2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
23 /* 16MHz High speed external crystal */
24 #define AO_HSE 16000000
26 /* PLLVCO = 96MHz (so that USB will work) */
28 #define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_6)
30 /* SYSCLK = 32MHz (no need to go faster than CPU) */
32 #define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
34 /* HCLK = 32MHz (CPU clock) */
35 #define AO_AHB_PRESCALER 1
36 #define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
38 /* Run APB1 at 16MHz (HCLK/2) */
39 #define AO_APB1_PRESCALER 2
40 #define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
42 /* Run APB2 at 16MHz (HCLK/2) */
43 #define AO_APB2_PRESCALER 2
44 #define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
46 #define HAS_SERIAL_1 0
47 #define USE_SERIAL_1_STDIN 0
48 #define SERIAL_1_PB6_PB7 0
49 #define SERIAL_1_PA9_PA10 0
51 #define HAS_SERIAL_2 1
52 #define USE_SERIAL_2_STDIN 0
53 #define SERIAL_2_PA2_PA3 1
54 #define SERIAL_2_PD5_PD6 0
55 #define USE_SERIAL_2_FLOW 0
56 #define USE_SERIAL_2_SW_FLOW 0
58 #define HAS_SERIAL_3 0
59 #define USE_SERIAL_3_STDIN 0
60 #define SERIAL_3_PB10_PB11 0
61 #define SERIAL_3_PC10_PC11 0
62 #define SERIAL_3_PD8_PD9 0
64 #define ao_gps_getchar ao_serial2_getchar
65 #define ao_gps_putchar ao_serial2_putchar
66 #define ao_gps_set_speed ao_serial2_set_speed
67 #define ao_gps_fifo (ao_stm_usart2.rx_fifo)
69 #define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024)
70 #define AO_CONFIG_MAX_SIZE 1024
71 #define LOG_ERASE_MARK 0x55
72 #define LOG_MAX_ERASE 128
73 #define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA_5
74 #define AO_LOG_NORMALIZED 1
77 #define USE_INTERNAL_FLASH 0
78 #define USE_EEPROM_CONFIG 1
79 #define USE_STORAGE_CONFIG 0
82 #define BEEPER_TIMER 3
83 #define BEEPER_CHANNEL 2
84 #define BEEPER_PORT (&stm_gpioe)
86 #define AO_BEEP_MID_DEFAULT 179 /* 2100 Hz */
87 #define AO_BEEP_MAKE_LOW(m) ((uint8_t) ((m) * 197U/179U)) /* 1900 Hz */
88 #define AO_BEEP_MAKE_HIGH(m) ((uint8_t) ((m) * 163U/179U)) /* 2300 Hz */
89 #define HAS_BATTERY_REPORT 1
91 #define HAS_TELEMETRY 1
93 #define HAS_COMPANION 1
96 #define SPI_1_PA5_PA6_PA7 1 /* Barometer */
97 #define SPI_1_PB3_PB4_PB5 1 /* Accelerometer */
98 #define SPI_1_PE13_PE14_PE15 1 /* MPU6000 */
99 #define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
101 //#define MMC5983_I2C 1
104 #define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */
106 #define SPI_2_PD1_PD3_PD4 1 /* MMC5983 */
108 #define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
111 #define I2C_1_PB8_PB9 0
114 #define I2C_2_PB10_PB11 0
116 #define PACKET_HAS_SLAVE 1
117 #define PACKET_HAS_MASTER 0
119 #define LOW_LEVEL_DEBUG 0
121 #define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN
122 #define LED_PORT (&stm_gpioc)
123 #define LED_PIN_RED 8
124 #define LED_PIN_GREEN 9
125 #define AO_LED_RED (1 << LED_PIN_RED)
126 #define AO_LED_GREEN (1 << LED_PIN_GREEN)
128 #define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN)
