px4fmu.h

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#ifndef CONFIG_PX4FMU_4_00_H
#define CONFIG_PX4FMU_4_00_H
 
#define BOARD_PX4FMU
 
#include "boards/px4fmu/chibios/v4.0/board.h"
 
/*
 * Concat macro
 */
#define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2
#define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)
 
/*
 * Onboard LEDs
 */
/* red, on PE12 */
#ifndef USE_LED_1
#define USE_LED_1 1
#endif
#define LED_1_GPIO GPIOB
#define LED_1_GPIO_PIN GPIO11
#define LED_1_GPIO_ON gpio_clear
#define LED_1_GPIO_OFF gpio_set
#define LED_1_AFIO_REMAP ((void)0)
 
/* green, on PB1 */
#ifndef USE_LED_2
#define USE_LED_2 1
#endif
#define LED_2_GPIO GPIOB
#define LED_2_GPIO_PIN GPIO1
#define LED_2_GPIO_ON gpio_clear
#define LED_2_GPIO_OFF gpio_set
#define LED_2_AFIO_REMAP ((void)0)
 
/* blue, on PB3 */
#ifndef USE_LED_3
#define USE_LED_3 1
#endif
#define LED_3_GPIO GPIOB
#define LED_3_GPIO_PIN GPIO3
#define LED_3_GPIO_ON gpio_clear
#define LED_3_GPIO_OFF gpio_set
#define LED_3_AFIO_REMAP ((void)0)
 
/*
 * ADCs 
 */
// VOLT_SENS
#ifndef USE_ADC_1
#define USE_ADC_1 1
#endif
#if USE_ADC_1
#define AD1_1_CHANNEL ADC_CHANNEL_IN2
#define ADC_1 AD1_1
#define ADC_1_GPIO_PORT GPIOA
#define ADC_1_GPIO_PIN GPIO2
#endif
 
// CUR_SENS
#ifndef USE_ADC_2
#define USE_ADC_2 2
#endif
#if USE_ADC_2
#define AD1_2_CHANNEL ADC_CHANNEL_IN3
#define ADC_2 AD1_2
#define ADC_2_GPIO_PORT GPIOA
#define ADC_2_GPIO_PIN GPIO3
#endif
 
// VDD_V5_SENS
#if USE_ADC_3
#define AD1_3_CHANNEL ADC_CHANNEL_IN4
#define ADC_3 AD1_3
#define ADC_3_GPIO_PORT GPIOA
#define ADC_3_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
 
/* allow to define ADC_CHANNEL_CURRENT in the airframe file*/
#ifndef ADC_CHANNEL_CURRENT
#define ADC_CHANNEL_CURRENT ADC_2
#endif
 
/* Default powerbrick values */
#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f) * 10.27708149f * adc)
#define MilliAmpereOfAdc(adc) ((3.3f/4096.0f) * 36367.51556f * adc)
 
/*
 * PWM TIM defines
 * enable TIM1 and TIM4 by default
 */
#ifndef USE_PWM_TIM1
#define USE_PWM_TIM1 1
#endif
 
#ifndef USE_PWM_TIM4
#define USE_PWM_TIM4 1
#endif
 
/*
 * PWM defines
 */
#if defined(LINE_SERVO1)
#ifndef USE_PWM1
#define USE_PWM1 1
#endif
#if USE_PWM1
#define PWM_SERVO_1 0
#define PWM_SERVO_1_GPIO    PAL_PORT(LINE_SERVO1)
#define PWM_SERVO_1_PIN     PAL_PAD(LINE_SERVO1)
#define PWM_SERVO_1_AF      AF_LINE_SERVO1
#define PWM_SERVO_1_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO1_TIM)
#define PWM_SERVO_1_CHANNEL (SERVO1_TIM_CH-1)
#define PWM_SERVO_1_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO1_TIM)
#endif
#endif
 
