disco.h

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/*
 * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * 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, see
 * <http://www.gnu.org/licenses/>.
 *
 */

#ifndef CONFIG_DISCO
#define CONFIG_DISCO

#define BOARD_DISCO

#include "std.h"

#define UART1_DEV /dev/ttyPA1

#define GPS_UBX_ENABLE_NMEA_DATA_MASK 0xff

#ifndef UART2_DEV
#define UART2_DEV /dev/ttyUSB0
#endif
#ifndef UART4_DEV
#define UART4_DEV /dev/ttyUSB1
#endif
#ifndef UART5_DEV
#define UART5_DEV /dev/ttyACM0
#endif
#ifndef UART6_DEV
#define UART6_DEV /dev/ttyACM1
#endif

#ifndef UART3_DEV
#define UART3_DEV /dev/uart-sbus
#endif

/* Default actuators driver */
#define DEFAULT_ACTUATORS "boards/disco/actuators.h"
#define ActuatorDefaultSet(_x,_y) ActuatorsDiscoSet(_x,_y)
#define ActuatorsDefaultInit() ActuatorsDiscoInit()
#define ActuatorsDefaultCommit() ActuatorsDiscoCommit()

/* Cameras */
#include "peripherals/video_device.h"

// re-use the Parrot Bebop video drivers
#include "boards/bebop/mt9v117.h"
#include "boards/bebop/mt9f002.h"

extern struct video_config_t bottom_camera;
extern struct video_config_t front_camera;

/* ISP */
//struct mt9f002_t mt9f002;

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

/* The ADC from the sonar */
#if USE_ADC0
#define ADC0_ID             0
#define ADC0_CHANNELS       2
#define ADC0_CHANNELS_CNT   1
#define ADC0_BUF_LENGTH     8192
#endif

/* The SPI from the sonar */
#if USE_SPI0
#define SPI0_MODE           0
#define SPI0_BITS_PER_WORD  8
#define SPI0_MAX_SPEED_HZ   320000
#endif

/* Configuration values of airspeed sensor onboard the Parrot Disco C.H.U.C.K */
#define MS45XX_I2C_DEV i2c1
#define MS45XX_PRESSURE_RANGE 4
#define MS45XX_PRESSURE_TYPE 1
#define MS45XX_OUTPUT_TYPE 1
#define MS45XX_PRESSURE_OUTPUT_TYPE_InH2O 1
#define MS45XX_AIRSPEED_SCALE 1.6327
#ifndef USE_AIRSPEED_LOWPASS_FILTER
#define USE_AIRSPEED_LOWPASS_FILTER 1
#endif
//#if USE_AIRSPEED_LOWPASS_FILTER /* Always used now */
#ifndef MS45XX_LOWPASS_TAU
#define MS45XX_LOWPASS_TAU 0.15
#endif
//#endif

/* To be flexible and be able to disable use of airspeed in state this could have been in the airframe file ofcourse
 * but most users just want to have perfectly flying Disco, so enable per default... */
#ifndef USE_AIRSPEED
#define USE_AIRSPEED 1
#endif

/* These are the default Disco values for sonar */
#define SONAR_BEBOP_TRANSITION_HIGH_TO_LOW 0.75 //m
#define SONAR_BEBOP_TRANSITION_LOW_TO_HIGH 1.5  //m
#define SONAR_BEBOP_TRANSITION_COUNT 50
#define SONAR_BEBOP_PEAK_THRESHOLD 50

#endif /* CONFIG_DISCO */