lisa_s_1.0.h

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#ifndef CONFIG_LISA_S_1_0_H
#define CONFIG_LISA_S_1_0_H
 
#define BOARD_LISA_S
 
/* Lisa/S has a 12MHz external clock and 72MHz internal. */
#define EXT_CLK 12000000
#define AHB_CLK 72000000
 
/*
 * Onboard LEDs
 */
 
/* red */
#ifndef USE_LED_1
#define USE_LED_1 1
#endif
#define LED_1_GPIO GPIOC
#define LED_1_GPIO_PIN GPIO10
#define LED_1_GPIO_ON gpio_clear
#define LED_1_GPIO_OFF gpio_set
#define LED_1_AFIO_REMAP ((void)0)
 
/* orange */
#ifndef USE_LED_2
#define USE_LED_2 1
#endif
#define LED_2_GPIO GPIOC
#define LED_2_GPIO_PIN GPIO11
#define LED_2_GPIO_ON gpio_clear
#define LED_2_GPIO_OFF gpio_set
#define LED_2_AFIO_REMAP ((void)0)
 
/* yellow */
#ifndef USE_LED_3
#define USE_LED_3 1
#endif
#define LED_3_GPIO GPIOD
#define LED_3_GPIO_PIN GPIO2
#define LED_3_GPIO_ON gpio_clear
#define LED_3_GPIO_OFF gpio_set
#define LED_3_AFIO_REMAP ((void)0)
 
/*
 * not actual LEDS, used as GPIOs
 */
 
/* PB1, DRDY on EXT SPI connector*/
#define LED_BODY_GPIO GPIOB
#define LED_BODY_GPIO_PIN GPIO1
#define LED_BODY_GPIO_ON gpio_set
#define LED_BODY_GPIO_OFF gpio_clear
#define LED_BODY_AFIO_REMAP ((void)0)
 
/* PC12, on GPIO connector*/
#define LED_12_GPIO GPIOC
#define LED_12_GPIO_PIN GPIO12
#define LED_12_GPIO_ON gpio_clear
#define LED_12_GPIO_OFF gpio_set
#define LED_12_AFIO_REMAP ((void)0)
 
 
/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
 
 
/*
 * ADC
 */
 
// 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 2
#define ADC_1 AD1_1
#define ADC_1_GPIO_PORT GPIOA
#define ADC_1_GPIO_PIN GPIO2
#endif
 
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_1
#endif
 
#define DefaultVoltageOfAdc(adc) (0.0049*adc)
 
 
/* by default activate onboard baro */
#ifndef USE_BARO_BOARD
#define USE_BARO_BOARD 1
#endif
 
/* SPI slave mapping */
 
/* IMU_MPU_CS */
#define SPI_SELECT_SLAVE0_PORT GPIOA
#define SPI_SELECT_SLAVE0_PIN GPIO4
 
/* IMU_BARO_CS */
#define SPI_SELECT_SLAVE1_PORT GPIOC
#define SPI_SELECT_SLAVE1_PIN GPIO4
 
/* RADIO_SS */
#define SPI_SELECT_SLAVE2_PORT GPIOB
#define SPI_SELECT_SLAVE2_PIN GPIO12
 
/*
 * UART pin configuration
 *
 * sets on which pins the UARTs are connected
 */
/* DIAG port */
#define UART1_GPIO_AF 0
#define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX
#define UART1_GPIO_RX GPIO_USART1_RX
#define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX
#define UART1_GPIO_TX GPIO_USART1_TX
 
/* GPS */
#define UART3_GPIO_AF 0
#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_RX
#define UART3_GPIO_RX GPIO_USART3_RX
#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_TX
#define UART3_GPIO_TX GPIO_USART3_TX
 
/* LED1 & LED2 */
/*
#define UART3_GPIO_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP
#define UART3_GPIO_PORT_RX GPIO_BANK_USART3_PR_RX
#define UART3_GPIO_RX GPIO_USART3_PR_RX
#define UART3_GPIO_PORT_TX GPIO_BANK_USART3_PR_TX
#define UART3_GPIO_TX GPIO_USART3_PR_TX
*/
 
