART */

#define UART1_GPIO_AF GPIO_AF7

#define UART1_GPIO_PORT_RX GPIOA

#define UART1_GPIO_RX GPIO10


#define UART2_GPIO_AF GPIO_AF7

#define UART2_GPIO_PORT_RX GPIOA

#define UART2_GPIO_RX GPIO3

#define UART2_GPIO_PORT_TX GPIOA

#define UART2_GPIO_TX GPIO2


#define UART3_GPIO_AF GPIO_AF7

#define UART3_GPIO_PORT_RX GPIOB

#define UART3_GPIO_RX GPIO11

#define UART3_GPIO_PORT_TX GPIOB

#define UART3_GPIO_TX GPIO10


#define UART4_GPIO_AF GPIO_AF8

#define UART4_GPIO_PORT_RX GPIOC

#define UART4_GPIO_RX GPIO11

#define UART4_GPIO_PORT_TX GPIOC

#define UART4_GPIO_TX GPIO10


#define UART5_GPIO_AF GPIO_AF8

#define UART5_GPIO_PORT_RX GPIOD

#define UART5_GPIO_RX GPIO2


/*

 * Spektrum

 */

/* Define power pin */

#define RADIO_CONTROL_POWER_PORT GPIOC

#define RADIO_CONTROL_POWER_PIN GPIO13

#define RADIO_CONTROL_POWER_ON gpio_set

#define RADIO_CONTROL_POWER_OFF gpio_clear


/* The line that is pulled low at power up to initiate the bind process */

#define SPEKTRUM_BIND_PIN GPIO2

#define SPEKTRUM_BIND_PIN_PORT GPIOB


#define SPEKTRUM_UART1_RCC RCC_USART1

#define SPEKTRUM_UART1_BANK GPIOA

#define SPEKTRUM_UART1_PIN GPIO10

#define SPEKTRUM_UART1_AF GPIO_AF7

#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ

#define SPEKTRUM_UART1_ISR usart1_isr

#define SPEKTRUM_UART1_DEV USART1


#define SPEKTRUM_UART5_RCC RCC_UART5

#define SPEKTRUM_UART5_BANK GPIOD

#define SPEKTRUM_UART5_PIN GPIO2

#define SPEKTRUM_UART5_AF GPIO_AF8

#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ

#define SPEKTRUM_UART5_ISR uart5_isr

#define SPEKTRUM_UART5_DEV UART5


/* SPI */

#define SPI1_GPIO_AF GPIO_AF5

#define SPI1_GPIO_PORT_MISO GPIOA

#define SPI1_GPIO_MISO GPIO6

#define SPI1_GPIO_PORT_MOSI GPIOA

#define SPI1_GPIO_MOSI GPIO7

#define SPI1_GPIO_PORT_SCK GPIOA

#define SPI1_GPIO_SCK GPIO5

#define SPI1_GPIO_PORT_NSS GPIOA

#define SPI1_GPIO_NSS GPIO4


#define SPI_SELECT_SLAVE0_PORT GPIOA

#define SPI_SELECT_SLAVE0_PIN GPIO4


/*

 * ADC

 */


/* BATT PC4/ADC14 */

#ifndef USE_ADC_1

#define USE_ADC_1 1

#endif

#if USE_ADC_1

#define AD1_1_CHANNEL 14

#define ADC_1 AD1_1

#define ADC_1_GPIO_PORT GPIOC

#define ADC_1_GPIO_PIN GPIO4

#endif


/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/

#ifndef ADC_CHANNEL_VSUPPLY

#define ADC_CHANNEL_VSUPPLY ADC_1

#endif


// Default: 10k / 2k2 ->

// #define DefaultVoltageOfAdc(adc) (0.00446777*adc)


// Opa-FBW:  10k / 4k7

#define DefaultVoltageOfAdc(adc) (00.00252*adc)


/*

 * PWM

 *

 */

#define PWM_USE_TIM3 1

#define PWM_USE_TIM4 1

#define PWM_USE_TIM5 1


#define USE_PWM1  1

#define USE_PWM2  1

#define USE_PWM3  1

#define USE_PWM4  1

#define USE_PWM5  1

#define USE_PWM6  1

#define USE_PWM7  1

#define USE_PWM8  1

#define USE_PWM9  1

#define USE_PWM10 1

#define ACTUATORS_PWM_NB 10


// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array

#if USE_PWM1

#define PWM_SERVO_1 0

#define PWM_SERVO_1_TIMER TIM3

#define PWM_SERVO_1_GPIO GPIOC

#define PWM_SERVO_1_PIN GPIO6

#define PWM_SERVO_1_AF GPIO_AF2

#define PWM_SERVO_1_OC TIM_OC1

#define PWM_SERVO_1_OC_BIT (1<<0)

