v5.16/px4fmu__2_84_8h_source.html

#ifndef CONFIG_PX4FMU_2_4_H

#define CONFIG_PX4FMU_2_4_H


#define BOARD_PX4FMU_v2


/* Pixhawk board (PX4FMUv2 has a 24MHz external clock and 168MHz internal. */

//STM32F4

#define EXT_CLK 24000000

#define AHB_CLK 168000000


/*

 * Onboard LEDs

 */

/* red, on PE12 */

#ifndef USE_LED_1

#define USE_LED_1 1

#endif

#define LED_1_GPIO GPIOE

#define LED_1_GPIO_PIN GPIO12

#define LED_1_GPIO_ON gpio_clear

#define LED_1_GPIO_OFF gpio_set

#define LED_1_AFIO_REMAP ((void)0)


/*

 * UART

*/


// conector telem1

#define UART2_GPIO_AF GPIO_AF7

#define UART2_GPIO_PORT_RX GPIOD

#define UART2_GPIO_RX GPIO6

#define UART2_GPIO_PORT_TX GPIOD

#define UART2_GPIO_TX GPIO5

//#define UART2_CTS PD3

//#define UART2_RTS PD4


//conector telem2

#define UART3_GPIO_AF GPIO_AF7

#define UART3_GPIO_PORT_RX GPIOD

#define UART3_GPIO_RX GPIO9

#define UART3_GPIO_PORT_TX GPIOD

#define UART3_GPIO_TX GPIO8

//CTS - P11

//RTS - P12


//GPS

#define UART4_GPIO_AF GPIO_AF8

#define UART4_GPIO_PORT_RX GPIOA

#define UART4_GPIO_RX GPIO1

#define UART4_GPIO_PORT_TX GPIOA

#define UART4_GPIO_TX GPIO0


//debug ligado no processador IO

#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


//conector serial5

#define UART7_GPIO_AF GPIO_AF8

#define UART7_GPIO_PORT_RX GPIOE

#define UART7_GPIO_RX GPIO7

#define UART7_GPIO_PORT_TX GPIOE

#define UART7_GPIO_TX GPIO8


//conector serial4

#define UART8_GPIO_AF GPIO_AF8

#define UART8_GPIO_PORT_RX GPIOE

#define UART8_GPIO_RX GPIO0

#define UART8_GPIO_PORT_TX GPIOE

#define UART8_GPIO_TX GPIO1


/*

 * 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


/* SPI2 for FRAM */

#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


/* SPI4 Ext SPI connector */

#define SPI4_GPIO_AF GPIO_AF5

#define SPI4_GPIO_PORT_MISO GPIOE

#define SPI4_GPIO_MISO GPIO5

#define SPI4_GPIO_PORT_MOSI GPIOE

#define SPI4_GPIO_MOSI GPIO6

#define SPI4_GPIO_PORT_SCK GPIOE

#define SPI4_GPIO_SCK GPIO2


/*

 * SPI slave pin declaration

 */

/* GYRO_CS on SPI1 */

#define SPI_SELECT_SLAVE0_PORT GPIOC

#define SPI_SELECT_SLAVE0_PIN GPIO13


/* ACCEL_MAG_CS on SPI1 */

#define SPI_SELECT_SLAVE1_PORT GPIOC

#define SPI_SELECT_SLAVE1_PIN GPIO15


/* MPU_CS on SPI1 */

#define SPI_SELECT_SLAVE2_PORT GPIOC

#define SPI_SELECT_SLAVE2_PIN GPIO2


/* BARO_CS on SPI1 */

#define SPI_SELECT_SLAVE3_PORT GPIOD

#define SPI_SELECT_SLAVE3_PIN GPIO7


/* FRAM_CS on SPI2 */

#define SPI_SELECT_SLAVE4_PORT GPIOD

#define SPI_SELECT_SLAVE4_PIN GPIO10


/* MAG_CS on SPI1 */

#define SPI_SELECT_SLAVE5_PORT GPIOC

#define SPI_SELECT_SLAVE5_PIN GPIO1


/* SPI3 NSS on microSD connector */

/*

#define SPI_SELECT_SLAVE3_PORT GPIOA

#define SPI_SELECT_SLAVE3_PIN GPIO4

*/


// SDIO on microSD connector

//#define SDIO_AF GPIO_AF12

// SDIO_D0  pc8

// SDIO_D1  pc9

// SDIO_D2  pc10

// SDIO_D3  pc11

// SDIO_CK  pc12

// SDIO_CMD pd2


/* Onboard ADCs */


#if USE_AD_TIM2

#undef USE_AD_TIM2 // timer2 is used by the buzzer

#endif

#define USE_AD_TIM3 1


// Interal ADC for battery

#ifndef USE_ADC_1

#define USE_ADC_1 1

#endif

#if USE_ADC_1

#define AD1_1_CHANNEL 4 //ADC12_IN4

#define ADC_1 AD1_1

#define ADC_1_GPIO_PORT GPIOA

#define ADC_1_GPIO_PIN GPIO4

#endif


// External ADC for battery

#ifndef USE_ADC_2

#define USE_ADC_2 1

#endif

#if USE_ADC_2

#define AD1_2_CHANNEL 2 // ADC123_IN2 (--> IN2 corresponds to channel 2)

#define ADC_2 AD1_2 // ADC123 means it can be used by ADC 1 and 2 and 3 (the f4 supports 3 adc's), does not matter which. Each ADC can address 4 pins, so in this case we are using ADC 1, on its second pin.

