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_6
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 HAS_BATTERY_REPORT 1
88 #define HAS_TELEMETRY 1
90 #define HAS_COMPANION 1
93 #define SPI_1_PA5_PA6_PA7 1 /* Barometer */
94 #define SPI_1_PB3_PB4_PB5 1 /* Accelerometer */
95 #define SPI_1_PE13_PE14_PE15 1 /* MPU6000 */
96 #define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
98 //#define MMC5983_I2C 1
101 #define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */
103 #define SPI_2_PD1_PD3_PD4 1 /* MMC5983 */
105 #define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
108 #define I2C_1_PB8_PB9 0
111 #define I2C_2_PB10_PB11 0
113 #define PACKET_HAS_SLAVE 1
114 #define PACKET_HAS_MASTER 0
116 #define LOW_LEVEL_DEBUG 0
118 #define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN
119 #define LED_PORT (&stm_gpioc)
120 #define LED_PIN_RED 8
121 #define LED_PIN_GREEN 9
122 #define AO_LED_RED (1 << LED_PIN_RED)
123 #define AO_LED_GREEN (1 << LED_PIN_GREEN)
125 #define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN)
130 #define HAS_ADC_TEMP 1
138 #define HAS_IGNITE_REPORT 1
140 #define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n])
141 #define AO_SENSE_DROGUE(p) ((p)->adc.sense[4])
142 #define AO_SENSE_MAIN(p) ((p)->adc.sense[5])
143 #define AO_IGNITER_CLOSED 400
144 #define AO_IGNITER_OPEN 60
147 #define AO_PYRO_PORT_0 (&stm_gpiod)
148 #define AO_PYRO_PIN_0 6
151 #define AO_PYRO_PORT_1 (&stm_gpiod)
152 #define AO_PYRO_PIN_1 7
155 #define AO_PYRO_PORT_2 (&stm_gpioe)
156 #define AO_PYRO_PIN_2 3
159 #define AO_PYRO_PORT_3 (&stm_gpioe)
160 #define AO_PYRO_PIN_3 2
163 #define AO_IGNITER_DROGUE_PORT (&stm_gpioe)
164 #define AO_IGNITER_DROGUE_PIN 6
167 #define AO_IGNITER_MAIN_PORT (&stm_gpioe)
168 #define AO_IGNITER_MAIN_PIN 5
170 /* Number of general purpose pyro channels available */
171 #define AO_PYRO_NUM 4
176 #define AO_DATA_RING 32
177 #define AO_ADC_NUM_SENSE 6
180 int16_t sense[AO_ADC_NUM_SENSE];
186 #define AO_ADC_DUMP(p) \
187 printf("tick: %5lu A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
189 (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
190 (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
191 (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp)
193 #define AO_ADC_SENSE_A 0
194 #define AO_ADC_SENSE_A_PORT (&stm_gpioa)
195 #define AO_ADC_SENSE_A_PIN 0
197 #define AO_ADC_SENSE_B 1
198 #define AO_ADC_SENSE_B_PORT (&stm_gpioa)
199 #define AO_ADC_SENSE_B_PIN 1
201 #define AO_ADC_SENSE_C 24
202 #define AO_ADC_SENSE_C_PORT (&stm_gpioe)
203 #define AO_ADC_SENSE_C_PIN 9
205 #define AO_ADC_SENSE_D 25
206 #define AO_ADC_SENSE_D_PORT (&stm_gpioe)
207 #define AO_ADC_SENSE_D_PIN 10
209 #define AO_ADC_SENSE_DROGUE 4
210 #define AO_ADC_SENSE_DROGUE_PORT (&stm_gpioa)
211 #define AO_ADC_SENSE_DROGUE_PIN 4
213 #define AO_ADC_SENSE_MAIN 22
214 #define AO_ADC_SENSE_MAIN_PORT (&stm_gpioe)
215 #define AO_ADC_SENSE_MAIN_PIN 7
217 #define AO_ADC_V_BATT 8
218 #define AO_ADC_V_BATT_PORT (&stm_gpiob)
219 #define AO_ADC_V_BATT_PIN 0
221 #define AO_ADC_V_PBATT 9
222 #define AO_ADC_V_PBATT_PORT (&stm_gpiob)
223 #define AO_ADC_V_PBATT_PIN 1
225 #define AO_ADC_TEMP 16