133 #define HAS_ADC_TEMP 1
141 #define HAS_IGNITE_REPORT 1
143 #define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n])
144 #define AO_SENSE_DROGUE(p) ((p)->adc.sense[4])
145 #define AO_SENSE_MAIN(p) ((p)->adc.sense[5])
146 #define AO_IGNITER_CLOSED 400
147 #define AO_IGNITER_OPEN 60
150 #define AO_PYRO_PORT_0 (&stm_gpiod)
151 #define AO_PYRO_PIN_0 6
154 #define AO_PYRO_PORT_1 (&stm_gpiod)
155 #define AO_PYRO_PIN_1 7
158 #define AO_PYRO_PORT_2 (&stm_gpioe)
159 #define AO_PYRO_PIN_2 3
162 #define AO_PYRO_PORT_3 (&stm_gpioe)
163 #define AO_PYRO_PIN_3 2
166 #define AO_IGNITER_DROGUE_PORT (&stm_gpioe)
167 #define AO_IGNITER_DROGUE_PIN 6
170 #define AO_IGNITER_MAIN_PORT (&stm_gpioe)
171 #define AO_IGNITER_MAIN_PIN 5
173 /* Number of general purpose pyro channels available */
174 #define AO_PYRO_NUM 4
179 #define AO_DATA_RING 32
180 #define AO_ADC_NUM_SENSE 6
183 int16_t sense[AO_ADC_NUM_SENSE];
189 #define AO_ADC_DUMP(p) \
190 printf("tick: %5lu A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
192 (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
193 (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
194 (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp)
196 #define AO_ADC_SENSE_A 0
197 #define AO_ADC_SENSE_A_PORT (&stm_gpioa)
198 #define AO_ADC_SENSE_A_PIN 0
200 #define AO_ADC_SENSE_B 1
201 #define AO_ADC_SENSE_B_PORT (&stm_gpioa)
202 #define AO_ADC_SENSE_B_PIN 1
204 #define AO_ADC_SENSE_C 24
205 #define AO_ADC_SENSE_C_PORT (&stm_gpioe)
206 #define AO_ADC_SENSE_C_PIN 9
208 #define AO_ADC_SENSE_D 25
209 #define AO_ADC_SENSE_D_PORT (&stm_gpioe)
210 #define AO_ADC_SENSE_D_PIN 10
212 #define AO_ADC_SENSE_DROGUE 4
213 #define AO_ADC_SENSE_DROGUE_PORT (&stm_gpioa)
214 #define AO_ADC_SENSE_DROGUE_PIN 4
216 #define AO_ADC_SENSE_MAIN 22
217 #define AO_ADC_SENSE_MAIN_PORT (&stm_gpioe)
218 #define AO_ADC_SENSE_MAIN_PIN 7
220 #define AO_ADC_V_BATT 8
221 #define AO_ADC_V_BATT_PORT (&stm_gpiob)
222 #define AO_ADC_V_BATT_PIN 0
224 #define AO_ADC_V_PBATT 9
225 #define AO_ADC_V_PBATT_PORT (&stm_gpiob)
226 #define AO_ADC_V_PBATT_PIN 1
228 #define AO_ADC_TEMP 16
230 #define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \
231 (1 << STM_RCC_AHBENR_GPIOEEN) | \
232 (1 << STM_RCC_AHBENR_GPIOBEN))
234 #define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 2)
236 #define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT
237 #define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN
238 #define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT
239 #define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN
240 #define AO_ADC_PIN2_PORT AO_ADC_SENSE_C_PORT
241 #define AO_ADC_PIN2_PIN AO_ADC_SENSE_C_PIN
242 #define AO_ADC_PIN3_PORT AO_ADC_SENSE_D_PORT
243 #define AO_ADC_PIN3_PIN AO_ADC_SENSE_D_PIN
244 #define AO_ADC_PIN4_PORT AO_ADC_SENSE_DROGUE_PORT
245 #define AO_ADC_PIN4_PIN AO_ADC_SENSE_DROGUE_PIN
246 #define AO_ADC_PIN5_PORT AO_ADC_SENSE_MAIN_PORT
