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MAV'RIC
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MAV'RIC
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00001 /******************************************************************************* 00002 * Copyright (c) 2009-2016, MAV'RIC Development Team 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * 1. Redistributions of source code must retain the above copyright notice, 00009 * this list of conditions and the following disclaimer. 00010 * 00011 * 2. Redistributions in binary form must reproduce the above copyright notice, 00012 * this list of conditions and the following disclaimer in the documentation 00013 * and/or other materials provided with the distribution. 00014 * 00015 * 3. Neither the name of the copyright holder nor the names of its contributors 00016 * may be used to endorse or promote products derived from this software without 00017 * specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 ******************************************************************************/ 00031 00032 /******************************************************************************* 00033 * \file megafly_rev4.hpp 00034 * 00035 * \author MAV'RIC Team 00036 * 00037 * \brief Autopilot board based on AVR32 00038 * 00039 ******************************************************************************/ 00040 00041 00042 #ifndef MEGAFLY_REV4_HPP_ 00043 #define MEGAFLY_REV4_HPP_ 00044 00045 #include "hal/avr32/adc_avr32.hpp" 00046 #include "hal/avr32/file_flash_avr32.hpp" 00047 #include "hal/avr32/file_fat_fs.hpp" 00048 #include "hal/avr32/gpio_avr32.hpp" 00049 #include "hal/avr32/i2c_avr32.hpp" 00050 #include "hal/avr32/led_avr32.hpp" 00051 #include "hal/avr32/pwm_avr32.hpp" 00052 #include "hal/avr32/serial_avr32.hpp" 00053 #include "hal/avr32/serial_usb_avr32.hpp" 00054 00055 #include "drivers/airspeed_analog.hpp" 00056 #include "drivers/battery.hpp" 00057 #include "drivers/barometer_bmp085.hpp" 00058 #include "drivers/gps_ublox.hpp" 00059 #include "drivers/hmc5883l.hpp" 00060 #include "drivers/lsm330dlc.hpp" 00061 #include "drivers/servo.hpp" 00062 #include "drivers/sonar_i2cxl.hpp" 00063 #include "drivers/px4flow_i2c.hpp" 00064 #include "drivers/px4flow_serial.hpp" 00065 #include "drivers/spektrum_satellite.hpp" 00066 #include "drivers/state_display_megafly_rev4.hpp" 00067 00068 #include "sensing/imu.hpp" 00069 00070 extern "C" 00071 { 00072 #include "hal/avr32/twim_default_config.h" 00073 #include "util/streams.h" 00074 #include "hal/analog_monitor.h" 00075 } 00076 00077 00078 // Preprocessor definitions 00079 00080 /* 00081 * Should the ESC be calibrated? 00082 * 0 for false (normal flight) 00083 * 1 for true (calibration) 00084 * !!!IMPORTANT!!! 00085 * IF CALIBRATING, TAKE OFF PROPS 00086 */ 00087 #define CALIBRATE_ESC 0 00088 00092 typedef struct 00093 { 00094 gpio_avr32_conf_t dsm_receiver_pin_config; 00095 gpio_avr32_conf_t dsm_power_pin_config; 00096 battery_conf_t battery_config; 00097 serial_avr32_conf_t uart0_config; 00098 serial_avr32_conf_t uart1_config; 00099 serial_avr32_conf_t uart3_config; 00100 serial_usb_avr32_conf_t uart_usb_config; 00101 i2c_avr32_conf_t i2c0_config; 00102 i2c_avr32_conf_t i2c1_config; 00103 imu_conf_t imu_config; 00104 servo_conf_t servo_config[8]; 00105 PX4Flow_i2c::conf_t px4flow_i2c_config; 