px4fmu_1.7.h

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#ifndef CONFIG_PX4FMU_1_7_H
#define CONFIG_PX4FMU_1_7_H

#define BOARD_PX4FMU

/* PX4 has a 16MHz external clock and 168MHz internal. */
#define EXT_CLK 16000000
#define AHB_CLK 168000000


/*
 * Onboard LEDs
 */
/* red/amber , on PB14 */
#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)

/* blue, on PB15 */
#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)



/*
 * 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 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


/*
 * SPI
 */
/* SPI1 for MPU and accel/gyro if populated */
#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

/* SPI3 on microSD connector */
#define SPI3_GPIO_AF GPIO_AF5
#define SPI3_GPIO_PORT_MISO GPIOC
#define SPI3_GPIO_MISO GPIO11
#define SPI3_GPIO_PORT_MOSI GPIOB
#define SPI3_GPIO_MOSI GPIO5
#define SPI3_GPIO_PORT_SCK GPIOC
#define SPI3_GPIO_SCK GPIO10

/*
 * SPI slave pin declaration
 */
/* GYRO_CS on SPI1 */
#define SPI_SELECT_SLAVE0_PORT GPIOC
#define SPI_SELECT_SLAVE0_PIN GPIO14

/* ACCEL_CS on SPI1 */
#define SPI_SELECT_SLAVE1_PORT GPIOC
#define SPI_SELECT_SLAVE1_PIN GPIO15

/* MPU_CS on SPI1 */
#define SPI_SELECT_SLAVE2_PORT GPIOB
#define SPI_SELECT_SLAVE2_PIN GPIO0

/* SPI3 NSS on microSD connector */
#define SPI_SELECT_SLAVE3_PORT GPIOA
#define SPI_SELECT_SLAVE3_PIN GPIO4


/* Onboard ADCs */
#define USE_AD_TIM4 1

#define BOARD_ADC_CHANNEL_1 11
#define BOARD_ADC_CHANNEL_2 12
#define BOARD_ADC_CHANNEL_3 13
#define BOARD_ADC_CHANNEL_4 10

/* 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 11
#define ADC_1 AD1_1
#define ADC_1_GPIO_PORT GPIOC
#define ADC_1_GPIO_PIN GPIO1
#endif

#if USE_ADC_2
#define AD1_2_CHANNEL 12
#define ADC_2 AD1_2
#define ADC_2_GPIO_PORT GPIOC
#define ADC_2_GPIO_PIN GPIO2
#endif

#if USE_ADC_3
#define AD1_3_CHANNEL 13
#define ADC_3 AD1_3
#define ADC_3_GPIO_PORT GPIOC
#define ADC_3_GPIO_PIN GPIO3
#endif

// Internal ADC for battery enabled by default
#ifndef USE_ADC_4
#define USE_ADC_4 1
#endif
#if USE_ADC_4
#define AD1_4_CHANNEL 10
#define ADC_4 AD1_4
#define ADC_4_GPIO_PORT GPIOC
#define ADC_4_GPIO_PIN GPIO0
#endif

/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_4
#endif
#define DefaultVoltageOfAdc(adc) (0.006185*adc)


/*
 * I2C mapping
 */
#define I2C1_GPIO_PORT GPIOB
#define I2C1_GPIO_SCL GPIO8
#define I2C1_GPIO_SDA GPIO9

#define I2C2_GPIO_PORT GPIOB
#define I2C2_GPIO_SCL GPIO10
#define I2C2_GPIO_SDA GPIO11

#define I2C3_GPIO_PORT_SCL GPIOA
#define I2C3_GPIO_SCL GPIO8
#define I2C3_GPIO_PORT_SDA GPIOC
#define I2C3_GPIO_SDA GPIO9


/*
 * PPM
 */
#define USE_PPM_TIM1 1

#define PPM_CHANNEL         TIM_IC1
#define PPM_TIMER_INPUT     TIM_IC_IN_TI1
#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_CC1IE
#define PPM_CC_IF           TIM_SR_CC1IF
#define PPM_GPIO_PORT       GPIOA
#define PPM_GPIO_PIN        GPIO10
#define PPM_GPIO_AF         GPIO_AF1


/*
 * Spektrum
 */
/* The line that is pulled low at power up to initiate the bind process */
/* GPIO_EXT1 on PX4FMU */
#define SPEKTRUM_BIND_PIN GPIO4
#define SPEKTRUM_BIND_PIN_PORT GPIOC

#define SPEKTRUM_UART2_RCC RCC_USART2
#define SPEKTRUM_UART2_BANK GPIOA
#define SPEKTRUM_UART2_PIN GPIO3
#define SPEKTRUM_UART2_AF GPIO_AF7
#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ
#define SPEKTRUM_UART2_ISR usart2_isr
#define SPEKTRUM_UART2_DEV USART2



/* Activate onboard baro by default */
#ifndef USE_BARO_BOARD
#define USE_BARO_BOARD 1
#endif


/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()

/* PWM */
#define PWM_USE_TIM2 1

#define USE_PWM1 1
#define USE_PWM2 1
#define USE_PWM3 1
#define USE_PWM4 1

// Servo numbering on the PX4 starts with 1

// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
// SRV1 is also UART2_CTS
#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 GPIO_AF1
#define PWM_SERVO_1_OC TIM_OC1
#define PWM_SERVO_1_OC_BIT (1<<0)
#else
#define PWM_SERVO_1_OC_BIT 0
#endif

// SRV2 is also UART2_RTS
#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 GPIO_AF1
#define PWM_SERVO_2_OC TIM_OC2
#define PWM_SERVO_2_OC_BIT (1<<1)
#else
#define PWM_SERVO_2_OC_BIT 0
#endif

// SRV3 is also UART2_TX
#if USE_PWM3
#define PWM_SERVO_3_IDX 2
#define PWM_SERVO_3_TIMER TIM2
#define PWM_SERVO_3_GPIO GPIOA
#define PWM_SERVO_3_PIN GPIO2
#define PWM_SERVO_3_AF GPIO_AF1
#define PWM_SERVO_3_OC TIM_OC3
#define PWM_SERVO_3_OC_BIT (1<<2)
#else
#define PWM_SERVO_3_OC_BIT 0
#endif

// SRV4 is also UART2_RX
#if USE_PWM4
#define PWM_SERVO_4 3
#define PWM_SERVO_4_TIMER TIM2
#define PWM_SERVO_4_GPIO GPIOA
#define PWM_SERVO_4_PIN GPIO3
#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


#define PWM_TIM2_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)


#endif /* CONFIG_PX4FMU_1_7_H */