v5.10/lisa__mx__common_8h_source.html

/*

 * Copyright (C) 2013 Piotr Esden-Tempski <piotr@esden.net>

 *

 * 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_LISA_MX_COMMON_H

#define CONFIG_LISA_MX_COMMON_H


#define BOARD_LISA_MX


/* Lisa/M has a 12MHz external clock and 168MHz internal. */

#define EXT_CLK 12000000

#define AHB_CLK 168000000


/*

 * Onboard LEDs

 */


/* 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_clear

#define LED_1_GPIO_OFF gpio_set

#define LED_1_AFIO_REMAP ((void)0)


/* green, shared with JTAG_TRST */

#ifndef USE_LED_2

#define USE_LED_2 1

#endif

#define LED_2_GPIO GPIOB

#define LED_2_GPIO_PIN GPIO4

#define LED_2_GPIO_ON gpio_clear

#define LED_2_GPIO_OFF gpio_set

#define LED_2_AFIO_REMAP ((void)0)


/* green, shared with ADC12 (ADC_6 on connector ANALOG2) */

#ifndef USE_LED_3

#define USE_LED_3 1

#endif

#define LED_3_GPIO GPIOC

#define LED_3_GPIO_PIN GPIO2

#define LED_3_GPIO_ON gpio_clear

#define LED_3_GPIO_OFF gpio_set

#define LED_3_AFIO_REMAP ((void)0)


/* red, shared with ADC15 (ADC_4 on connector ANALOG2) */

#ifndef USE_LED_4

#define USE_LED_4 1

#endif

#define LED_4_GPIO GPIOC

#define LED_4_GPIO_PIN GPIO5

#define LED_4_GPIO_ON gpio_clear

#define LED_4_GPIO_OFF gpio_set

#define LED_4_AFIO_REMAP ((void)0)


/* green, on PC15 */

#ifndef USE_LED_5

#define USE_LED_5 1

#endif

#define LED_5_GPIO GPIOC

#define LED_5_GPIO_PIN GPIO15

#define LED_5_GPIO_ON gpio_clear

#define LED_5_GPIO_OFF gpio_set

#define LED_5_AFIO_REMAP ((void)0)


/*

 * LEDs not populated by default

 */

/* PC3, ADC13 on ADC_1 */

#define LED_6_GPIO GPIOC

#define LED_6_GPIO_PIN GPIO3

#define LED_6_GPIO_ON gpio_clear

#define LED_6_GPIO_OFF gpio_set

#define LED_6_AFIO_REMAP ((void)0)


/* PC0, ADC10 on ADC_2 */

#define LED_7_GPIO GPIOC

#define LED_7_GPIO_PIN GPIO0

#define LED_7_GPIO_ON gpio_clear

#define LED_7_GPIO_OFF gpio_set

#define LED_7_AFIO_REMAP ((void)0)


/* PC1, ADC11 on ADC_3 */

#define LED_8_GPIO GPIOC

#define LED_8_GPIO_PIN GPIO1

#define LED_8_GPIO_ON gpio_clear

#define LED_8_GPIO_OFF gpio_set

#define LED_8_AFIO_REMAP ((void)0)


/*

 * not actual LEDS, used as GPIOs

 */


/* PB1, DRDY on EXT SPI connector*/

#define LED_BODY_GPIO GPIOB

#define LED_BODY_GPIO_PIN GPIO1

#define LED_BODY_GPIO_ON gpio_set

#define LED_BODY_GPIO_OFF gpio_clear

#define LED_BODY_AFIO_REMAP ((void)0)


/* PC12, on GPIO connector*/

#define LED_12_GPIO GPIOC

#define LED_12_GPIO_PIN GPIO12

#define LED_12_GPIO_ON gpio_clear

#define LED_12_GPIO_OFF gpio_set

#define LED_12_AFIO_REMAP ((void)0)


/* Default actuators driver */

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

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

#define ActuatorsDefaultInit() ActuatorsPwmInit()

#define ActuatorsDefaultCommit() ActuatorsPwmCommit()


