Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
opa_ftd_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_FTD
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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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/* MCU power */
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#define MCU_PWR GPIOB
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#define MCU_PWR_PIN GPIO5
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#define MCU_PWR_ON gpio_set
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#define MCU_PWR_OFF gpio_clear
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/* Autopilot power */
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#define AP_PWR GPIOB
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#define AP_PWR_PIN GPIO0
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#define AP_PWR_ON gpio_set
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#define AP_PWR_OFF gpio_clear
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/* Main power (25V) */
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#define MAIN_PWR GPIOC
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#define MAIN_PWR_PIN GPIO12
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#define MAIN_PWR_ON gpio_set
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#define MAIN_PWR_OFF gpio_clear
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/* Balancer power */
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#define BAL_PWR GPIOC
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#define BAL_PWR_PIN GPIO2
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#define BAL_PWR_ON gpio_set
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#define BAL_PWR_OFF gpio_clear
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/*
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* Buttons
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*/
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/* E-Stop button */
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#define BTN_ESTOP GPIOB
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#define BTN_ESTOP_PIN GPIO12
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/* Arming button */
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#define BTN_ARMING GPIOB
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#define BTN_ARMING_PIN GPIO14
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/* On/Off button */
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#define BTN_ON GPIOC
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#define BTN_ON_PIN GPIO1
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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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/* RC (green), on PC5 */
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#ifndef USE_LED_2
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#define USE_LED_2 1
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#endif
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#define LED_2_GPIO GPIOC
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#define LED_2_GPIO_PIN GPIO5
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#define LED_2_GPIO_ON gpio_set
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#define LED_2_GPIO_OFF gpio_clear
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#define LED_2_AFIO_REMAP ((void)0)
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/* Status LED ext, PB13 */
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#ifndef USE_LED_3
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#define USE_LED_3 1
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#endif
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#define LED_3_GPIO GPIOB
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#define LED_3_GPIO_PIN GPIO13
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#define LED_3_GPIO_ON gpio_set
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#define LED_3_GPIO_OFF gpio_clear
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#define LED_3_AFIO_REMAP ((void)0)
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/* Default actuators driver */
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#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
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#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
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#define ActuatorsDefaultInit() ActuatorsPwmInit()
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#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
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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 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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/*
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* Spektrum
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*/
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/* Define power pin */
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#define RADIO_CONTROL_POWER_PORT GPIOC
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#define RADIO_CONTROL_POWER_PIN GPIO13
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#define RADIO_CONTROL_POWER_ON gpio_set
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#define RADIO_CONTROL_POWER_OFF gpio_clear
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/* The line that is pulled low at power up to initiate the bind process */
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#define SPEKTRUM_BIND_PIN GPIO2
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#define SPEKTRUM_BIND_PIN_PORT GPIOB
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#define SPEKTRUM_UART1_RCC RCC_USART1
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#define SPEKTRUM_UART1_BANK GPIOA
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#define SPEKTRUM_UART1_PIN GPIO10
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#define SPEKTRUM_UART1_AF GPIO_AF7
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#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
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#define SPEKTRUM_UART1_ISR usart1_isr
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#define SPEKTRUM_UART1_DEV USART1
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#define SPEKTRUM_UART5_RCC RCC_UART5
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#define SPEKTRUM_UART5_BANK GPIOD
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#define SPEKTRUM_UART5_PIN GPIO2
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#define SPEKTRUM_UART5_AF GPIO_AF8
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#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
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#define SPEKTRUM_UART5_ISR uart5_isr
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#define SPEKTRUM_UART5_DEV UART5
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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 SPI_SELECT_SLAVE0_PORT GPIOA
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#define SPI_SELECT_SLAVE0_PIN GPIO4
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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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/* 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) (0.00446777*adc)
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// Opa-FBW: 10k / 4k7
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#define DefaultVoltageOfAdc(adc) (00.00252*adc)
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/*
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* PWM
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*
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*/
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#define PWM_USE_TIM3 1
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#define PWM_USE_TIM4 1
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#define PWM_USE_TIM5 1
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#define USE_PWM1 1
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#define USE_PWM2 1
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#define USE_PWM3 1
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#define USE_PWM4 1
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#define USE_PWM5 1
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#define USE_PWM6 1
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#define USE_PWM7 1
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#define USE_PWM8 1
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#define USE_PWM9 1
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#define USE_PWM10 1
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#define ACTUATORS_PWM_NB 10