00106 PX4Flow_serial::conf_t px4flow_serial_config; 00107 } megafly_rev4_conf_t; 00108 00109 00115 static inline megafly_rev4_conf_t megafly_rev4_default_config(); 00116 00117 00122 class Megafly_rev4 00123 { 00124 public: 00130 Megafly_rev4(megafly_rev4_conf_t config = megafly_rev4_default_config()); 00131 00132 00138 virtual bool init(void); 00139 00143 Gpio_avr32 dsm_receiver_pin; 00144 Gpio_avr32 dsm_power_pin; 00145 Serial_avr32 uart0; 00146 Serial_avr32 uart1; 00147 Serial_avr32 uart3; 00148 Serial_usb_avr32 uart_usb; 00149 I2c_avr32 i2c0; 00150 I2c_avr32 i2c1; 00151 Hmc5883l hmc5883l; 00152 Lsm330dlc lsm330dlc; 00153 Barometer_BMP085 barometer; 00154 Spektrum_satellite spektrum_satellite; 00155 Led_avr32 red_led; 00156 Led_avr32 green_led; 00157 State_display_megafly_rev4 state_display_megafly_rev4_; 00158 Imu imu; 00159 File_flash_avr32 file_flash; 00160 Gps_ublox gps_ublox; 00161 Sonar_i2cxl sonar_i2cxl; 00162 PX4Flow_i2c flow_i2c; 00163 PX4Flow_serial flow_serial; 00164 analog_monitor_t analog_monitor; 00165 Adc_avr32 adc_battery; 00166 Adc_avr32 adc_airspeed; 00167 Battery battery; 00168 Airspeed_analog airspeed_analog; 00169 Pwm_avr32 pwm_0; 00170 Pwm_avr32 pwm_1; 00171 Pwm_avr32 pwm_2; 00172 Pwm_avr32 pwm_3; 00173 Pwm_avr32 pwm_4; 00174 Pwm_avr32 pwm_5; 00175 Pwm_avr32 pwm_6; 00176 Pwm_avr32 pwm_7; 00177 Servo servo_0; 00178 Servo servo_1; 00179 Servo servo_2; 00180 Servo servo_3; 00181 Servo servo_4; 00182 Servo servo_5; 00183 Servo servo_6; 00184 Servo servo_7; 00185 00186 private: 00187 byte_stream_t dbg_stream_; 00188 00189 00197 bool boardsupport_init(void); 00198 00199 }; 00200 00201 00207 static inline megafly_rev4_conf_t megafly_rev4_default_config() 00208 { 00209 megafly_rev4_conf_t conf = {}; 00210 00211 // ------------------------------------------------------------------------- 00212 // GPIO dsm receiver pin configuration 00213 // ------------------------------------------------------------------------- 00214 conf.dsm_receiver_pin_config = gpio_avr32_default_config(); 00215 conf.dsm_receiver_pin_config.pin = AVR32_PIN_PD12; 00216 00217 00218 // ------------------------------------------------------------------------- 00219 // GPIO dsm power pin configuration 00220 // ------------------------------------------------------------------------- 00221 conf.dsm_power_pin_config = gpio_avr32_default_config(); 00222 conf.dsm_power_pin_config.pin = AVR32_PIN_PC01; 00223 00224 // ------------------------------------------------------------------------- 00225 // Battery config 00226 // ------------------------------------------------------------------------- 00227 conf.battery_config = battery_default_config(); 00228 00229 // ------------------------------------------------------------------------- 00230 // UART0 configuration 00231 // ------------------------------------------------------------------------- 00232 conf.uart0_config = {}; 00233 conf.uart0_config.serial_device = AVR32_SERIAL_0; 00234 conf.uart0_config.mode = AVR32_SERIAL_IN_OUT; 00235 conf.uart0_config.options = {}; 00236 conf.uart0_config.options.baudrate = 57600; 00237 conf.uart0_config.options.charlength = 8; 00238 conf.uart0_config.options.paritytype = USART_NO_PARITY; 00239 conf.uart0_config.options.stopbits = USART_1_STOPBIT; 00240 conf.uart0_config.options.channelmode = USART_NORMAL_CHMODE; 