v5.10/navstik__1_80_8h_source.html

/*

 * Copyright (C) 2014 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_NAVSTIK_1_0_H

#define CONFIG_NAVSTIK_1_0_H


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

#define EXT_CLK 25000000

#define AHB_CLK 168000000


/*

 * Onboard LEDs

 */


/* red, on PA8 */

#ifndef USE_LED_1

#define USE_LED_1 1

#endif

#define LED_1_GPIO GPIOC

#define LED_1_GPIO_PIN GPIO4

#define LED_1_GPIO_ON gpio_set

#define LED_1_GPIO_OFF gpio_clear

#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 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)


/*

 * not actual LEDS, used as GPIOs

 */

#define GPS_POWER_GPIO GPIOA,GPIO4

#define IMU_POWER_GPIO GPIOC,GPIO15


/* 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 */

#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


#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 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 */

#define SPEKTRUM_BIND_PIN GPIO6

#define SPEKTRUM_BIND_PIN_PORT GPIOC

#define SPEKTRUM_BIND_PIN_HIGH 1


#define SPEKTRUM_UART6_RCC RCC_USART6

#define SPEKTRUM_UART6_BANK GPIOC

#define SPEKTRUM_UART6_PIN GPIO7

#define SPEKTRUM_UART6_AF GPIO_AF8

#define SPEKTRUM_UART6_IRQ NVIC_USART6_IRQ

#define SPEKTRUM_UART6_ISR usart6_isr

#define SPEKTRUM_UART6_DEV USART6


/*

 * PPM

 */


/* input on PC6 (Spektrum Tx) */

#define USE_PPM_TIM8 8

#define PPM_CHANNEL         TIM_IC3

#define PPM_TIMER_INPUT     TIM_IC_IN_TI2

#define PPM_IRQ             NVIC_TIM3_CC_IRQ

#define PPM_IRQ2            NVIC_TIM1_UP_TIM10_IRQ

// Capture/Compare InteruptEnable and InterruptFlag

#define PPM_CC_IE           TIM_DIER_CC2IE

#define PPM_CC_IF           TIM_SR_CC2IF

#define PPM_GPIO_PORT       GPIOC

#define PPM_GPIO_PIN        GPIO7

#define PPM_GPIO_AF         GPIO_AF8


/* SPI */

#define SPI2_GPIO_AF GPIO_AF5

#define SPI2_GPIO_PORT_MISO GPIOC

#define SPI2_GPIO_MISO GPIO2

#define SPI2_GPIO_PORT_MOSI GPIOC

#define SPI2_GPIO_MOSI GPIO3

#define SPI2_GPIO_PORT_SCK GPIOB

#define SPI2_GPIO_SCK GPIO10


#define SPI_SELECT_SLAVE0_PORT GPIOA

#define SPI_SELECT_SLAVE0_PIN GPIO0


#define SPI_SELECT_SLAVE1_PORT GPIOA

#define SPI_SELECT_SLAVE1_PIN GPIO5


/* I2C mapping */

#define I2C1_GPIO_PORT GPIOB

#define I2C1_GPIO_SCL GPIO8

#define I2C1_GPIO_SDA GPIO9


#define I2C3_GPIO_PORT_SCL GPIOA

#define I2C3_GPIO_SCL GPIO8

#define I2C3_GPIO_PORT_SDA GPIOC

#define I2C3_GPIO_SDA GPIO9


/*

 * ADC

 */


/* Onboard ADCs */

/*

   BATT_volt     PC1/ADC123  (ADC123_IN11)

   BATT_current  PA1/ADC123  (ADC123_IN1)