/*
 * Spektrum
 */
/* The line that is pulled low at power up to initiate the bind process */
#define SPEKTRUM_BIND_PIN GPIO2
#define SPEKTRUM_BIND_PIN_PORT GPIOB
 
/* Diag Port RX */
#define SPEKTRUM_UART1_RCC RCC_USART1
#define SPEKTRUM_UART1_BANK GPIO_BANK_USART1_RX
#define SPEKTRUM_UART1_PIN GPIO_USART1_RX
#define SPEKTRUM_UART1_AF 0
#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
#define SPEKTRUM_UART1_ISR usart1_isr
#define SPEKTRUM_UART1_DEV USART1
 
/* AUX Radio RX */
#define SPEKTRUM_UART2_RCC RCC_USART2
#define SPEKTRUM_UART2_BANK GPIO_BANK_USART2_RX
#define SPEKTRUM_UART2_PIN GPIO_USART2_RX
#define SPEKTRUM_UART2_AF 0
#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ
#define SPEKTRUM_UART2_ISR usart2_isr
#define SPEKTRUM_UART2_DEV USART2
 
/* LED2 */
#define SPEKTRUM_UART3_RCC RCC_USART3
#define SPEKTRUM_UART3_BANK GPIO_BANK_USART3_PR_RX
#define SPEKTRUM_UART3_PIN GPIO_USART3_PR_RX
#define SPEKTRUM_UART3_AF AFIO_MAPR_USART3_REMAP_PARTIAL_REMAP
#define SPEKTRUM_UART3_IRQ NVIC_USART3_IRQ
#define SPEKTRUM_UART3_ISR usart3_isr
#define SPEKTRUM_UART3_DEV USART3
 
/* LED3 */
#define SPEKTRUM_UART5_RCC RCC_UART5
#define SPEKTRUM_UART5_BANK GPIO_BANK_UART5_RX
#define SPEKTRUM_UART5_PIN GPIO_UART5_RX
#define SPEKTRUM_UART5_AF 0
#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
#define SPEKTRUM_UART5_ISR uart5_isr
#define SPEKTRUM_UART5_DEV UART5
 
/* PPM
 */
 
/*
 * On Lisa/S there is no really dedicated port available. But we could use a
 * bunch of different pins to do PPM Input.
 */
 
/*
 * Default is PPM config 3, input on PA3 (Aux RX pin)
 */
 
#ifndef PPM_CONFIG
#define PPM_CONFIG 3
#endif
 
 
#if PPM_CONFIG == 1
/* input on PA01 (UART1_RX) Diag port */
#define USE_PPM_TIM1 1
#define PPM_CHANNEL         TIM_IC3
#define PPM_TIMER_INPUT     TIM_IC_IN_TI3
#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_CC3IE
#define PPM_CC_IF           TIM_SR_CC3IF
#define PPM_GPIO_PORT       GPIOA
#define PPM_GPIO_PIN        GPIO10
#define PPM_GPIO_AF         0
 
#elif PPM_CONFIG == 2
/* input on PA1 (Servo 6 pin)
   On Lisa/S we could also use TIM5 IC2 instead. */
#define USE_PPM_TIM2 1
#define PPM_CHANNEL         TIM_IC2
#define PPM_TIMER_INPUT     TIM_IC_IN_TI2
#define PPM_IRQ             NVIC_TIM2_IRQ
// Capture/Compare InteruptEnable and InterruptFlag
#define PPM_CC_IE           TIM_DIER_CC2IE
#define PPM_CC_IF           TIM_SR_CC2IF
#define PPM_GPIO_PORT       GPIOA
#define PPM_GPIO_PIN        GPIO1
#define PPM_GPIO_AF         0
 
// Move default ADC timer
#if USE_AD_TIM2
#undef USE_AD_TIM2
#endif
#define USE_AD_TIM1 1
 