247 #define AO_ADC_PIN5_PIN AO_ADC_SENSE_MAIN_PIN
248 #define AO_ADC_PIN6_PORT AO_ADC_V_BATT_PORT
249 #define AO_ADC_PIN6_PIN AO_ADC_V_BATT_PIN
250 #define AO_ADC_PIN7_PORT AO_ADC_V_PBATT_PORT
251 #define AO_ADC_PIN7_PIN AO_ADC_V_PBATT_PIN
253 #define AO_NUM_ADC (AO_ADC_NUM_SENSE + 3)
255 #define AO_ADC_SQ1 AO_ADC_SENSE_A
256 #define AO_ADC_SQ2 AO_ADC_SENSE_B
257 #define AO_ADC_SQ3 AO_ADC_SENSE_C
258 #define AO_ADC_SQ4 AO_ADC_SENSE_D
259 #define AO_ADC_SQ5 AO_ADC_SENSE_DROGUE
260 #define AO_ADC_SQ6 AO_ADC_SENSE_MAIN
261 #define AO_ADC_SQ7 AO_ADC_V_BATT
262 #define AO_ADC_SQ8 AO_ADC_V_PBATT
263 #define AO_ADC_SQ9 AO_ADC_TEMP
266 * Voltage divider on ADC battery sampler
268 #define AO_BATTERY_DIV_PLUS 56 /* 5.6k */
269 #define AO_BATTERY_DIV_MINUS 100 /* 10k */
272 * Voltage divider on ADC pyro battery sampler
274 #define AO_PYRO_BATTERY_DIV_PLUS 100 /* 100k */
275 #define AO_PYRO_BATTERY_DIV_MINUS 27 /* 27k */
278 * Voltage divider on ADC igniter samplers
280 #define AO_IGNITE_DIV_PLUS 100 /* 100k */
281 #define AO_IGNITE_DIV_MINUS 27 /* 27k */
284 * ADC reference in decivolts
286 #define AO_ADC_REFERENCE_DV 33
289 * Pressure sensor settings
293 #define AO_MS5607_PRIVATE_PINS 1
294 #define AO_MS5607_CS_PORT (&stm_gpioc)
295 #define AO_MS5607_CS_PIN 4
296 #define AO_MS5607_CS_MASK (1 << AO_MS5607_CS)
297 #define AO_MS5607_MISO_PORT (&stm_gpioa)
298 #define AO_MS5607_MISO_PIN 6
299 #define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO)
300 #define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7
306 #define M25_MAX_CHIPS 1
307 #define AO_M25_SPI_CS_PORT (&stm_gpiod)
308 #define AO_M25_SPI_CS_MASK (1 << 10)
309 #define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15
315 /* gets pretty close to 434.550 */
317 #define AO_RADIO_CAL_DEFAULT 5695733
319 #define AO_FEC_DEBUG 0
320 #define AO_CC1200_SPI_CS_PORT (&stm_gpioc)
321 #define AO_CC1200_SPI_CS_PIN 5
322 #define AO_CC1200_SPI_BUS AO_SPI_2_PB13_PB14_PB15
323 #define AO_CC1200_SPI stm_spi2
325 #define AO_CC1200_INT_PORT (&stm_gpiob)
326 #define AO_CC1200_INT_PIN 11
328 #define AO_CC1200_INT_GPIO 2
329 #define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2
331 #define AO_CC1200_MARC_GPIO 3
332 #define AO_CC1200_MARC_GPIO_IOCFG CC1200_IOCFG3
334 #define HAS_BOOT_RADIO 0
338 * Here are the required sensor signs:
344 * With the board aligned to have positive accel for the relevant
345 * axis, looking down from above we have:
347 * +roll counter clockwise (nose up)
348 * +pitch counter clockwise (USB down)
349 * +yaw counter clockwise (TH down)
353 * On TMega v5, MPU6000 pin 1 (NW corner of chip) is placed towards
354 * the USB and antenna edges of the board. Relative to MPU6000 specs,
355 * we don't need to change any signs and so the correct values are:
358 * +across +X +pitch +X
359 * +through +Z +yaw +Z
363 #define HAS_MPU6000 1
364 #define AO_MPU6000_INT_PORT (&stm_gpioe)
365 #define AO_MPU6000_INT_PIN 0
366 #define AO_MPU6000_SPI_BUS AO_SPI_1_PE13_PE14_PE15
