From a7ec22401949eb4af120c302b9abdbc869c4343b Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 28 Jan 2025 10:27:38 -0800 Subject: [PATCH] altos: Add TeleMega v7.0 firmware and flash loader TeleMega v7.0 is nearly identical to 6.0. The only change is to support pyro batteries up to 30V. This was done by changing the ADC voltage dividers from 100k/27k to 100k/12k. Signed-off-by: Keith Packard --- src/Makefile | 1 + src/telemega-v7.0/.gitignore | 2 + src/telemega-v7.0/Makefile | 130 ++++++ src/telemega-v7.0/ao_pins.h | 486 +++++++++++++++++++++++ src/telemega-v7.0/ao_telemega.c | 103 +++++ src/telemega-v7.0/flash-loader/Makefile | 8 + src/telemega-v7.0/flash-loader/ao_pins.h | 35 ++ 7 files changed, 765 insertions(+) create mode 100644 src/telemega-v7.0/.gitignore create mode 100644 src/telemega-v7.0/Makefile create mode 100644 src/telemega-v7.0/ao_pins.h create mode 100644 src/telemega-v7.0/ao_telemega.c create mode 100644 src/telemega-v7.0/flash-loader/Makefile create mode 100644 src/telemega-v7.0/flash-loader/ao_pins.h diff --git a/src/Makefile b/src/Makefile index 411956cf..5b701573 100644 --- a/src/Makefile +++ b/src/Makefile @@ -29,6 +29,7 @@ ARMM3DIRS=\ telemega-v4.0 telemega-v4.0/flash-loader \ telemega-v5.0 telemega-v5.0/flash-loader \ telemega-v6.0 telemega-v6.0/flash-loader \ + telemega-v7.0 telemega-v7.0/flash-loader \ telemetrum-v2.0 telemetrum-v2.0/flash-loader \ telemetrum-v3.0 telemetrum-v3.0/flash-loader \ telegps-v0.3 telegps-v0.3/flash-loader \ diff --git a/src/telemega-v7.0/.gitignore b/src/telemega-v7.0/.gitignore new file mode 100644 index 00000000..e67759a2 --- /dev/null +++ b/src/telemega-v7.0/.gitignore @@ -0,0 +1,2 @@ +ao_product.h +telemega-*.elf diff --git a/src/telemega-v7.0/Makefile b/src/telemega-v7.0/Makefile new file mode 100644 index 00000000..a9e83000 --- /dev/null +++ b/src/telemega-v7.0/Makefile @@ -0,0 +1,130 @@ +# +# AltOS build +# +# + +include ../stm/Makefile.defs + +INC = \ + ao.h \ + ao_arch.h \ + ao_arch_funcs.h \ + ao_boot.h \ + ao_companion.h \ + ao_data.h \ + ao_sample.h \ + ao_pins.h \ + altitude-pa.h \ + ao_kalman.h \ + ao_product.h \ + ao_ms5607.h \ + ao_bmi088.h \ + ao_mmc5983.h \ + ao_adxl375.h \ + ao_cc1200_CC1200.h \ + ao_profile.h \ + ao_task.h \ + ao_whiten.h \ + ao_sample_profile.h \ + ao_quaternion.h \ + ao_mpu.h \ + stm32l.h \ + ao_ms5607_convert.c \ + Makefile + +# +# Common AltOS sources +# + +#PROFILE=ao_profile.c +#PROFILE_DEF=-DAO_PROFILE=1 + +#SAMPLE_PROFILE=ao_sample_profile.c \ +# ao_sample_profile_timer.c +#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1 + +#STACK_GUARD=ao_mpu_stm.c +#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1 + +ALTOS_SRC = \ + ao_boot_chain.c \ + ao_interrupt.c \ + ao_product.c \ + ao_romconfig.c \ + ao_cmd.c \ + ao_config.c \ + ao_task.c \ + ao_led_stm.c \ + ao_stdio.c \ + ao_panic.c \ + ao_timer.c \ + ao_mutex.c \ + ao_serial_stm.c \ + ao_gps_ublox.c \ + ao_gps_show.c \ + ao_gps_report_mega.c \ + ao_ignite.c \ + ao_freq.c \ + ao_dma_stm.c \ + ao_spi_stm.c \ + ao_cc1200.c \ + ao_data.c \ + ao_ms5607.c \ + ao_adxl375.c \ + ao_adc_stm.c \ + ao_beep_stm.c \ + ao_eeprom_stm.c \ + ao_storage.c \ + ao_m25.c \ + ao_usb_stm.c \ + ao_exti_stm.c \ + ao_report.c \ + ao_bmi088.c \ + ao_mmc5983.c \ + ao_convert_pa.c \ + ao_convert_volt.c \ + ao_log.c \ + ao_log_mega.c \ + ao_sample.c \ + ao_kalman.c \ + ao_flight.c \ + ao_telemetry.c \ + ao_packet_slave.c \ + ao_packet.c \ + ao_companion.c \ + ao_pyro.c \ + ao_aprs.c \ + ao_pwm_stm.c \ + $(PROFILE) \ + $(SAMPLE_PROFILE) \ + $(STACK_GUARD) + +PRODUCT=TeleMega-v7.0 +PRODUCT_DEF=-DTELEMEGA +IDPRODUCT=0x0023 + +CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) + +PROGNAME=telemega-v7.0 +PROG=$(PROGNAME)-$(VERSION).elf +HEX=$(PROGNAME)-$(VERSION).ihx + +SRC=$(ALTOS_SRC) ao_telemega.c +OBJ=$(SRC:.c=.o) + +all: $(PROG) $(HEX) + +$(PROG): Makefile $(OBJ) altos.ld + $(call quiet,CC) $(LDFLAGS) -o $(PROG) $(OBJ) $(LIBS) + +$(OBJ): $(INC) + +distclean: clean + +clean: + rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx $(PROGNAME)-*.map + rm -f ao_product.h + +install: + +uninstall: diff --git a/src/telemega-v7.0/ao_pins.h b/src/telemega-v7.0/ao_pins.h new file mode 100644 index 00000000..0e640625 --- /dev/null +++ b/src/telemega-v7.0/ao_pins.h @@ -0,0 +1,486 @@ +/* + * Copyright © 2017 Keith Packard + * + * This program 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 of the License, or + * (at your option) any later version. + * + * This program 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 this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + + +/* 16MHz High speed external crystal */ +#define AO_HSE 16000000 + +/* PLLVCO = 96MHz (so that USB will work) */ +#define AO_PLLMUL 6 +#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_6) + +/* SYSCLK = 32MHz (no need to go faster than CPU) */ +#define AO_PLLDIV 3 +#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3) + +/* HCLK = 32MHz (CPU clock) */ +#define AO_AHB_PRESCALER 1 +#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1 + +/* Run APB1 at 16MHz (HCLK/2) */ +#define AO_APB1_PRESCALER 2 +#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +/* Run APB2 at 16MHz (HCLK/2) */ +#define AO_APB2_PRESCALER 2 +#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2 + +#define HAS_SERIAL_1 0 +#define USE_SERIAL_1_STDIN 0 +#define SERIAL_1_PB6_PB7 0 +#define SERIAL_1_PA9_PA10 0 + +#define HAS_SERIAL_2 1 +#define USE_SERIAL_2_STDIN 0 +#define SERIAL_2_PA2_PA3 1 +#define SERIAL_2_PD5_PD6 0 +#define USE_SERIAL_2_FLOW 0 +#define USE_SERIAL_2_SW_FLOW 