#if defined(LINE_SERVO2)
#ifndef USE_PWM2
#define USE_PWM2 1
#endif
#if USE_PWM2
#define PWM_SERVO_2 1
#define PWM_SERVO_2_GPIO    PAL_PORT(LINE_SERVO2)
#define PWM_SERVO_2_PIN     PAL_PAD(LINE_SERVO2)
#define PWM_SERVO_2_AF      AF_LINE_SERVO2
#define PWM_SERVO_2_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO2_TIM)
#define PWM_SERVO_2_CHANNEL (SERVO2_TIM_CH-1)
#define PWM_SERVO_2_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO2_TIM)
#endif
#endif
 
#if defined(LINE_SERVO3)
#ifndef USE_PWM3
#define USE_PWM3 1
#endif
#if USE_PWM3
#define PWM_SERVO_3 2
#define PWM_SERVO_3_GPIO    PAL_PORT(LINE_SERVO3)
#define PWM_SERVO_3_PIN     PAL_PAD(LINE_SERVO3)
#define PWM_SERVO_3_AF      AF_LINE_SERVO3
#define PWM_SERVO_3_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO3_TIM)
#define PWM_SERVO_3_CHANNEL (SERVO3_TIM_CH-1)
#define PWM_SERVO_3_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO3_TIM)
#endif
#endif
 
#if defined(LINE_SERVO4)
#ifndef USE_PWM4
#define USE_PWM4 1
#endif
#if USE_PWM4
#define PWM_SERVO_4 3
#define PWM_SERVO_4_GPIO    PAL_PORT(LINE_SERVO4)
#define PWM_SERVO_4_PIN     PAL_PAD(LINE_SERVO4)
#define PWM_SERVO_4_AF      AF_LINE_SERVO4
#define PWM_SERVO_4_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO4_TIM)
#define PWM_SERVO_4_CHANNEL (SERVO4_TIM_CH-1)
#define PWM_SERVO_4_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO4_TIM)
#endif
#endif
 
#if defined(LINE_SERVO5)
#ifndef USE_PWM5
#define USE_PWM5 1
#endif
#if USE_PWM5
#define PWM_SERVO_5 4
#define PWM_SERVO_5_GPIO    PAL_PORT(LINE_SERVO5)
#define PWM_SERVO_5_PIN     PAL_PAD(LINE_SERVO5)
#define PWM_SERVO_5_AF      AF_LINE_SERVO5
#define PWM_SERVO_5_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO5_TIM)
#define PWM_SERVO_5_CHANNEL (SERVO5_TIM_CH-1)
#define PWM_SERVO_5_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO5_TIM)
#endif
#endif
 
#if defined(LINE_SERVO6)
#ifndef USE_PWM6
#define USE_PWM6 1
#endif
#if USE_PWM6
#define PWM_SERVO_6 5
#define PWM_SERVO_6_GPIO    PAL_PORT(LINE_SERVO6)
#define PWM_SERVO_6_PIN     PAL_PAD(LINE_SERVO6)
#define PWM_SERVO_6_AF      AF_LINE_SERVO6
#define PWM_SERVO_6_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO6_TIM)
#define PWM_SERVO_6_CHANNEL (SERVO6_TIM_CH-1)
#define PWM_SERVO_6_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO6_TIM)
#endif
#endif
 
#if defined(LINE_SERVO7)
#ifndef USE_PWM7
#define USE_PWM7 1
#endif
#if USE_PWM7
#define PWM_SERVO_7 6
#define PWM_SERVO_7_GPIO    PAL_PORT(LINE_SERVO7)
#define PWM_SERVO_7_PIN     PAL_PAD(LINE_SERVO7)
#define PWM_SERVO_7_AF      AF_LINE_SERVO7
#define PWM_SERVO_7_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO7_TIM)
#define PWM_SERVO_7_CHANNEL (SERVO7_TIM_CH-1)
#define PWM_SERVO_7_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO7_TIM)
#endif
#endif
 