367 #define AO_MPU6000_SPI_CS_PORT (&stm_gpioc)
368 #define AO_MPU6000_SPI_CS_PIN 13
371 #define ao_mpu6000_along(m) ((m)->accel_y)
372 #define ao_mpu6000_across(m) ((m)->accel_x)
373 #define ao_mpu6000_through(m) ((m)->accel_z)
375 #define ao_mpu6000_roll(m) ((m)->gyro_y)
376 #define ao_mpu6000_pitch(m) ((m)->gyro_x)
377 #define ao_mpu6000_yaw(m) ((m)->gyro_z)
379 #define ao_data_along(packet) ao_mpu6000_along(&(packet)->mpu6000)
380 #define ao_data_across(packet) ao_mpu6000_across(&(packet)->mpu6000)
381 #define ao_data_through(packet) ao_mpu6000_through(&(packet)->mpu6000)
383 #define ao_data_roll(packet) ao_mpu6000_roll(&(packet)->mpu6000)
384 #define ao_data_pitch(packet) ao_mpu6000_pitch(&(packet)->mpu6000)
385 #define ao_data_yaw(packet) ao_mpu6000_yaw(&(packet)->mpu6000)
387 /* Bit-banging i2c */
388 #define AO_I2C_SCL_PORT (&stm_gpiod)
389 #define AO_I2C_SCL_PIN 1
390 #define AO_I2C_SDA_PORT (&stm_gpiod)
391 #define AO_I2C_SDA_PIN 4
396 * pin 1 NE corner of chip
403 #define HAS_MMC5983 1
404 #define AO_MMC5983_INT_PORT (&stm_gpiod)
405 #define AO_MMC5983_INT_PIN 5
406 #define AO_MMC5983_SPI_CLK_PORT (&stm_gpiod)
407 #define AO_MMC5983_SPI_CLK_PIN 1
408 #define AO_MMC5983_SPI_MISO_PORT (&stm_gpiod)
409 #define AO_MMC5983_SPI_MISO_PIN 3
410 #define AO_MMC5983_SPI_MOSI_PORT (&stm_gpiod)
411 #define AO_MMC5983_SPI_MOSI_PIN 4
412 #define AO_MMC5983_SPI_INDEX (AO_SPI_2_PD1_PD3_PD4 | AO_SPI_MODE_3)
413 #define AO_MMC5983_SPI_CS_PORT (&stm_gpioa)
414 #define AO_MMC5983_SPI_CS_PIN 15
416 #define ao_mmc5983_along(m) (-(m)->y)
417 #define ao_mmc5983_across(m) ((m)->x)
418 #define ao_mmc5983_through(m) (-(m)->z)
420 #define ao_data_mag_along(packet) ao_mmc5983_along(&(packet)->mmc5983)
421 #define ao_data_mag_across(packet) ao_mmc5983_across(&(packet)->mmc5983)
422 #define ao_data_mag_through(packet) ao_mmc5983_through(&(packet)->mmc5983)
427 * pin 1 NW corner of chip
434 #define HAS_ADXL375 1
435 #define AO_ADXL375_SPI_INDEX (AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_3)
436 #define AO_ADXL375_CS_PORT (&stm_gpioc)
437 #define AO_ADXL375_CS_PIN 0
439 #define AO_ADXL375_AXIS x
440 #define AO_ADXL375_INVERT 1
448 #define AO_COMPANION_CS_PORT (&stm_gpiob)
449 #define AO_COMPANION_CS_PIN_0 (6)
450 #define AO_COMPANION_CS_PIN AO_COMPANION_CS_PIN_0
451 #define AO_COMPANION_CS_PIN_1 (7)
452 #define AO_COMPANION_SPI_BUS AO_SPI_2_PB13_PB14_PB15
458 #define HAS_MONITOR 0
459 #define LEGACY_MONITOR 0
460 #define HAS_MONITOR_PUT 1
461 #define AO_MONITOR_LED 0
465 * Profiling Viterbi decoding
477 #define PWM_MAX 20000
478 #define AO_PWM_TIMER stm_tim4
479 #define AO_PWM_TIMER_ENABLE STM_RCC_APB1ENR_TIM4EN
480 #define AO_PWM_TIMER_SCALE 32
482 #define AO_PWM_0_GPIO (&stm_gpiod)
483 #define AO_PWM_0_PIN 12
485 #define AO_PWM_1_GPIO (&stm_gpiod)
486 #define AO_PWM_1_PIN 13
488 #define AO_PWM_2_GPIO (&stm_gpiod)
489 #define AO_PWM_2_PIN 15
491 #define AO_PWM_3_GPIO (&stm_gpiod)
492 #define AO_PWM_3_PIN 14
494 #endif /* _AO_PINS_H_ */