0 + +#define HAS_SERIAL_3 0 +#define USE_SERIAL_3_STDIN 0 +#define SERIAL_3_PB10_PB11 0 +#define SERIAL_3_PC10_PC11 0 +#define SERIAL_3_PD8_PD9 0 + +#define ao_gps_getchar ao_serial2_getchar +#define ao_gps_putchar ao_serial2_putchar +#define ao_gps_set_speed ao_serial2_set_speed +#define ao_gps_fifo (ao_stm_usart2.rx_fifo) + +#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024) +#define AO_CONFIG_MAX_SIZE 1024 +#define LOG_ERASE_MARK 0x55 +#define LOG_MAX_ERASE 128 +#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA_6 +#define AO_LOG_NORMALIZED 1 + +#define HAS_EEPROM 1 +#define USE_INTERNAL_FLASH 0 +#define USE_EEPROM_CONFIG 1 +#define USE_STORAGE_CONFIG 0 +#define HAS_USB 1 +#define HAS_BEEP 1 +#define BEEPER_TIMER 3 +#define BEEPER_CHANNEL 2 +#define BEEPER_PORT (&stm_gpioe) +#define BEEPER_PIN 4 +#define HAS_BATTERY_REPORT 1 +#define HAS_RADIO 1 +#define HAS_TELEMETRY 1 +#define HAS_APRS 1 +#define HAS_COMPANION 1 + +#define HAS_SPI_1 1 +#define SPI_1_PA5_PA6_PA7 1 /* Barometer */ +#define SPI_1_PB3_PB4_PB5 1 /* Accelerometer */ +#define SPI_1_PE13_PE14_PE15 1 /* MPU6000 */ +#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz + +//#define MMC5983_I2C 1 + +#define HAS_SPI_2 1 +#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */ +#ifndef MMC5983_I2C +#define SPI_2_PD1_PD3_PD4 1 /* MMC5983 */ +#endif +#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz + +#define HAS_I2C_1 0 +#define I2C_1_PB8_PB9 0 + +#define HAS_I2C_2 0 +#define I2C_2_PB10_PB11 0 + +#define PACKET_HAS_SLAVE 1 +#define PACKET_HAS_MASTER 0 + +#define LOW_LEVEL_DEBUG 0 + +#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN +#define LED_PORT (&stm_gpioc) +#define LED_PIN_RED 8 +#define LED_PIN_GREEN 9 +#define AO_LED_RED (1 << LED_PIN_RED) +#define AO_LED_GREEN (1 << LED_PIN_GREEN) + +#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN) + +#define HAS_GPS 1 +#define HAS_FLIGHT 1 +#define HAS_ADC 1 +#define HAS_ADC_TEMP 1 +#define HAS_LOG 1 + +/* + * Igniter + */ + +#define HAS_IGNITE 1 +#define HAS_IGNITE_REPORT 1 + +#define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n]) +#define AO_SENSE_DROGUE(p) ((p)->adc.sense[4]) +#define AO_SENSE_MAIN(p) ((p)->adc.sense[5]) +#define AO_IGNITER_CLOSED 400 +#define AO_IGNITER_OPEN 60 + +/* Pyro A */ +#define AO_PYRO_PORT_0 (&stm_gpiod) +#define AO_PYRO_PIN_0 6 + +/* Pyro B */ +#define AO_PYRO_PORT_1 (&stm_gpiod) +#define AO_PYRO_PIN_1 7 + +/* Pyro C */ +#define AO_PYRO_PORT_2 (&stm_gpioe) +#define AO_PYRO_PIN_2 3 + +/* Pyro D */ +#define AO_PYRO_PORT_3 (&stm_gpioe) +#define AO_PYRO_PIN_3 2 + +/* Drogue */ +#define AO_IGNITER_DROGUE_PORT (&stm_gpioe) +#define AO_IGNITER_DROGUE_PIN 6 + +/* Main */ +#define AO_IGNITER_MAIN_PORT (&stm_gpioe) +#define AO_IGNITER_MAIN_PIN 5 + +/* Number