/* UART */

#if REMAP_UART1

#define UART1_GPIO_AF GPIO_AF7

#define UART1_GPIO_PORT_RX GPIOB

#define UART1_GPIO_RX GPIO7

#define UART1_GPIO_PORT_TX GPIOB

#define UART1_GPIO_TX GPIO6

#else

#define UART1_GPIO_AF GPIO_AF7

#define UART1_GPIO_PORT_RX GPIOA

#define UART1_GPIO_RX GPIO10

#define UART1_GPIO_PORT_TX GPIOA

#define UART1_GPIO_TX GPIO9

#endif /* REMAP_UART1 */


#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


#if REMAP_UART3 // For UART4 we need to remap UART 3

#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


#else

#define UART3_GPIO_AF GPIO_AF7

#define UART3_GPIO_PORT_RX GPIOC

#define UART3_GPIO_RX GPIO11

#define UART3_GPIO_PORT_TX GPIOC

#define UART3_GPIO_TX GPIO10

#endif


#define UART5_GPIO_AF GPIO_AF8

#define UART5_GPIO_PORT_RX GPIOD

#define UART5_GPIO_RX GPIO2

#define UART5_GPIO_PORT_TX GPIOC

#define UART5_GPIO_TX GPIO12


#define UART6_GPIO_AF GPIO_AF8

#define UART6_GPIO_PORT_RX GPIOC

#define UART6_GPIO_RX GPIO7

#define UART6_GPIO_PORT_TX GPIOC

#define UART6_GPIO_TX GPIO6


/*

 * Spektrum

 */

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

/* These are not common between versions of lisa/mx and thus defined in the

 * version specific header files. */

/* #define SPEKTRUM_BIND_PIN GPIO0 */

/* #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


/* PPM

 *

 * Default is PPM config 2, input on GPIOA1 (Servo pin 6)

 */


#ifndef PPM_CONFIG

#define PPM_CONFIG 2

#endif


#if PPM_CONFIG == 1

/* input on PA10 (UART1_RX) */

#define USE_PPM_TIM1 1

#define PPM_CHANNEL         TIM_IC3

#define PPM_TIMER_INPUT     TIM_IC_IN_TI3

#define PPM_IRQ             NVIC_TIM1_CC_IRQ

#define PPM_IRQ2            NVIC_TIM1_UP_TIM10_IRQ

// Capture/Compare InteruptEnable and InterruptFlag

#define PPM_CC_IE           TIM_DIER_CC3IE

#define PPM_CC_IF           TIM_SR_CC3IF

#define PPM_GPIO_PORT       GPIOA

#define PPM_GPIO_PIN        GPIO10

#define PPM_GPIO_AF         GPIO_AF1


#elif PPM_CONFIG == 2

/* input on PA01 (Servo 6 pin) */

#define USE_PPM_TIM2 1

#define PPM_CHANNEL         TIM_IC2

#define PPM_TIMER_INPUT     TIM_IC_IN_TI2

#define PPM_IRQ             NVIC_TIM2_IRQ

// Capture/Compare InteruptEnable and InterruptFlag

#define PPM_CC_IE           TIM_DIER_CC2IE

#define PPM_CC_IF           TIM_SR_CC2IF

#define PPM_GPIO_PORT       GPIOA

#define PPM_GPIO_PIN        GPIO1

#define PPM_GPIO_AF         GPIO_AF1


// Move default ADC timer

#if USE_AD_TIM2

#undef USE_AD_TIM2

#endif

#define USE_AD_TIM1 1


#else

#error "Unknown PPM config"


#endif // PPM_CONFIG


/* 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 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 GPIO13