#else

#define PWM_SERVO_1_OC_BIT 0

#endif


#if USE_PWM2

#define PWM_SERVO_2 1

#define PWM_SERVO_2_TIMER TIM3

#define PWM_SERVO_2_GPIO GPIOC

#define PWM_SERVO_2_PIN GPIO7

#define PWM_SERVO_2_AF GPIO_AF2

#define PWM_SERVO_2_OC TIM_OC2

#define PWM_SERVO_2_OC_BIT (1<<1)

#else

#define PWM_SERVO_2_OC_BIT 0

#endif


#if USE_PWM3

#define PWM_SERVO_3 2

#define PWM_SERVO_3_TIMER TIM3

#define PWM_SERVO_3_GPIO GPIOC

#define PWM_SERVO_3_PIN GPIO8

#define PWM_SERVO_3_AF GPIO_AF2

#define PWM_SERVO_3_OC TIM_OC3

#define PWM_SERVO_3_OC_BIT (1<<2)

#else

#define PWM_SERVO_3_OC_BIT 0

#endif


#if USE_PWM4

#define PWM_SERVO_4 3

#define PWM_SERVO_4_TIMER TIM3

#define PWM_SERVO_4_GPIO GPIOC

#define PWM_SERVO_4_PIN GPIO9

#define PWM_SERVO_4_AF GPIO_AF2

#define PWM_SERVO_4_OC TIM_OC4

#define PWM_SERVO_4_OC_BIT (1<<3)

#else

#define PWM_SERVO_4_OC_BIT 0

#endif


#if USE_PWM5

#define PWM_SERVO_5 4

#define PWM_SERVO_5_TIMER TIM5

#define PWM_SERVO_5_GPIO GPIOA

#define PWM_SERVO_5_PIN GPIO0

#define PWM_SERVO_5_AF GPIO_AF2

#define PWM_SERVO_5_OC TIM_OC1

#define PWM_SERVO_5_OC_BIT (1<<0)

#else

#define PWM_SERVO_5_OC_BIT 0

#endif


#if USE_PWM6

#define PWM_SERVO_6 5

#define PWM_SERVO_6_TIMER TIM5

#define PWM_SERVO_6_GPIO GPIOA

#define PWM_SERVO_6_PIN GPIO1

#define PWM_SERVO_6_AF GPIO_AF2

#define PWM_SERVO_6_OC TIM_OC2

#define PWM_SERVO_6_OC_BIT (1<<1)

#else

#define PWM_SERVO_6_OC_BIT 0

#endif


#if USE_PWM7

#define PWM_SERVO_7 6

#define PWM_SERVO_7_TIMER TIM4

#define PWM_SERVO_7_GPIO GPIOB

#define PWM_SERVO_7_PIN GPIO6

#define PWM_SERVO_7_AF GPIO_AF2

#define PWM_SERVO_7_OC TIM_OC1

#define PWM_SERVO_7_OC_BIT (1<<0)

#else

#define PWM_SERVO_7_OC_BIT 0

#endif


#if USE_PWM8

#define PWM_SERVO_8 7

#define PWM_SERVO_8_TIMER TIM4

#define PWM_SERVO_8_GPIO GPIOB

#define PWM_SERVO_8_PIN GPIO7

#define PWM_SERVO_8_AF GPIO_AF2

#define PWM_SERVO_8_OC TIM_OC2

#define PWM_SERVO_8_OC_BIT (1<<1)

#else

#define PWM_SERVO_8_OC_BIT 0

#endif


#if USE_PWM9

#define PWM_SERVO_9 8

#define PWM_SERVO_9_TIMER TIM4

#define PWM_SERVO_9_GPIO GPIOB

#define PWM_SERVO_9_PIN GPIO8

#define PWM_SERVO_9_AF GPIO_AF2

#define PWM_SERVO_9_OC TIM_OC3

#define PWM_SERVO_9_OC_BIT (1<<2)

#else

#define PWM_SERVO_9_OC_BIT 0

#endif


#if USE_PWM10

#define PWM_SERVO_10 9

#define PWM_SERVO_10_TIMER TIM4

#define PWM_SERVO_10_GPIO GPIOB

#define PWM_SERVO_10_PIN GPIO9

#define PWM_SERVO_10_AF GPIO_AF2

#define PWM_SERVO_10_OC TIM_OC4

#define PWM_SERVO_10_OC_BIT (1<<3)

#else

#define PWM_SERVO_10_OC_BIT 0

#endif


/* servos 1-4  on TIM3 */

#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)

/* servos 5-6  on TIM5 */

#define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)

/* servos 7-10 on TIM4 */

#define PWM_TIM4_CHAN_MASK (PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT|PWM_SERVO_9_OC_BIT|PWM_SERVO_10_OC_BIT)


#endif /* CONFIG_OPA_FTD_1_0_H */