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// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
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#if USE_PWM1
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#define PWM_SERVO_1 0
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#define PWM_SERVO_1_TIMER TIM3
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#define PWM_SERVO_1_GPIO GPIOC
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#define PWM_SERVO_1_PIN GPIO6
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#define PWM_SERVO_1_AF GPIO_AF2
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#define PWM_SERVO_1_OC TIM_OC1
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#define PWM_SERVO_1_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_1_OC_BIT 0
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#endif
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#if USE_PWM2
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#define PWM_SERVO_2 1
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#define PWM_SERVO_2_TIMER TIM3
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#define PWM_SERVO_2_GPIO GPIOC
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#define PWM_SERVO_2_PIN GPIO7
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#define PWM_SERVO_2_AF GPIO_AF2
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#define PWM_SERVO_2_OC TIM_OC2
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#define PWM_SERVO_2_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_2_OC_BIT 0
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#endif
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#if USE_PWM3
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#define PWM_SERVO_3 2
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#define PWM_SERVO_3_TIMER TIM3
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#define PWM_SERVO_3_GPIO GPIOC
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#define PWM_SERVO_3_PIN GPIO8
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#define PWM_SERVO_3_AF GPIO_AF2
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#define PWM_SERVO_3_OC TIM_OC3
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#define PWM_SERVO_3_OC_BIT (1<<2)
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#else
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#define PWM_SERVO_3_OC_BIT 0
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#endif
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#if USE_PWM4
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#define PWM_SERVO_4 3
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#define PWM_SERVO_4_TIMER TIM3
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#define PWM_SERVO_4_GPIO GPIOC
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#define PWM_SERVO_4_PIN GPIO9
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#define PWM_SERVO_4_AF GPIO_AF2
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#define PWM_SERVO_4_OC TIM_OC4
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#define PWM_SERVO_4_OC_BIT (1<<3)
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#else
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#define PWM_SERVO_4_OC_BIT 0
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#endif
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#if USE_PWM5
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#define PWM_SERVO_5 4
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#define PWM_SERVO_5_TIMER TIM5
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#define PWM_SERVO_5_GPIO GPIOA
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#define PWM_SERVO_5_PIN GPIO0
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#define PWM_SERVO_5_AF GPIO_AF2
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#define PWM_SERVO_5_OC TIM_OC1
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#define PWM_SERVO_5_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_5_OC_BIT 0
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#endif
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#if USE_PWM6
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#define PWM_SERVO_6 5
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#define PWM_SERVO_6_TIMER TIM5
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#define PWM_SERVO_6_GPIO GPIOA
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#define PWM_SERVO_6_PIN GPIO1
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#define PWM_SERVO_6_AF GPIO_AF2
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#define PWM_SERVO_6_OC TIM_OC2
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#define PWM_SERVO_6_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_6_OC_BIT 0
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#endif
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#if USE_PWM7
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#define PWM_SERVO_7 6
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#define PWM_SERVO_7_TIMER TIM4
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#define PWM_SERVO_7_GPIO GPIOB
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#define PWM_SERVO_7_PIN GPIO6
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#define PWM_SERVO_7_AF GPIO_AF2
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#define PWM_SERVO_7_OC TIM_OC1
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#define PWM_SERVO_7_OC_BIT (1<<0)
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#else
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#define PWM_SERVO_7_OC_BIT 0
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#endif
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#if USE_PWM8
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#define PWM_SERVO_8 7
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#define PWM_SERVO_8_TIMER TIM4
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#define PWM_SERVO_8_GPIO GPIOB
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#define PWM_SERVO_8_PIN GPIO7
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#define PWM_SERVO_8_AF GPIO_AF2
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#define PWM_SERVO_8_OC TIM_OC2
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#define PWM_SERVO_8_OC_BIT (1<<1)
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#else
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#define PWM_SERVO_8_OC_BIT 0
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#endif
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#if USE_PWM9
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#define PWM_SERVO_9 8
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#define PWM_SERVO_9_TIMER TIM4
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#define PWM_SERVO_9_GPIO GPIOB
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#define PWM_SERVO_9_PIN GPIO8
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#define PWM_SERVO_9_AF GPIO_AF2
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#define PWM_SERVO_9_OC TIM_OC3
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#define PWM_SERVO_9_OC_BIT (1<<2)
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#else
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#define PWM_SERVO_9_OC_BIT 0
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#endif
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#if USE_PWM10
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#define PWM_SERVO_10 9
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#define PWM_SERVO_10_TIMER TIM4
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#define PWM_SERVO_10_GPIO GPIOB
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#define PWM_SERVO_10_PIN GPIO9
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#define PWM_SERVO_10_AF GPIO_AF2
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#define PWM_SERVO_10_OC TIM_OC4
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#define PWM_SERVO_10_OC_BIT (1<<3)
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#else
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#define PWM_SERVO_10_OC_BIT 0
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#endif
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/* servos 1-4 on TIM3 */
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#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)
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/* servos 5-6 on TIM5 */
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#define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
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/* servos 7-10 on TIM4 */
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#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)
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#endif
/* CONFIG_OPA_FTD_1_0_H */
sw
airborne
boards
opa_ftd_1.0.h
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