#elif PPM_CONFIG == 3
/* input on PA3 (Aux RX pin)
   On Lisa/S we could also use TIM5 IC4 instead. */
#define USE_PPM_TIM2 1
#define PPM_CHANNEL         TIM_IC4
#define PPM_TIMER_INPUT     TIM_IC_IN_TI2
#define PPM_IRQ             NVIC_TIM2_IRQ
// Capture/Compare InteruptEnable and InterruptFlag
#define PPM_CC_IE           TIM_DIER_CC4IE
#define PPM_CC_IF           TIM_SR_CC4IF
#define PPM_GPIO_PORT       GPIOA
#define PPM_GPIO_PIN        GPIO3
#define PPM_GPIO_AF         0
 
// Move default ADC timer
#if USE_AD_TIM2
#undef USE_AD_TIM2
#endif
#define USE_AD_TIM1 1
 
#elif PPM_CONFIG == 4
/* Input on PC9 (SUPERBIT_RST) */
#define USE_PPM_TIM3 1
#define PPM_CHANNEL         TIM_IC4
#define PPM_TIMER_INPUT     TIM_IC_IN_TI4
#define PPM_IRQ             NVIC_TIM3_IRQ
// Capture/Compare InteruptEnable and InterruptFlag
#define PPM_CC_IE           TIM_DIER_CC4IE
#define PPM_CC_IF           TIM_SR_CC4IF
#define PPM_GPIO_PORT       GPIOC
#define PPM_GPIO_PIN        GPIO9
#define PPM_GPIO_AF         AFIO_MAPR_TIM3_REMAP_FULL_REMAP
 
#else
#error "Unknown PPM config"
 
#endif // PPM_CONFIG
 
/*
 * I2C
 *
 */
/* Servo1 & Servo2 */
#define I2C1_GPIO_PORT GPIOB
#define I2C1_GPIO_SCL GPIO6
#define I2C1_GPIO_SDA GPIO7
 
/* GPS TX & RX */
#define I2C2_GPIO_PORT GPIOB
#define I2C2_GPIO_SCL GPIO10
#define I2C2_GPIO_SDA GPIO11
 
/*
 * PWM
 *
 */
#define PWM_USE_TIM4 1
#define PWM_USE_TIM5 1
 
 
#if USE_SERVOS_1AND2
#if USE_I2C1
#error "You cannot USE_SERVOS_1AND2 and USE_I2C1 at the same time"
#else
#define ACTUATORS_PWM_NB 6
#define USE_PWM1 1
#define USE_PWM2 1
#define PWM_USE_TIM4 1
#endif
#else
#define ACTUATORS_PWM_NB 4
#endif
 
#define USE_PWM3 1
#define USE_PWM4 1
 
//TODO : test that part
//TODO : merge the USE_SERVOS_1AND2 and DUAL_PWM_ON
#if DUAL_PWM_ON
#define DUAL_PWM_USE_TIM5 1
 
#define USE_DUAL_PWM5 1
#define USE_DUAL_PWM6 1
#else
#define USE_PWM5 1
#define USE_PWM6 1
#endif
 
// Servo numbering on LisaM silkscreen/docs starts with 1
 
/* PWM_SERVO_x is the index of the servo in the actuators_pwm_values array */
/* Because PWM1 and 2 can be disabled we put them at the index 4 & 5 so that it
 * is easy to disable.
 */
#if USE_PWM1
#define PWM_SERVO_1 4
#define PWM_SERVO_1_TIMER TIM4
#define PWM_SERVO_1_GPIO GPIOB
#define PWM_SERVO_1_PIN GPIO6
#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 5
#define PWM_SERVO_2_TIMER TIM4
#define PWM_SERVO_2_GPIO GPIOB
#define PWM_SERVO_2_PIN GPIO7
#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 0
#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 1
#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 2
#define PWM_SERVO_5_TIMER TIM5
#define PWM_SERVO_5_GPIO GPIOA
#define PWM_SERVO_5_PIN GPIO0
#define PWM_SERVO_5_AF 0
#define PWM_SERVO_5_OC TIM_OC1
#define PWM_SERVO_5_OC_BIT (1<<0)
#elif USE_DUAL_PWM5
#define DUAL_PWM_SERVO_5_P1 0
#define DUAL_PWM_SERVO_5_P2 1
 