of general purpose pyro channels available */ +#define AO_PYRO_NUM 4 + +/* + * ADC + */ +#define AO_DATA_RING 32 +#define AO_ADC_NUM_SENSE 6 + +struct ao_adc { + int16_t sense[AO_ADC_NUM_SENSE]; + int16_t v_batt; + int16_t v_pbatt; + int16_t temp; +}; + +#define AO_ADC_DUMP(p) \ + printf("tick: %5lu A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \ + (p)->tick, \ + (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \ + (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \ + (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp) + +#define AO_ADC_SENSE_A 0 +#define AO_ADC_SENSE_A_PORT (&stm_gpioa) +#define AO_ADC_SENSE_A_PIN 0 + +#define AO_ADC_SENSE_B 1 +#define AO_ADC_SENSE_B_PORT (&stm_gpioa) +#define AO_ADC_SENSE_B_PIN 1 + +#define AO_ADC_SENSE_C 24 +#define AO_ADC_SENSE_C_PORT (&stm_gpioe) +#define AO_ADC_SENSE_C_PIN 9 + +#define AO_ADC_SENSE_D 25 +#define AO_ADC_SENSE_D_PORT (&stm_gpioe) +#define AO_ADC_SENSE_D_PIN 10 + +#define AO_ADC_SENSE_DROGUE 4 +#define AO_ADC_SENSE_DROGUE_PORT (&stm_gpioa) +#define AO_ADC_SENSE_DROGUE_PIN 4 + +#define AO_ADC_SENSE_MAIN 22 +#define AO_ADC_SENSE_MAIN_PORT (&stm_gpioe) +#define AO_ADC_SENSE_MAIN_PIN 7 + +#define AO_ADC_V_BATT 8 +#define AO_ADC_V_BATT_PORT (&stm_gpiob) +#define AO_ADC_V_BATT_PIN 0 + +#define AO_ADC_V_PBATT 9 +#define AO_ADC_V_PBATT_PORT (&stm_gpiob) +#define AO_ADC_V_PBATT_PIN 1 + +#define AO_ADC_TEMP 16 + +#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \ + (1 << STM_RCC_AHBENR_GPIOEEN) | \ + (1 << STM_RCC_AHBENR_GPIOBEN)) + +#define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 2) + +#define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT +#define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN +#define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT +#define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN +#define AO_ADC_PIN2_PORT AO_ADC_SENSE_C_PORT +#define AO_ADC_PIN2_PIN AO_ADC_SENSE_C_PIN +#define AO_ADC_PIN3_PORT AO_ADC_SENSE_D_PORT +#define AO_ADC_PIN3_PIN AO_ADC_SENSE_D_PIN +#define AO_ADC_PIN4_PORT AO_ADC_SENSE_DROGUE_PORT +#define AO_ADC_PIN4_PIN AO_ADC_SENSE_DROGUE_PIN +#define AO_ADC_PIN5_PORT AO_ADC_SENSE_MAIN_PORT +#define AO_ADC_PIN5_PIN AO_ADC_SENSE_MAIN_PIN +#define AO_ADC_PIN6_PORT AO_ADC_V_BATT_PORT +#define AO_ADC_PIN6_PIN AO_ADC_V_BATT_PIN +#define AO_ADC_PIN7_PORT AO_ADC_V_PBATT_PORT +#define AO_ADC_PIN7_PIN AO_ADC_V_PBATT_PIN + +#define AO_NUM_ADC (AO_ADC_NUM_SENSE + 3) + +#define AO_ADC_SQ1 AO_ADC_SENSE_A +#define AO_ADC_SQ2 AO_ADC_SENSE_B +#define AO_ADC_SQ3 AO_ADC_SENSE_C +#define AO_ADC_SQ4 AO_ADC_SENSE_D +#define AO_ADC_SQ5 AO_ADC_SENSE_DROGUE +#define AO_ADC_SQ6 AO_ADC_SENSE_MAIN +#define AO_ADC_SQ7 AO_ADC_V_BATT +#define AO_ADC_SQ8 AO_ADC_V_PBATT +#define AO_ADC_SQ9 AO_ADC_TEMP + +/* + * Voltage