v5.10/px4io__2_84_8h_source.html

#ifndef CONFIG_PX4IO_2_4_H

#define CONFIG_PX4IO_2_4_H


#define BOARD_PX4IO

//STM32F103c8t6 (medium density!)


/* Pixhawk board (PX4FIOv2 has a 24MHz external clock and 24MHz internal. */

#define EXT_CLK 24000000 //this osc is actually outside of the specs (max 16MHz)

#define AHB_CLK 24000000


/*

 * LEDs

 */

/* blue led, a.k.a. ACT */

#ifndef USE_LED_1

#define USE_LED_1 1

#endif

#define LED_1_GPIO GPIOB

#define LED_1_GPIO_PIN GPIO14

#define LED_1_GPIO_ON gpio_clear

#define LED_1_GPIO_OFF gpio_set

#define LED_1_AFIO_REMAP ((void)0)


//led Amber a.k.a b/e led

#ifndef USE_LED_2

#define USE_LED_2 1

#endif

#define LED_2_GPIO GPIOB

#define LED_2_GPIO_PIN GPIO15

#define LED_2_GPIO_ON gpio_clear

#define LED_2_GPIO_OFF gpio_set

#define LED_2_AFIO_REMAP ((void)0)


//safety led in the switch, red

#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_clear

#define LED_3_GPIO_OFF gpio_set

#define LED_3_AFIO_REMAP ((void)0)


//TODO: safety switch is on PB5!


/*

 * UART

*/


// fmu debug / spektrum receiver (only rx)

#define UART1_GPIO_AF 0

#define UART1_GPIO_PORT_RX GPIOA

#define UART1_GPIO_RX GPIO10

#define UART1_GPIO_PORT_TX GPIOA

#define UART1_GPIO_TX GPIO9

// intermcu fmu

#define UART2_GPIO_AF 0

#define UART2_GPIO_PORT_RX GPIOA

#define UART2_GPIO_RX GPIO3

#define UART2_GPIO_PORT_TX GPIOA

#define UART2_GPIO_TX GPIO2


/*

 * Spektrum

 */

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

#define RADIO_CONTROL_POWER GPIOC

#define RADIO_CONTROL_POWER_PIN GPIO13

#define RADIO_CONTROL_POWER_ON gpio_clear

#define RADIO_CONTROL_POWER_OFF gpio_set


#define SPEKTRUM_TIMER 3


#define SPEKTRUM_UART1_RCC RCC_USART1

#define SPEKTRUM_UART1_BANK GPIOA

#define SPEKTRUM_UART1_PIN GPIO10

#define SPEKTRUM_UART1_AF 0

#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ

#define SPEKTRUM_UART1_ISR usart1_isr

#define SPEKTRUM_UART1_DEV USART1


/*

 * PPM input

 */

#define USE_PPM_TIM1 1

#define PPM_CHANNEL         TIM_IC1

#define PPM_TIMER_INPUT     TIM_IC_IN_TI1

#define PPM_IRQ             NVIC_TIM1_UP_IRQ

#define PPM_IRQ2            NVIC_TIM1_CC_IRQ

// Capture/Compare InteruptEnable and InterruptFlag

#define PPM_CC_IE           TIM_DIER_CC1IE

#define PPM_CC_IF           TIM_SR_CC1IF

#define PPM_GPIO_PORT       GPIOA

#define PPM_GPIO_PIN        GPIO8

#define PPM_GPIO_AF         0


//#define USE_AD_TIM1 1

#ifndef USE_ADC_1

#define USE_ADC_1 0

#endif

#if USE_ADC_1 // VDD servo ADC12_IN4, untested

#define AD1_1_CHANNEL 12

#define ADC_1 AD1_4

#define ADC_1_GPIO_PORT GPIOA

#define ADC_1_GPIO_PIN GPIO4

#endif


/*

 * PWM

 *

 */

//sevo outputs on px4io f1:

//chn:           1   2   3   4   5   6   7   8

//pin:           A0  A1  B8  B9  A6  A7  B0  B1

//timer/channel: 2/1 2/2 4/3 4/4 3/1 3/2 3/3 3/4

#define PWM_USE_TIM2 1

//#define PWM_USE_TIM3 1 // spektrum already uses tim3

#define PWM_USE_TIM4 1


//#define ACTUATORS_PWM_NB 4


#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


// 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 TIM2

#define PWM_SERVO_1_GPIO GPIOA

#define PWM_SERVO_1_PIN GPIO0

#define PWM_SERVO_1_AF 0

#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 TIM2

#define PWM_SERVO_2_GPIO GPIOA

#define PWM_SERVO_2_PIN GPIO1

#define PWM_SERVO_2_AF 0

#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 TIM4

#define PWM_SERVO_3_GPIO GPIOB

#define PWM_SERVO_3_PIN GPIO8

#define PWM_SERVO_3_AF 0

#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 TIM4

#define PWM_SERVO_4_GPIO GPIOB

#define PWM_SERVO_4_PIN GPIO9

#define PWM_SERVO_4_AF 0

#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 GPIOA

#define PWM_SERVO_5_PIN GPIO6

#define PWM_SERVO_5_AF 0

#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 TIM3

#define PWM_SERVO_6_GPIO GPIOA

#define PWM_SERVO_6_PIN GPIO7

#define PWM_SERVO_6_AF 0

#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 TIM3

#define PWM_SERVO_7_GPIO GPIOB

#define PWM_SERVO_7_PIN GPIO0

#define PWM_SERVO_7_AF 0

#define PWM_SERVO_7_OC TIM_OC3

#define PWM_SERVO_7_OC_BIT (1<<2)

#else

#define PWM_SERVO_7_OC_BIT 0

#endif


#if USE_PWM8

#define PWM_SERVO_8 7

#define PWM_SERVO_8_TIMER TIM3

#define PWM_SERVO_8_GPIO GPIOB

#define PWM_SERVO_8_PIN GPIO1

#define PWM_SERVO_8_AF 0

#define PWM_SERVO_8_OC TIM_OC4

#define PWM_SERVO_8_OC_BIT (1<<3)

#else

#define PWM_SERVO_8_OC_BIT 0

#endif


/* servos 1-2 on TIM2 */

#define PWM_TIM2_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT)

/* servos 3-4 on TIM4 */

#define PWM_TIM4_CHAN_MASK (PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)

/* servos 5-8 on TIM3 */

//#define PWM_TIM3_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT|PWM_SERVO_7_OC_BIT|PWM_SERVO_8_OC_BIT)


/* Default actuators driver */

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

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

#define ActuatorsDefaultInit() ActuatorsPwmInit()

#define ActuatorsDefaultCommit() ActuatorsPwmCommit()


#endif /* CONFIG_PX4IO_2_4_H */