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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 sparky_chibi.hpp 00034 * 00035 * \author MAV'RIC Team 00036 * \author Julien Lecoeur 00037 * 00038 * \brief Autopilot for Sparky board based on STM32 00039 * 00040 ******************************************************************************/ 00041 00042 00043 #ifndef SPARKY_CHIBI_HPP_ 00044 #define SPARKY_CHIBI_HPP_ 00045 00046 00047 #include "drivers/barometer_ms5611.hpp" 00048 #include "hal/common/led_gpio.hpp" 00049 #include "drivers/state_display_sparky_v2.hpp" 00050 #include "drivers/servo.hpp" 00051 00052 #include "hal/dummy/gpio_dummy.hpp" 00053 #include "hal/dummy/pwm_dummy.hpp" 00054 #include "hal/dummy/serial_dummy.hpp" 00055 00056 #include "hal/chibios/gpio_chibios.hpp" 00057 #include "hal/chibios/i2c_chibios.hpp" 00058 #include "hal/chibios/serial_chibios.hpp" 00059 #include "hal/chibios/pwm_chibios.hpp" 00060 #include "hal/chibios/spi_chibios.hpp" 00061 00062 extern "C" 00063 { 00064 #include "util/streams.h" 00065 } 00066 00067 00068 // Preprocessor definitions 00069 00070 /* 00071 * Should the ESC be calibrated? 00072 * 0 for false (normal flight) 00073 * 1 for true (calibration) 00074 * !!!IMPORTANT!!! 00075 * IF CALIBRATING, TAKE OFF PROPS 00076 */ 00077 #define CALIBRATE_ESC 0 00078 00079 00083 // typedef struct 00084 // { 00085 // gpio_stm32_conf_t dsm_receiver_gpio_config; 00086 // gpio_stm32_conf_t dsm_power_gpio_config; 00087 // gpio_stm32_conf_t led_err_gpio_config; 00088 // gpio_stm32_conf_t led_stat_gpio_config; 00089 // gpio_stm32_conf_t led_rf_gpio_config; 00090 // Pwm_stm32::config_t pwm_config[8]; 00091 // Serial_usb_stm32::conf_t serial_usb_config; 00092 // servo_conf_t servo_config[8]; 00093 // spi_stm32_conf_t spi_config[3]; 00094 // i2c_stm32_conf_t i2c_config[2]; 00095 // 00096 // Barometer_MS5611::conf_t barometer_config; 00097 // } sparky_v2_conf_t; 00098 00099 00105 // static inline sparky_v2_conf_t sparky_v2_default_config(); 00106 00107 00112 class Sparky_chibi 00113 { 00114 public: 00115 00116 static const uint8_t PWM_COUNT = 10; 00117 00121 struct conf_t 00122 { 00123 Gpio_chibios::conf_t gpio_led_err; 00124 Gpio_chibios::conf_t gpio_led_stat; 00125 Gpio_chibios::conf_t gpio_led_rf; 00126 Serial_chibios::conf_t serial; 00127 Pwm_chibios::conf_t pwm[PWM_COUNT]; 00128 servo_conf_t servo[PWM_COUNT]; 00129 I2c_chibios::conf_t i2c1; 00130 Barometer_MS5611::conf_t barometer; 00131 }; 00132 00133 00134 00140 Sparky_chibi(conf_t config = default_config()); 00141 00142 00148 bool init(void); 00149 00150 00156 static inline conf_t default_config(); 00157 00158 00162 // Gpio_stm32 led_err_gpio_; 00163 // Gpio_stm32 led_stat_gpio_; 00164 // Gpio_stm32 led_rf_gpio_; 00165 // Led_gpio led_err_; 00166 // Led_gpio led_stat_; 00167 // Led_gpio led_rf_; 00168 // Pwm_stm32 pwm_0_; 00169 // Pwm_stm32 pwm_1_; 00170 // Pwm_stm32 pwm_2_; 00171 // Pwm_stm32 pwm_3_; 00172 // Pwm_stm32 pwm_4_; 00173 // Pwm_stm32 pwm_5_; 00174 // Pwm_dummy pwm_6_; 00175 // Pwm_dummy pwm_7_; 00176 // Serial_usb_stm32 serial_; 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 // Spi_stm32 spi_1_; 00186 // Spi_stm32 spi_3_; 00187 // I2c_stm32 i2c_1_; 00188 // I2c_stm32 i2c_2_; 00189 // State_display_sparky_v2 state_display_sparky_v2_; 00190 00191 00192 00193 Gpio_chibios gpio_led_err_; 00194 Gpio_chibios gpio_led_stat_; 00195 Gpio_chibios gpio_led_rf_; 00196 Led_gpio led_err_; 00197 Led_gpio led_stat_; 00198 Led_gpio led_rf_; 00199 Serial_chibios serial_; 00200 Pwm_chibios pwm_[PWM_COUNT]; 00201 Servo servo_[PWM_COUNT]; 00202 00203 State_display_sparky_v2 state_display_; 00204 00205 I2c_chibios