#define ADC_2_GPIO_PORT GPIOA

#define ADC_2_GPIO_PIN GPIO2

#endif


// external current sens

#ifndef USE_ADC_3

#define USE_ADC_3 1

#endif

#if USE_ADC_3

#define AD1_3_CHANNEL 3 // ADC123_IN3

#define ADC_3 AD1_3

#define ADC_3_GPIO_PORT GPIOA

#define ADC_3_GPIO_PIN GPIO3

#endif

#define MilliAmpereOfAdc(adc)((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)


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

#ifndef ADC_CHANNEL_VSUPPLY

#define ADC_CHANNEL_VSUPPLY ADC_2

#define DefaultVoltageOfAdc(adc) (0.00975*adc)

#else

#define DefaultVoltageOfAdc(adc) (0.00384*adc)

#endif


/* External adc (pressure / air speed / 6.6v) */

#ifndef USE_ADC_4

#define USE_ADC_4 1

#endif

#if USE_ADC_4

#define AD1_4_CHANNEL 15 // ADC12_IN15

#define ADC_4 AD1_4

#define ADC_4_GPIO_PORT GPIOC

#define ADC_4_GPIO_PIN GPIO5

#endif


/* External adc 3.3v */

#if USE_ADC_5

#define AD1_5_CHANNEL 13 // ADC123_IN13

#define ADC_5 AD1_5

#define ADC_5_GPIO_PORT GPIOC

#define ADC_5_GPIO_PIN GPIO3

#endif


/* External adc 3.3v */

#if USE_ADC_6

#define AD1_6_CHANNEL 14 // ADC12_IN14

#define ADC_6 AD1_6

#define ADC_6_GPIO_PORT GPIOC

#define ADC_6_GPIO_PIN GPIO4

#endif


/*

 * 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

*/


/* 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_TIM1 1

#define PWM_USE_TIM4 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

//#define USE_BUZZER 1


// Servo numbering on the PX4 starts with 1

// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array


//servo AUX1

#if USE_PWM1

#define PWM_SERVO_1 0

#define PWM_SERVO_1_TIMER TIM1

#define PWM_SERVO_1_GPIO GPIOE

#define PWM_SERVO_1_PIN GPIO14

#define PWM_SERVO_1_AF GPIO_AF1

#define PWM_SERVO_1_OC TIM_OC4

#define PWM_SERVO_1_OC_BIT (1<<3)

#else

#define PWM_SERVO_1_OC_BIT 0

#endif


//servo AUX2

#if USE_PWM2

#define PWM_SERVO_2 1

#define PWM_SERVO_2_TIMER TIM1

#define PWM_SERVO_2_GPIO GPIOE

#define PWM_SERVO_2_PIN GPIO13

#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


//servo AUX3

#if USE_PWM3

#define PWM_SERVO_3 2  //#define PWM_SERVO_3_IDX 2

#define PWM_SERVO_3_TIMER TIM1

#define PWM_SERVO_3_GPIO GPIOE

#define PWM_SERVO_3_PIN GPIO11

#define PWM_SERVO_3_AF GPIO_AF1

#define PWM_SERVO_3_OC TIM_OC2

#define PWM_SERVO_3_OC_BIT (1<<1)

#else

#define PWM_SERVO_3_OC_BIT 0

#endif


//servo AUX4

#if USE_PWM4

#define PWM_SERVO_4 3

#define PWM_SERVO_4_TIMER TIM1

#define PWM_SERVO_4_GPIO GPIOE

#define PWM_SERVO_4_PIN GPIO9

#define PWM_SERVO_4_AF GPIO_AF1

#define PWM_SERVO_4_OC TIM_OC1

#define PWM_SERVO_4_OC_BIT (1<<0)

#else

#define PWM_SERVO_4_OC_BIT 0

#endif


//servo AUX5

#if USE_PWM5

#define PWM_SERVO_5 4

#define PWM_SERVO_5_TIMER TIM4

#define PWM_SERVO_5_GPIO GPIOD

#define PWM_SERVO_5_PIN GPIO13

#define PWM_SERVO_5_AF GPIO_AF2

#define PWM_SERVO_5_OC TIM_OC2

#define PWM_SERVO_5_OC_BIT (1<<1)

#else

#define PWM_SERVO_5_OC_BIT 0

#endif


//servo AUX6

#if USE_PWM6

#define PWM_SERVO_6 5

#define PWM_SERVO_6_TIMER TIM4

#define PWM_SERVO_6_GPIO GPIOD

#define PWM_SERVO_6_PIN GPIO14

#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


//Buzzer (alarm)

#if USE_BUZZER

#define PWM_BUZZER

#define PWM_BUZZER_TIMER TIM2

#define PWM_BUZZER_GPIO GPIOA

#define PWM_BUZZER_PIN GPIO15

#define PWM_BUZZER_AF GPIO_AF1

#define PWM_BUZZER_OC TIM_OC1

#define PWM_BUZZER_OC_BIT (1<<0)

#define PWM_TIM2_CHAN_MASK (PWM_BUZZER_OC_BIT)

#else

#define PWM_BUZZER_OC_BIT 0

#endif


#define PWM_TIM1_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)

#define PWM_TIM4_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)


#endif /* CONFIG_PX4FMU_2_4_H */