#if defined(LINE_SERVO8)
#ifndef USE_PWM8
#define USE_PWM8 1
#endif
#if USE_PWM8
#define PWM_SERVO_8 7
#define PWM_SERVO_8_GPIO    PAL_PORT(LINE_SERVO8)
#define PWM_SERVO_8_PIN     PAL_PAD(LINE_SERVO8)
#define PWM_SERVO_8_AF      AF_LINE_SERVO8
#define PWM_SERVO_8_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO8_TIM)
#define PWM_SERVO_8_CHANNEL (SERVO8_TIM_CH-1)
#define PWM_SERVO_8_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO8_TIM)
#endif
#endif
 
#define UART1_GPIO_PORT_TX GPIOB
#define UART1_GPIO_TX GPIO6
#define UART1_GPIO_PORT_RX GPIOB
#define UART1_GPIO_RX GPIO7
#define UART1_GPIO_AF 7
 
#define UART2_GPIO_PORT_TX GPIOD
#define UART2_GPIO_TX GPIO5
#define UART2_GPIO_PORT_RX GPIOD
#define UART2_GPIO_RX GPIO6
#define UART2_GPIO_AF 7
 
#define UART3_GPIO_PORT_TX GPIOD
#define UART3_GPIO_TX GPIO8
#define UART3_GPIO_PORT_RX GPIOD
#define UART3_GPIO_RX GPIO9
#define UART3_GPIO_AF 7
 
#define UART4_GPIO_PORT_TX GPIOA
#define UART4_GPIO_TX GPIO0
#define UART4_GPIO_PORT_RX GPIOA
#define UART4_GPIO_RX GPIO1
#define UART4_GPIO_AF 8
 
#define UART6_GPIO_PORT_RX GPIOC
#define UART6_GPIO_RX GPIO7
#define UART6_GPIO_AF 8
 
#define UART7_GPIO_PORT_TX GPIOE
#define UART7_GPIO_TX GPIO8
#define UART7_GPIO_PORT_RX GPIOE
#define UART7_GPIO_RX GPIO7
#define UART7_GPIO_AF 8
 
#define UART8_GPIO_PORT_TX GPIOE
#define UART8_GPIO_TX GPIO1
#define UART8_GPIO_PORT_RX GPIOE
#define UART8_GPIO_RX GPIO0
#define UART8_GPIO_AF 8
 
/* Soft binding Spektrum */
#define RADIO_CONTROL_POWER_PORT GPIOE
#define RADIO_CONTROL_POWER_PIN GPIO4 //SPEKTRUM POWER
#define RADIO_CONTROL_POWER_ON gpio_clear // yes, inverted
#define RADIO_CONTROL_POWER_OFF gpio_set
 
//A receiver on powered on 3.3v
#define PERIPHERAL3V3_ENABLE_PORT GPIOC //VDD_3V3_PERIPHERAL_EN
#define PERIPHERAL3V3_ENABLE_PIN GPIO5
#define PERIPHERAL3V3_ENABLE_ON gpio_set
#define PERIPHERAL3V3_ENABLE_OFF gpio_clear
 
// /**
//  * PPM radio defines TODO
//  */
// #define RC_PPM_TICKS_PER_USEC 2
// #define PPM_TIMER_FREQUENCY 2000000
// #define PPM_CHANNEL ICU_CHANNEL_1
// #define PPM_TIMER ICUD1
 
// /*
//  * PWM input TODO
//  */
// // PWM_INPUT 1 on PA8 (also PPM IN)
// #define PWM_INPUT1_ICU            ICUD1
// #define PWM_INPUT1_CHANNEL        ICU_CHANNEL_1
// // PPM in (aka PA8) is used: not compatible with PPM RC receiver
// #define PWM_INPUT1_GPIO_PORT      GPIOA
// #define PWM_INPUT1_GPIO_PIN       GPIO8
// #define PWM_INPUT1_GPIO_AF        GPIO_AF1
 