*/


// Internal ADC for battery enabled by default

#ifndef USE_ADC_1

#define USE_ADC_1 1

#endif

#if USE_ADC_1

#define AD1_1_CHANNEL 11

#define ADC_1 AD1_1

#define ADC_1_GPIO_PORT GPIOC

#define ADC_1_GPIO_PIN GPIO1

#endif


#ifndef USE_ADC_2

#define USE_ADC_2 1

#endif

#if USE_ADC_2

#define AD1_2_CHANNEL 1

#define ADC_2 AD1_2

#define ADC_2_GPIO_PORT GPIOA

#define ADC_2_GPIO_PIN GPIO1

#endif


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

#ifndef ADC_CHANNEL_VSUPPLY

#define ADC_CHANNEL_VSUPPLY ADC_1

#endif

#ifndef ADC_CHANNEL_CURRENT

#define ADC_CHANNEL_CURRENT ADC_2

#endif


#define DefaultVoltageOfAdc(adc) (0.00382*adc)

#define DefaultMilliAmpereOfAdc(adc) (0.42497*adc)


/*

 * PWM

 *

 */

#define PWM_USE_TIM1 1

#define PWM_USE_TIM2 2

#define PWM_USE_TIM3 3

#define PWM_USE_TIM8 8


#define USE_PWM1 1

#define USE_PWM2 1

#define USE_PWM3 1

#define USE_PWM4 1

#define USE_PWM5 1

#define USE_PWM6 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 GPIOB

#define PWM_SERVO_1_PIN GPIO5

#define PWM_SERVO_1_AF GPIO_AF2

#define PWM_SERVO_1_OC TIM_OC2

#define PWM_SERVO_1_OC_BIT (1<<1)

#else

#define PWM_SERVO_1_OC_BIT 0

#endif


#if USE_PWM2

#define PWM_SERVO_2 1

#define PWM_SERVO_2_TIMER TIM1

#define PWM_SERVO_2_GPIO GPIOA

#define PWM_SERVO_2_PIN GPIO10

#define PWM_SERVO_2_AF GPIO_AF1

#define PWM_SERVO_2_OC TIM_OC3

#define PWM_SERVO_2_OC_BIT (1<<2)

#else

#define PWM_SERVO_2_OC_BIT 0

#endif


#if USE_PWM3

#define PWM_SERVO_3 2

#define PWM_SERVO_3_TIMER TIM8

#define PWM_SERVO_3_GPIO GPIOC

#define PWM_SERVO_3_PIN GPIO8

#define PWM_SERVO_3_AF GPIO_AF3

#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 TIM2

#define PWM_SERVO_4_GPIO GPIOB

#define PWM_SERVO_4_PIN GPIO11

#define PWM_SERVO_4_AF GPIO_AF1

#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 TIM3

#define PWM_SERVO_5_GPIO GPIOB

#define PWM_SERVO_5_PIN GPIO1

#define PWM_SERVO_5_AF GPIO_AF2

#define PWM_SERVO_5_OC TIM_OC4

#define PWM_SERVO_5_OC_BIT (1<<3)

#else

#define PWM_SERVO_5_OC_BIT 0

#endif


#if USE_PWM6

#define PWM_SERVO_6 5

#define PWM_SERVO_6_TIMER TIM3

#define PWM_SERVO_6_GPIO GPIOB

#define PWM_SERVO_6_PIN GPIO0

#define PWM_SERVO_6_AF GPIO_AF2

#define PWM_SERVO_6_OC TIM_OC3

#define PWM_SERVO_6_OC_BIT (1<<2)

#else

#define PWM_SERVO_6_OC_BIT 0

#endif


/* servo 2 on TIM1 */

#define PWM_TIM1_CHAN_MASK (PWM_SERVO_2_OC_BIT)

/* servo 4 on TIM2 */

#define PWM_TIM2_CHAN_MASK (PWM_SERVO_4_OC_BIT)

/* servos 1,5,6 on TIM3 */

#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)

/* servo 3 on TIM8 */

#define PWM_TIM8_CHAN_MASK (PWM_SERVO_3_OC_BIT)


/* by default activate onboard baro */

#ifndef USE_BARO_BOARD

#define USE_BARO_BOARD 1

#endif


#endif /* CONFIG_NAVSTIK_1_0_H */