divider on ADC battery sampler + */ +#define AO_BATTERY_DIV_PLUS 56 /* 5.6k */ +#define AO_BATTERY_DIV_MINUS 100 /* 10k */ + +/* + * Voltage divider on ADC pyro battery sampler + */ +#define AO_PYRO_BATTERY_DIV_PLUS 100 /* 100k */ +#define AO_PYRO_BATTERY_DIV_MINUS 12 /* 12k */ + +/* + * Voltage divider on ADC igniter samplers + */ +#define AO_IGNITE_DIV_PLUS 100 /* 100k */ +#define AO_IGNITE_DIV_MINUS 12 /* 12k */ + +/* + * ADC reference in decivolts + */ +#define AO_ADC_REFERENCE_DV 33 + +/* + * Pressure sensor settings + */ +#define HAS_MS5607 1 +#define HAS_MS5611 0 +#define AO_MS5607_PRIVATE_PINS 1 +#define AO_MS5607_CS_PORT (&stm_gpioc) +#define AO_MS5607_CS_PIN 4 +#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS) +#define AO_MS5607_MISO_PORT (&stm_gpioa) +#define AO_MS5607_MISO_PIN 6 +#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO) +#define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7 + +/* + * SPI Flash memory + */ + +#define M25_MAX_CHIPS 1 +#define AO_M25_SPI_CS_PORT (&stm_gpiod) +#define AO_M25_SPI_CS_MASK (1 << 10) +#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15 + +/* + * Radio (cc1200) + */ + +/* gets pretty close to 434.550 */ + +#define AO_RADIO_CAL_DEFAULT 5695733 + +#define AO_FEC_DEBUG 0 +#define AO_CC1200_SPI_CS_PORT (&stm_gpioc) +#define AO_CC1200_SPI_CS_PIN 5 +#define AO_CC1200_SPI_BUS AO_SPI_2_PB13_PB14_PB15 +#define AO_CC1200_SPI stm_spi2 + +#define AO_CC1200_INT_PORT (&stm_gpiob) +#define AO_CC1200_INT_PIN 11 + +#define AO_CC1200_INT_GPIO 2 +#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2 + +#define AO_CC1200_MARC_GPIO 3 +#define AO_CC1200_MARC_GPIO_IOCFG CC1200_IOCFG3 + +#define HAS_BOOT_RADIO 0 + + +/* + * + * Here are the required sensor signs: + * + * +along nose up + * +across USB down + * +through TH down + * + * With the board aligned to have positive accel for the relevant + * axis, looking down from above we have: + * + * +roll counter clockwise (nose up) + * +pitch counter clockwise (USB down) + * +yaw counter clockwise (TH down) + */ + +/* + * On TMega v6, bmi088 pin 1 (NE corner of chip) is placed towards the + * USB and antenna edges of the board. Relative to bmi088 specs, to + * get the above values, we need to flip the Y axis, assigning values + * as follows: + * + * +along +X +roll +X + * +across -Y +pitch -Y + * +through +Z +yaw +Z + */ + +#define HAS_BMI088 1 +#define AO_BMI088_SPI_BUS AO_SPI_1_PE13_PE14_PE15 +#define AO_BMI088_ACC_CS_PORT (&stm_gpioc) +#define AO_BMI088_ACC_CS_PIN 14 +#define AO_BMI088_GYR_CS_PORT (&stm_gpioc) +#define AO_BMI088_GYR_CS_PIN 13 +#define HAS_IMU 1 + +#define ao_bmi088_along(m) ((m)->acc.x) +#define ao_bmi088_across(m) (-(m)->acc.y) +#define ao_bmi088_through(m) ((m)->acc.z) + +#define ao_bmi088_roll(m) ((m)->gyr.x) +#define