227 #define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \
228 (1 << STM_RCC_AHBENR_GPIOEEN) | \
229 (1 << STM_RCC_AHBENR_GPIOBEN))
231 #define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 2)
233 #define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT
234 #define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN
235 #define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT
236 #define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN
237 #define AO_ADC_PIN2_PORT AO_ADC_SENSE_C_PORT
238 #define AO_ADC_PIN2_PIN AO_ADC_SENSE_C_PIN
239 #define AO_ADC_PIN3_PORT AO_ADC_SENSE_D_PORT
240 #define AO_ADC_PIN3_PIN AO_ADC_SENSE_D_PIN
241 #define AO_ADC_PIN4_PORT AO_ADC_SENSE_DROGUE_PORT
242 #define AO_ADC_PIN4_PIN AO_ADC_SENSE_DROGUE_PIN
243 #define AO_ADC_PIN5_PORT AO_ADC_SENSE_MAIN_PORT
244 #define AO_ADC_PIN5_PIN AO_ADC_SENSE_MAIN_PIN
245 #define AO_ADC_PIN6_PORT AO_ADC_V_BATT_PORT
246 #define AO_ADC_PIN6_PIN AO_ADC_V_BATT_PIN
247 #define AO_ADC_PIN7_PORT AO_ADC_V_PBATT_PORT
248 #define AO_ADC_PIN7_PIN AO_ADC_V_PBATT_PIN
250 #define AO_NUM_ADC (AO_ADC_NUM_SENSE + 3)
252 #define AO_ADC_SQ1 AO_ADC_SENSE_A
253 #define AO_ADC_SQ2 AO_ADC_SENSE_B
254 #define AO_ADC_SQ3 AO_ADC_SENSE_C
255 #define AO_ADC_SQ4 AO_ADC_SENSE_D
256 #define AO_ADC_SQ5 AO_ADC_SENSE_DROGUE
257 #define AO_ADC_SQ6 AO_ADC_SENSE_MAIN
258 #define AO_ADC_SQ7 AO_ADC_V_BATT
259 #define AO_ADC_SQ8 AO_ADC_V_PBATT
260 #define AO_ADC_SQ9 AO_ADC_TEMP
263 * Voltage divider on ADC battery sampler
265 #define AO_BATTERY_DIV_PLUS 56 /* 5.6k */
266 #define AO_BATTERY_DIV_MINUS 100 /* 10k */
269 * Voltage divider on ADC igniter samplers
271 #define AO_IGNITE_DIV_PLUS 100 /* 100k */
272 #define AO_IGNITE_DIV_MINUS 27 /* 27k */
275 * ADC reference in decivolts
277 #define AO_ADC_REFERENCE_DV 33
280 * Pressure sensor settings
284 #define AO_MS5607_PRIVATE_PINS 1
285 #define AO_MS5607_CS_PORT (&stm_gpioc)
286 #define AO_MS5607_CS_PIN 4
287 #define AO_MS5607_CS_MASK (1 << AO_MS5607_CS)
288 #define AO_MS5607_MISO_PORT (&stm_gpioa)
289 #define AO_MS5607_MISO_PIN 6
290 #define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO)
291 #define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7
297 #define M25_MAX_CHIPS 1
298 #define AO_M25_SPI_CS_PORT (&stm_gpiod)
299 #define AO_M25_SPI_CS_MASK (1 << 10)
300 #define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15
306 /* gets pretty close to 434.550 */
308 #define AO_RADIO_CAL_DEFAULT 5695733
310 #define AO_FEC_DEBUG 0
311 #define AO_CC1200_SPI_CS_PORT (&stm_gpioc)
312 #define AO_CC1200_SPI_CS_PIN 5
313 #define AO_CC1200_SPI_BUS AO_SPI_2_PB13_PB14_PB15
314 #define AO_CC1200_SPI stm_spi2
316 #define AO_CC1200_INT_PORT (&stm_gpiob)
317 #define AO_CC1200_INT_PIN 11
319 #define AO_CC1200_INT_GPIO 2
320 #define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2
322 #define AO_CC1200_MARC_GPIO 3
323 #define AO_CC1200_MARC_GPIO_IOCFG CC1200_IOCFG3
325 #define HAS_BOOT_RADIO 0
330 * Here are the required sensor signs:
336 * With the board aligned to have positive accel for the relevant
337 * axis, looking down from above we have:
339 * +roll counter clockwise (nose up)
340 * +pitch counter clockwise (USB down)
341 * +yaw counter clockwise (TH down)