#define SPI_SELECT_SLAVE0_PORT GPIOA

#define SPI_SELECT_SLAVE0_PIN GPIO15


#define SPI_SELECT_SLAVE1_PORT GPIOA

#define SPI_SELECT_SLAVE1_PIN GPIO4


#define SPI_SELECT_SLAVE2_PORT GPIOB

#define SPI_SELECT_SLAVE2_PIN GPIO12


#define SPI_SELECT_SLAVE3_PORT GPIOC

#define SPI_SELECT_SLAVE3_PIN GPIO13


#define SPI_SELECT_SLAVE4_PORT GPIOC

#define SPI_SELECT_SLAVE4_PIN GPIO12


#define SPI_SELECT_SLAVE5_PORT GPIOC

#define SPI_SELECT_SLAVE5_PIN GPIO4


#define SPI1_GPIO_PORT_NSS GPIOA

#define SPI1_GPIO_NSS GPIO4


#define SPI2_GPIO_PORT_NSS GPIOB

#define SPI2_GPIO_NSS GPIO12


#define SPI3_GPIO_PORT_NSS GPIOA

#define SPI3_GPIO_NSS GPIO15


/* I2C mapping */

#define I2C1_GPIO_PORT GPIOB

#define I2C1_GPIO_SCL GPIO6

#define I2C1_GPIO_SDA GPIO7


#define I2C2_GPIO_PORT GPIOB

#define I2C2_GPIO_SCL GPIO10

#define I2C2_GPIO_SDA GPIO11


/*

 * ADC

 */


/* Onboard ADCs */

/*

   ADC1 PC3/ADC13

   ADC2 PC0/ADC10

   ADC3 PC1/ADC11

   ADC4 PC5/ADC15

   ADC6 PC2/ADC12

   BATT PC4/ADC14

*/


/* provide defines that can be used to access the ADC_x in the code or airframe file

 * these directly map to the index number of the 4 adc channels defined above

 * 4th (index 3) is used for bat monitoring by default

 */

#if USE_ADC_1

#define AD1_1_CHANNEL 13

#define ADC_1 AD1_1

#define ADC_1_GPIO_PORT GPIOC

#define ADC_1_GPIO_PIN GPIO3

#endif


#if USE_ADC_2

#define AD1_2_CHANNEL 10

#define ADC_2 AD1_2

#define ADC_2_GPIO_PORT GPIOC

#define ADC_2_GPIO_PIN GPIO0

#endif


#if USE_ADC_3

#define AD1_3_CHANNEL 11

#define ADC_3 AD1_3

#define ADC_3_GPIO_PORT GPIOC

#define ADC_3_GPIO_PIN GPIO1

#endif


#if USE_ADC_4

#define AD2_1_CHANNEL 15

#define ADC_4 AD2_1

#define ADC_4_GPIO_PORT GPIOC

#define ADC_4_GPIO_PIN GPIO5

#endif


// Internal ADC for battery enabled by default

#ifndef USE_ADC_5

#define USE_ADC_5 1

#endif

#if USE_ADC_5

#define AD1_4_CHANNEL 14

#define ADC_5 AD1_4

#define ADC_5_GPIO_PORT GPIOC

#define ADC_5_GPIO_PIN GPIO4

#endif


#if USE_ADC_6

#define AD2_2_CHANNEL 12

#define ADC_6 AD2_2

#define ADC_6_GPIO_PORT GPIOC

#define ADC_6_GPIO_PIN GPIO2

#endif


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

#ifndef ADC_CHANNEL_VSUPPLY

#define ADC_CHANNEL_VSUPPLY ADC_5

#endif


#define DefaultVoltageOfAdc(adc) (0.0045*adc)


/*

 * PWM

 *

 */

#define PWM_USE_TIM3 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


#if USE_SERVOS_7AND8

#if USE_I2C1

#error "You cannot USE_SERVOS_7AND8 and USE_I2C1 at the same time"

#else

#define ACTUATORS_PWM_NB 8

#define USE_PWM7 1

#define USE_PWM8 1

#define PWM_USE_TIM4 1

#endif

#else

#define ACTUATORS_PWM_NB 6

#endif


// Servo numbering on LisaM silkscreen/docs starts with 1


// 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


/* 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 7-8 on TIM4 if USE_SERVOS_7AND8 */

#define PWM_TIM4_CHAN_MASK (PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT)


/* by default activate onboard baro */

#ifndef USE_BARO_BOARD

#define USE_BARO_BOARD 1

#endif


#endif /* CONFIG_LISA_MX_COMMON_H */