 
#ifndef I2C1_CLOCK_SPEED
#define I2C1_CLOCK_SPEED 400000
#endif
#if I2C1_CLOCK_SPEED == 400000
#define I2C1_DUTY_CYCLE FAST_DUTY_CYCLE_2
#elif I2C1_CLOCK_SPEED == 100000
#define I2C1_DUTY_CYCLE STD_DUTY_CYCLE
#else
#error Invalid I2C1 clock speed
#endif
#define I2C1_CFG_DEF {        \
           OPMODE_I2C,        \
           I2C1_CLOCK_SPEED,  \
           I2C1_DUTY_CYCLE,   \
           }
 
#ifndef I2C2_CLOCK_SPEED
#define I2C2_CLOCK_SPEED 400000
#endif
#if I2C2_CLOCK_SPEED == 400000
#define I2C2_DUTY_CYCLE FAST_DUTY_CYCLE_2
#elif I2C2_CLOCK_SPEED == 100000
#define I2C2_DUTY_CYCLE STD_DUTY_CYCLE
#else
#error Invalid I2C2 clock speed
#endif
#define I2C2_CFG_DEF {        \
           OPMODE_I2C,        \
           I2C2_CLOCK_SPEED,  \
           I2C2_DUTY_CYCLE,   \
           }
 
 
#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 SPI2_GPIO_AF GPIO_AF5
#define SPI2_GPIO_PORT_MISO GPIOB
#define SPI2_GPIO_MISO GPIO14
#define SPI2_GPIO_PORT_MOSI GPIOB
#define SPI2_GPIO_MOSI GPIO15
#define SPI2_GPIO_PORT_SCK GPIOB
#define SPI2_GPIO_SCK GPIO10
 
/* SPI1_SLAVE1 -> slave select pin for the ICM 20609-G*/
#define SPI_SELECT_SLAVE0_PORT GPIOC
#define SPI_SELECT_SLAVE0_PIN GPIO15
/* SPI1_SLAVE1 -> slave select pin for the HMC5983 */
#define SPI_SELECT_SLAVE1_PORT GPIOE
#define SPI_SELECT_SLAVE1_PIN GPIO15
// SPI1_SLAVE2 -> slave select pin for the MPU9250
#define SPI_SELECT_SLAVE2_PORT GPIOC
#define SPI_SELECT_SLAVE2_PIN GPIO2
// SPI1_SLAVE3 -> slave select pin for the ms5611
#define SPI_SELECT_SLAVE3_PORT GPIOD
#define SPI_SELECT_SLAVE3_PIN GPIO7
// SPI1_SLAVE4 -> slave select pin for the FRAM
#define SPI_SELECT_SLAVE4_PORT GPIOD
#define SPI_SELECT_SLAVE4_PIN GPIO10
 
#ifndef USE_BARO_BOARD
#define USE_BARO_BOARD 1
#endif
 
#define SDIO_D0_PORT GPIOC
#define SDIO_D0_PIN GPIO8
#define SDIO_D1_PORT GPIOC
#define SDIO_D1_PIN GPIO9
#define SDIO_D2_PORT GPIOC
#define SDIO_D2_PIN GPIO10
#define SDIO_D3_PORT GPIOC
#define SDIO_D3_PIN GPIO11
#define SDIO_CK_PORT GPIOC
#define SDIO_CK_PIN GPIO12
#define SDIO_CMD_PORT GPIOD
#define SDIO_CMD_PIN GPIO2
#define SDIO_AF 12
// bat monitoring for file closing
#define SDLOG_BAT_ADC ADCD1
#define SDLOG_BAT_CHAN AD1_1_CHANNEL
// usb led status
#define SDLOG_USB_LED 3
#define SDLOG_USB_VBUS_PORT GPIOA
#define SDLOG_USB_VBUS_PIN GPIO9
 
/*
 * Actuators for fixedwing
 */
 /* Default actuators driver */
#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
 
#endif /* CONFIG_PX4FMU_4_00_H */