345 * On TMega v6, bmi088 pin 1 (NE corner of chip) is placed towards the
346 * USB and antenna edges of the board. Relative to bmi088 specs, to
347 * get the above values, we need to flip the Y axis, assigning values
351 * +across -Y +pitch -Y
352 * +through +Z +yaw +Z
356 #define AO_BMI088_SPI_BUS AO_SPI_1_PE13_PE14_PE15
357 #define AO_BMI088_ACC_CS_PORT (&stm_gpioc)
358 #define AO_BMI088_ACC_CS_PIN 14
359 #define AO_BMI088_GYR_CS_PORT (&stm_gpioc)
360 #define AO_BMI088_GYR_CS_PIN 13
363 #define ao_bmi088_along(m) ((m)->acc.x)
364 #define ao_bmi088_across(m) (-(m)->acc.y)
365 #define ao_bmi088_through(m) ((m)->acc.z)
367 #define ao_bmi088_roll(m) ((m)->gyr.x)
368 #define ao_bmi088_pitch(m) (-(m)->gyr.y)
369 #define ao_bmi088_yaw(m) ((m)->gyr.z)
371 #define ao_data_along(packet) ao_bmi088_along(&(packet)->bmi088)
372 #define ao_data_across(packet) ao_bmi088_across(&(packet)->bmi088)
373 #define ao_data_through(packet) ao_bmi088_through(&(packet)->bmi088)
375 #define ao_data_roll(packet) ao_bmi088_roll(&(packet)->bmi088)
376 #define ao_data_pitch(packet) ao_bmi088_pitch(&(packet)->bmi088)
377 #define ao_data_yaw(packet) ao_bmi088_yaw(&(packet)->bmi088)
382 * pin 1 NE corner of chip
389 #define HAS_MMC5983 1
390 #define AO_MMC5983_INT_PORT (&stm_gpiod)
391 #define AO_MMC5983_INT_PIN 5
392 #define AO_MMC5983_SPI_CLK_PORT (&stm_gpiod)
393 #define AO_MMC5983_SPI_CLK_PIN 1
394 #define AO_MMC5983_SPI_MISO_PORT (&stm_gpiod)
395 #define AO_MMC5983_SPI_MISO_PIN 3
396 #define AO_MMC5983_SPI_MOSI_PORT (&stm_gpiod)
397 #define AO_MMC5983_SPI_MOSI_PIN 4
398 #define AO_MMC5983_SPI_INDEX (AO_SPI_2_PD1_PD3_PD4 | AO_SPI_MODE_3)
399 #define AO_MMC5983_SPI_CS_PORT (&stm_gpioa)
400 #define AO_MMC5983_SPI_CS_PIN 15
402 #define ao_mmc5983_along(m) (-(m)->y)
403 #define ao_mmc5983_across(m) ((m)->x)
404 #define ao_mmc5983_through(m) (-(m)->z)
406 #define ao_data_mag_along(packet) ao_mmc5983_along(&(packet)->mmc5983)
407 #define ao_data_mag_across(packet) ao_mmc5983_across(&(packet)->mmc5983)
408 #define ao_data_mag_through(packet) ao_mmc5983_through(&(packet)->mmc5983)
413 * pin 1 NW corner of chip
420 #define HAS_ADXL375 1
421 #define AO_ADXL375_SPI_INDEX (AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_3)
422 #define AO_ADXL375_CS_PORT (&stm_gpioc)
423 #define AO_ADXL375_CS_PIN 0
425 #define AO_ADXL375_AXIS x
426 #define AO_ADXL375_INVERT 1
434 #define AO_COMPANION_CS_PORT (&stm_gpiob)
435 #define AO_COMPANION_CS_PIN_0 (6)
436 #define AO_COMPANION_CS_PIN AO_COMPANION_CS_PIN_0
437 #define AO_COMPANION_CS_PIN_1 (7)
438 #define AO_COMPANION_SPI_BUS AO_SPI_2_PB13_PB14_PB15
444 #define HAS_MONITOR 0
445 #define LEGACY_MONITOR 0
446 #define HAS_MONITOR_PUT 1
447 #define AO_MONITOR_LED 0
451 * Profiling Viterbi decoding
463 #define PWM_MAX 20000
464 #define AO_PWM_TIMER stm_tim4
465 #define AO_PWM_TIMER_ENABLE STM_RCC_APB1ENR_TIM4EN
466 #define AO_PWM_TIMER_SCALE 32
468 #define AO_PWM_0_GPIO (&stm_gpiod)
469 #define AO_PWM_0_PIN 12
471 #define AO_PWM_1_GPIO (&stm_gpiod)
472 #define AO_PWM_1_PIN 13
474 #define AO_PWM_2_GPIO (&stm_gpiod)
475 #define AO_PWM_2_PIN 15
477 #define AO_PWM_3_GPIO (&stm_gpiod)
478 #define AO_PWM_3_PIN 14
480 #endif /* _AO_PINS_H_ */