ao_bmi088_pitch(m) (-(m)->gyr.y) +#define ao_bmi088_yaw(m) ((m)->gyr.z) + +#define ao_data_along(packet) ao_bmi088_along(&(packet)->bmi088) +#define ao_data_across(packet) ao_bmi088_across(&(packet)->bmi088) +#define ao_data_through(packet) ao_bmi088_through(&(packet)->bmi088) + +#define ao_data_roll(packet) ao_bmi088_roll(&(packet)->bmi088) +#define ao_data_pitch(packet) ao_bmi088_pitch(&(packet)->bmi088) +#define ao_data_yaw(packet) ao_bmi088_yaw(&(packet)->bmi088) + +/* + * MMC5983 + * + * pin 1 NE corner of chip + * + * +along -Y + * +across +X + * +through -Z + */ + +#define HAS_MMC5983 1 +#define AO_MMC5983_INT_PORT (&stm_gpiod) +#define AO_MMC5983_INT_PIN 5 +#define AO_MMC5983_SPI_CLK_PORT (&stm_gpiod) +#define AO_MMC5983_SPI_CLK_PIN 1 +#define AO_MMC5983_SPI_MISO_PORT (&stm_gpiod) +#define AO_MMC5983_SPI_MISO_PIN 3 +#define AO_MMC5983_SPI_MOSI_PORT (&stm_gpiod) +#define AO_MMC5983_SPI_MOSI_PIN 4 +#define AO_MMC5983_SPI_INDEX (AO_SPI_2_PD1_PD3_PD4 | AO_SPI_MODE_3) +#define AO_MMC5983_SPI_CS_PORT (&stm_gpioa) +#define AO_MMC5983_SPI_CS_PIN 15 + +#define ao_mmc5983_along(m) (-(m)->y) +#define ao_mmc5983_across(m) ((m)->x) +#define ao_mmc5983_through(m) (-(m)->z) + +#define ao_data_mag_along(packet) ao_mmc5983_along(&(packet)->mmc5983) +#define ao_data_mag_across(packet) ao_mmc5983_across(&(packet)->mmc5983) +#define ao_data_mag_through(packet) ao_mmc5983_through(&(packet)->mmc5983) + +/* + * ADXL375 + * + * pin 1 NW corner of chip + * + * +along +X + * +across +Y + * +through +Z + */ + +#define HAS_ADXL375 1 +#define AO_ADXL375_SPI_INDEX (AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_3) +#define AO_ADXL375_CS_PORT (&stm_gpioc) +#define AO_ADXL375_CS_PIN 0 + +#define AO_ADXL375_AXIS x +#define AO_ADXL375_INVERT 1 + +#define NUM_CMDS 16 + +/* + * Companion + */ + +#define AO_COMPANION_CS_PORT (&stm_gpiob) +#define AO_COMPANION_CS_PIN_0 (6) +#define AO_COMPANION_CS_PIN AO_COMPANION_CS_PIN_0 +#define AO_COMPANION_CS_PIN_1 (7) +#define AO_COMPANION_SPI_BUS AO_SPI_2_PB13_PB14_PB15 + +/* + * Monitor + */ + +#define HAS_MONITOR 0 +#define LEGACY_MONITOR 0 +#define HAS_MONITOR_PUT 1 +#define AO_MONITOR_LED 0 +#define HAS_RSSI 0 + +/* + * Profiling Viterbi decoding + */ + +#ifndef AO_PROFILE +#define AO_PROFILE 0 +#endif + +/* + * PWM output + */ + +#define NUM_PWM 4 +#define PWM_MAX 20000 +#define AO_PWM_TIMER stm_tim4 +#define AO_PWM_TIMER_ENABLE STM_RCC_APB1ENR_TIM4EN +#define AO_PWM_TIMER_SCALE 32 + +#define AO_PWM_0_GPIO (&stm_gpiod) +#define AO_PWM_0_PIN 12 + +#define AO_PWM_1_GPIO (&stm_gpiod) +#define AO_PWM_1_PIN 13 + +#define AO_PWM_2_GPIO (&stm_gpiod) +#define AO_PWM_2_PIN 15 + +#define AO_PWM_3_GPIO (&stm_gpiod) +#define AO_PWM_3_PIN 14 + +#endif /* _AO_PINS_H_ */ diff --git a/src/telemega-v7.0/ao_telemega.c