#define DUAL_PWM_SERVO_5_TIMER TIM5
#define DUAL_PWM_SERVO_5_GPIO GPIOA
#define DUAL_PWM_SERVO_5_PIN GPIO0
#define DUAL_PWM_SERVO_5_AF 0
#define DUAL_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 3
#define PWM_SERVO_6_TIMER TIM5
#define PWM_SERVO_6_GPIO GPIOA
#define PWM_SERVO_6_PIN GPIO1
#define PWM_SERVO_6_AF 0
#define PWM_SERVO_6_OC TIM_OC2
#define PWM_SERVO_6_OC_BIT (1<<1)
#elif USE_DUAL_PWM6
#define DUAL_PWM_SERVO_6_P1 2
#define DUAL_PWM_SERVO_6_P2 3
 
#define DUAL_PWM_SERVO_6_TIMER TIM5
#define DUAL_PWM_SERVO_6_GPIO GPIOA
#define DUAL_PWM_SERVO_6_PIN GPIO1
#define DUAL_PWM_SERVO_6_AF 0
#define DUAL_PWM_SERVO_6_OC TIM_OC2
#define PWM_SERVO_6_OC_BIT (1<<1)
#else
#define PWM_SERVO_6_OC_BIT 0
#endif
 
 
/* servos 1-4 or 3-4 on TIM4 depending on USE_SERVOS_1AND2 */
#define PWM_TIM4_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT|PWM_SERVO_4_OC_BIT)
/* servos 5-6 on TIM5 */
#define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
 
/* SuperbitRF mounted */
#define SUPERBITRF_SPI_DEV spi2
#define SUPERBITRF_RST_PORT GPIOC
#define SUPERBITRF_RST_PIN GPIO9
#define SUPERBITRF_DRDY_PORT GPIOC
#define SUPERBITRF_DRDY_PIN GPIO6
#define SUPERBITRF_FORCE_DSM2 FALSE
 
/*
 * RPM sensor on Superbit IRQ pin using TIM8 Channel 1
 */
#ifdef USE_PWM_INPUT1
#define PWM_INPUT1_GPIO_PORT      GPIOC
#define PWM_INPUT1_GPIO_PIN       GPIO6
#define PWM_INPUT1_GPIO_AF        0
 
#define PWM_INPUT1_TIMER          TIM8
#define PWM_INPUT1_CHANNEL_PERIOD TIM_IC1
#define PWM_INPUT1_CHANNEL_DUTY   TIM_IC2
#define PWM_INPUT1_TIMER_INPUT    TIM_IC_IN_TI1
#define PWM_INPUT1_SLAVE_TRIG     TIM_SMCR_TS_TI1FP1
#define PWM_INPUT1_IRQ            NVIC_TIM8_CC_IRQ
#define PWM_INPUT1_CC_IE          (TIM_DIER_CC1IE | TIM_DIER_CC2IE)
#define USE_PWM_INPUT_TIM8        TRUE
 
#ifdef PWM_INPUT1_TICKS_PER_USEC
#define TIM8_TICKS_PER_USEC PWM_INPUT1_TICKS_PER_USEC
#endif
#define TIM8_PWM_INPUT_IDX        0
#define TIM8_CC_IF_PERIOD         TIM_SR_CC1IF
#define TIM8_CC_IF_DUTY           TIM_SR_CC2IF
#define TIM8_CCR_PERIOD           TIM8_CCR1
#define TIM8_CCR_DUTY             TIM8_CCR2
#endif
 
#endif /* CONFIG_LISA_S_1_0_H */