00241 conf.uart0_config.rx_pin_map = {AVR32_USART0_RXD_0_0_PIN, AVR32_USART0_RXD_0_0_FUNCTION}; 00242 conf.uart0_config.tx_pin_map = {AVR32_USART0_TXD_0_0_PIN, AVR32_USART0_TXD_0_0_FUNCTION}; 00243 00244 00245 // ------------------------------------------------------------------------- 00246 // UART1 configuration 00247 // ------------------------------------------------------------------------- 00248 conf.uart1_config = {}; 00249 conf.uart1_config.serial_device = AVR32_SERIAL_1; 00250 conf.uart1_config.mode = AVR32_SERIAL_IN_OUT; 00251 conf.uart1_config.options = {}; 00252 conf.uart1_config.options.baudrate = 115200; 00253 conf.uart1_config.options.charlength = 8; 00254 conf.uart1_config.options.paritytype = USART_NO_PARITY; 00255 conf.uart1_config.options.stopbits = USART_1_STOPBIT; 00256 conf.uart1_config.options.channelmode = USART_NORMAL_CHMODE; 00257 conf.uart1_config.rx_pin_map = {AVR32_USART1_RXD_0_1_PIN, AVR32_USART1_RXD_0_1_FUNCTION}; 00258 conf.uart1_config.tx_pin_map = {AVR32_USART1_TXD_0_1_PIN, AVR32_USART1_TXD_0_1_FUNCTION}; 00259 00260 00261 // ------------------------------------------------------------------------- 00262 // UART3 configuration 00263 // ------------------------------------------------------------------------- 00264 conf.uart3_config = {}; 00265 conf.uart3_config.serial_device = AVR32_SERIAL_3; 00266 conf.uart3_config.mode = AVR32_SERIAL_IN_OUT; 00267 conf.uart3_config.options = {}; 00268 conf.uart3_config.options.baudrate = 38400; 00269 conf.uart3_config.options.charlength = 8; 00270 conf.uart3_config.options.paritytype = USART_NO_PARITY; 00271 conf.uart3_config.options.stopbits = USART_1_STOPBIT; 00272 conf.uart3_config.options.channelmode = USART_NORMAL_CHMODE; 00273 conf.uart3_config.rx_pin_map = {AVR32_USART3_RXD_0_0_PIN, AVR32_USART3_RXD_0_0_FUNCTION}; 00274 conf.uart3_config.tx_pin_map = {AVR32_USART3_TXD_0_0_PIN, AVR32_USART3_TXD_0_0_FUNCTION}; 00275 00276 00277 // ------------------------------------------------------------------------- 00278 // UART USB configuration 00279 // ------------------------------------------------------------------------- 00280 conf.uart_usb_config = {}; 00281 00282 00283 // ------------------------------------------------------------------------- 00284 // I2C0 configuration 00285 // ------------------------------------------------------------------------- 00286 conf.i2c0_config = {}; 00287 conf.i2c0_config.i2c_device = AVR32_I2C0; 00288 conf.i2c0_config.twi_opt = twim_default_config(); 00289 conf.i2c0_config.tenbit = false; 00290 conf.i2c0_config.sda_pin = AVR32_TWIMS0_TWD_0_0_PIN; 00291 conf.i2c0_config.clk_pin = AVR32_TWIMS0_TWCK_0_0_PIN; 00292 00293 00294 // ------------------------------------------------------------------------- 00295 // I2C1 configuration 00296 // ------------------------------------------------------------------------- 00297 conf.i2c1_config = {}; 00298 conf.i2c1_config.i2c_device = AVR32_I2C1; 00299 conf.i2c1_config.twi_opt = twim_default_config(); 00300 conf.i2c1_config.twi_opt.speed = 100000; 00301 conf.i2c1_config.tenbit = false; 00302 conf.i2c1_config.sda_pin = AVR32_TWIMS1_TWD_0_0_PIN; 00303 conf.i2c1_config.clk_pin = AVR32_TWIMS1_TWCK_0_0_PIN; 00304 00305 00306 // ------------------------------------------------------------------------- 00307 // Imu config 00308 // ------------------------------------------------------------------------- 00309 conf.imu_config = imu_default_config(); 00310 // Accelerometer 00311 // Bias 00312 conf.imu_config.accelerometer.bias[0] = 0.0f; 00313 conf.imu_config.accelerometer.bias[1] = 0.0f; 00314 conf.imu_config.accelerometer.bias[2] = 0.0f; 00315 00316 // Scale 00317 conf.imu_config.accelerometer.scale_factor[0] = 4000.0f; 00318 conf.imu_config.accelerometer.scale_factor[1] = 4000.0f; 00319 conf.imu_config.accelerometer.scale_factor[2] = 4000.0f; 00320 00321 // Axis and sign 00322 conf.imu_config.accelerometer.sign[0] = +1.0f; 00323 conf.imu_config.accelerometer.sign[1] = -1.0f; 00324 conf.imu_config.accelerometer.sign[2] = -1.0f; 00325 conf.imu_config.accelerometer.axis[0] = 0; 00326 conf.imu_config.accelerometer.axis[1] = 1; 00327 conf.imu_config.accelerometer.axis[2] = 2; 00328 00329 // Gyroscope 00330 // Bias 00331 conf.imu_config.gyroscope.bias[0] = 0.0f; 00332 conf.imu_config.gyroscope.bias[1] = 0.0f; 00333 conf.imu_config.gyroscope.bias[2] = 0.0f; 00334 00335 // Scale 00336 conf.imu_config.gyroscope.scale_factor[0] = 818.5111f; 00337 conf.imu_config.gyroscope.scale_factor[1] = 818.5111; 00338 conf.imu_config.gyroscope.scale_factor[2] = 818.5111f; 00339 00340 // Axis and sign 00341 conf.imu_config.gyroscope.sign[0] = +1.0f; 00342 conf.imu_config.gyroscope.sign[1] = -1.0f; 00343 conf.imu_config.gyroscope.sign[2] = -1.0f; 00344 conf.imu_config.gyroscope.axis[0] = 0; 00345 conf.imu_config.gyroscope.axis[1] = 1; 00346 conf.imu_config.gyroscope.axis[2] = 2; 00347 00348 // Magnetometer 00349 // Bias 00350 conf.imu_config.magnetometer.bias[0] = 0.0f; 00351 conf.imu_config.magnetometer.bias[1] = 0.0f; 00352 conf.imu_config.magnetometer.bias[2] = 0.0f; 00353 00354 // Scale 00355 conf.imu_config.magnetometer.scale_factor[0] = 600.0f; 00356 conf.imu_config.magnetometer.scale_factor[1] = 600.0f; 00357 conf.imu_config.magnetometer.scale_factor[2] = 600.0f; 00358 00359 // Axis and sign 00360 conf.imu_config.magnetometer.sign[0] = -1.0f; 00361 conf.imu_config.magnetometer.sign[1] = -1.0f; 00362 conf.imu_config.magnetometer.sign[2] = -1.0f; 00363 conf.imu_config.magnetometer.axis[0] = 2; 00364 conf.imu_config.magnetometer.axis[1] = 0; 00365 conf.imu_config.magnetometer.axis[2] = 1; 00366 00367 00368 00369 // ------------------------------------------------------------------------- 00370 // Servo config 00371 // ------------------------------------------------------------------------- 00372 conf.servo_config[0] = servo_default_config_esc(); 00373 conf.servo_config[1] = servo_default_config_esc(); 00374 conf.servo_config[2] = servo_default_config_esc(); 00375 conf.servo_config[3] = servo_default_config_esc(); 00376 conf.servo_config[4] = servo_default_config_esc(); 00377 conf.servo_config[5] = servo_default_config_esc(); 00378 conf.servo_config[6] = servo_default_config_esc(); 00379 conf.servo_config[7] = servo_default_config_esc(); 00380 00381 // ------------------------------------------------------------------------- 00382 // Px4Flow config 00383 // ------------------------------------------------------------------------- 00384 conf.px4flow_i2c_config = PX4Flow_i2c::default_config(); 00385 conf.px4flow_serial_config = PX4Flow_serial::default_config(); 00386 00387 return conf; 00388 } 00389 00390 00391 #endif /* MEGAFLY_REV4_HPP_ */
1.7.6.1