b/src/telemega-v7.0/ao_telemega.c new file mode 100644 index 00000000..91526a86 --- /dev/null +++ b/src/telemega-v7.0/ao_telemega.c @@ -0,0 +1,103 @@ +/* + * Copyright © 2021 Keith Packard + * + * This program 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 of the License, or + * (at your option) any later version. + * + * This program 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 this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#if HAS_SAMPLE_PROFILE +#include +#endif +#include +#if HAS_STACK_GUARD +#include +#endif +#include + +int +main(void) +{ + ao_clock_init(); + +#if HAS_STACK_GUARD + ao_mpu_init(); +#endif + + ao_task_init(); + ao_serial_init(); + ao_led_init(); + ao_led_on(LEDS_AVAILABLE); + ao_timer_init(); + + ao_spi_init(); +#ifdef MMC5983_I2C + ao_i2c_bit_init(); +#endif + ao_dma_init(); + ao_exti_init(); + + ao_adc_init(); +#if HAS_BEEP + ao_beep_init(); +#endif + ao_cmd_init(); + + ao_ms5607_init(); + ao_bmi088_init(); + ao_mmc5983_init(); + ao_adxl375_init(); + + ao_eeprom_init(); + ao_storage_init(); + + ao_flight_init(); + ao_log_init(); + ao_report_init(); + + ao_usb_init(); + ao_gps_init(); + ao_gps_report_mega_init(); + ao_telemetry_init(); + ao_radio_init(); + ao_packet_slave_init(false); + ao_igniter_init(); + ao_companion_init(); + ao_pyro_init(); + + ao_config_init(); +#if AO_PROFILE + ao_profile_init(); +#endif +#if HAS_SAMPLE_PROFILE + ao_sample_profile_init(); +#endif + + ao_pwm_init(); + + ao_led_off(LEDS_AVAILABLE); + + ao_start_scheduler(); + return 0; +} diff --git a/src/telemega-v7.0/flash-loader/Makefile b/src/telemega-v7.0/flash-loader/Makefile new file mode 100644 index 00000000..415f1d97 --- /dev/null +++ b/src/telemega-v7.0/flash-loader/Makefile @@ -0,0 +1,8 @@ +# +# AltOS flash loader build +# +# + +TOPDIR=../.. +HARDWARE=telemega-v7.0 +include $(TOPDIR)/stm/Makefile-flash.defs diff --git a/src/telemega-v7.0/flash-loader/ao_pins.h b/src/telemega-v7.0/flash-loader/ao_pins.h new file mode 100644 index 00000000..46ba1626 --- /dev/null +++ b/src/telemega-v7.0/flash-loader/ao_pins.h @@ -0,0 +1,35 @@ +/* + * Copyright © 2021 Keith Packard + * + * This program 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 of the License, or + * (at your option) any later version. + * + * This program 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 this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_PINS_H_ +#define _AO_PINS_H_ + +/* External crystal at 16MHz */ +#define AO_HSE 16000000 + +#include + +/* Companion port cs_companion0 PB6 */ + +#define AO_BOOT_PIN 1 +#define AO_BOOT_APPLICATION_GPIO stm_gpiob +#define AO_BOOT_APPLICATION_PIN 6 +#define AO_BOOT_APPLICATION_VALUE 1 +#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP + +#endif /* _AO_PINS_H_ */ -- 2.47.2