i2c1_; 00206 00207 Barometer_MS5611 barometer_; 00208 00209 private: 00215 static void pwmp8cb(PWMDriver *pwmp) 00216 { 00217 (void)pwmp; 00218 palSetPad(GPIOB, GPIOB_PIN15_PWM8); 00219 } 00220 00226 static void pwmp9cb(PWMDriver *pwmp) 00227 { 00228 (void)pwmp; 00229 palSetPad(GPIOB, GPIOB_PIN14_PWM9); 00230 } 00231 00237 static void pwmc9cb(PWMDriver *pwmp) 00238 { 00239 (void)pwmp; 00240 palClearPad(GPIOB, GPIOB_PIN14_PWM9); 00241 } 00242 00248 static void pwmc8cb(PWMDriver *pwmp) 00249 { 00250 (void)pwmp; 00251 palClearPad(GPIOB, GPIOB_PIN15_PWM8); 00252 } 00253 00254 // byte_stream_t dbg_stream_; ///< Temporary member to make print_util work TODO: remove 00255 }; 00256 00257 00258 00259 00265 Sparky_chibi::conf_t Sparky_chibi::default_config() 00266 { 00267 conf_t conf = {}; 00268 00269 // ------------------------------------------------------------------------- 00270 // GPIO config 00271 // ------------------------------------------------------------------------- 00272 conf.gpio_led_err = 00273 { 00274 .port = GPIOB, 00275 .pin = GPIOB_PIN4 00276 }; 00277 00278 conf.gpio_led_stat = 00279 { 00280 .port = GPIOB, 00281 .pin = GPIOB_PIN5 00282 }; 00283 00284 conf.gpio_led_rf = 00285 { 00286 .port = GPIOB, 00287 .pin = GPIOB_PIN6 00288 }; 00289 00290 // ------------------------------------------------------------------------- 00291 // Serial config 00292 // ------------------------------------------------------------------------- 00293 conf.serial = 00294 { 00295 .id = Serial_chibios::SERIAL_1, 00296 .device = &UARTD1, 00297 .baudrate = 38400 00298 }; 00299 00300 // ------------------------------------------------------------------------- 00301 // PWM config 00302 // ------------------------------------------------------------------------- 00303 // PWM12 is not directly supported by ChibiOS so we cannot use it for PWM8 and PWM9, 00304 // so we use 00305 // - PWM4 with callbacks pwmp8cb and pwmc8cb to toggle the pin GPIOB_PIN15_PWM8 00306 // - PWM1 with callbacks pwmp9cb and pwmc9cb to toggle the pin GPIOB_PIN14_PWM9 00307 // 00308 // Configuration of PWMs on the servo connectors: 00309 // ID Pin Timer Channel 00310 // --------------------- 00311 // 0 PB0 TIM3 CH3 00312 // 1 PB1 TIM3 CH4 00313 // 2 PA3 TIM9 CH2 00314 // 3 PA2 TIM9 CH1 00315 // 4 PA1 TIM5 CH2 00316 // 5 PA0 TIM5 CH1 00317 // 00318 // Configuration of PWMs on the servo connectors: 00319 // ID Pin Timer Channel 00320 // --------------------- 00321 // 6 PC9 TIM8 CH4 00322 // 7 PC8 TIM8 CH3 00323 // 8 PB15 TIM4 CH1 with callbacks 00324 // 9 PB14 TIM1 CH1 with callbacks 00325 00326 for (size_t i = 0; i < PWM_COUNT; i++) 00327 { 00328 conf.pwm[i] = Pwm_chibios::default_config(); 00329 } 00330 00331 conf.pwm[0].driver = &PWMD3; 00332 conf.pwm[0].channel = Pwm_chibios::CHANNEL_3; 00333 conf.pwm[1].driver = &PWMD3; 00334 conf.pwm[1].channel = Pwm_chibios::CHANNEL_4; 00335 conf.pwm[2].driver = &PWMD9; 00336 conf.pwm[2].channel = Pwm_chibios::CHANNEL_2; 00337 conf.pwm[3].driver = &PWMD9; 00338 conf.pwm[3].channel = Pwm_chibios::CHANNEL_1; 00339 conf.pwm[4].driver = &PWMD5; 00340 conf.pwm[4].channel = Pwm_chibios::CHANNEL_2; 00341 conf.pwm[5].driver = &PWMD5; 00342 conf.pwm[5].channel = Pwm_chibios::CHANNEL_1; 00343 conf.pwm[6].driver = &PWMD8; 00344 conf.pwm[6].channel = Pwm_chibios::CHANNEL_4; 00345 conf.pwm[7].driver = &PWMD8; 00346 conf.pwm[7].channel = Pwm_chibios::CHANNEL_3; 00347 conf.pwm[8].driver = &PWMD4; 00348 conf.pwm[8].channel = Pwm_chibios::CHANNEL_1; 00349 conf.pwm[8].config.callback = pwmp8cb; 00350 conf.pwm[8].config.channels[Pwm_chibios::CHANNEL_1].callback = &pwmc8cb; 00351 conf.pwm[9].driver = &PWMD1; 00352 conf.pwm[9].channel = Pwm_chibios::CHANNEL_1; 00353 conf.pwm[9].config.callback = pwmp9cb; 00354 conf.pwm[9].config.channels[Pwm_chibios::CHANNEL_1].callback = &pwmc9cb; 00355 00356 00357 // ------------------------------------------------------------------------- 00358 // Servos config 00359 // ------------------------------------------------------------------------- 00360 for (size_t i = 0; i < PWM_COUNT; i++) 00361 { 00362 conf.servo[i] = servo_default_config_esc(); 00363 } 00364 00365 // ------------------------------------------------------------------------- 00366 // I2C config 00367 // ------------------------------------------------------------------------- 00368 conf.i2c1 = 00369 { 00370 .driver = &I2CD1, 00371 .config = 00372 { 00373 .op_mode = OPMODE_I2C, 00374 .clock_speed = 400000, 00375 .duty_cycle = FAST_DUTY_CYCLE_2 00376 }, 00377 .timeout = 1000, 00378 }; 00379 00380 // ------------------------------------------------------------------------- 00381 // Barometer config 00382 // ------------------------------------------------------------------------- 00383 conf.barometer = Barometer_MS5611::default_config(); 00384 00385 // // ------------------------------------------------------------------------- 00386 // // USB config 00387 // // ------------------------------------------------------------------------- 00388 // conf.serial_usb_config = Serial_usb_stm32::default_config(); 00389 // 00390 // // ------------------------------------------------------------------------- 00391 // // SPI config 00392 // // ------------------------------------------------------------------------- 00393 // conf.spi_config[0].spi_device = STM32_SPI1; 00394 // conf.spi_config[0].mode = STM32_SPI_IN_OUT; 00395 // conf.spi_config[0].clk_div = SPI_CR1_BAUDRATE_FPCLK_DIV_128; 00396 // 00397 // conf.spi_config[0].miso_gpio_config.port = GPIO_STM32_PORT_A; 00398 // conf.spi_config[0].miso_gpio_config.pin = GPIO_STM32_PIN_6; 00399 // conf.spi_config[0].miso_gpio_config.dir = GPIO_INPUT; 00400 // conf.spi_config[0].miso_gpio_config.pull = GPIO_PULL_UPDOWN_DOWN; 00401 // conf.spi_config[0].miso_gpio_config.alt_fct = GPIO_STM32_AF_5; 00402 // 00403 // conf.spi_config[0].mosi_gpio_config.port = GPIO_STM32_PORT_A; 00404 // conf.spi_config[0].mosi_gpio_config.pin = GPIO_STM32_PIN_7; 00405 // conf.spi_config[0].mosi_gpio_config.dir = GPIO_OUTPUT; 00406 // conf.spi_config[0].mosi_gpio_config.pull = GPIO_PULL_UPDOWN_DOWN; 00407 // conf.spi_config[0].mosi_gpio_config.alt_fct = GPIO_STM32_AF_5; 00408 // 00409 // conf.spi_config[0].nss_gpio_config.port = GPIO_STM32_PORT_A; 00410 // conf.spi_config[0].nss_gpio_config.pin = GPIO_STM32_PIN_4; 00411 // conf.spi_config[0].nss_gpio_config.dir = GPIO_OUTPUT; 00412 // conf.spi_config[0].nss_gpio_config.pull = GPIO_PULL_UPDOWN_NONE; 00413 // conf.spi_config[0].nss_gpio_config.alt_fct = GPIO_STM32_AF_5; 00414 // 00415 // conf.spi_config[0].sck_gpio_config.port = GPIO_STM32_PORT_A; 00416 // conf.spi_config[0].sck_gpio_config.pin = GPIO_STM32_PIN_5; 00417 // conf.spi_config[0].sck_gpio_config.dir = GPIO_OUTPUT; 00418 // conf.spi_config[0].sck_gpio_config.pull = GPIO_PULL_UPDOWN_DOWN; 00419 // conf.spi_config[0].sck_gpio_config.alt_fct = GPIO_STM32_AF_5; 00420 // 00421 // 00422 // conf.spi_config[2].spi_device = STM32_SPI3; 00423 // conf.spi_config[2].mode = STM32_SPI_IN_OUT; 00424 // conf.spi_config[2].clk_div = SPI_CR1_BAUDRATE_FPCLK_DIV_64; 00425 // 00426 // conf.spi_config[2].miso_gpio_config.port = GPIO_STM32_PORT_C; 00427 // conf.spi_config[2].miso_gpio_config.pin = GPIO_STM32_PIN_11; 00428 // conf.spi_config[2].miso_gpio_config.dir = GPIO_INPUT; 00429 // conf.spi_config[2].miso_gpio_config.pull = GPIO_PULL_UPDOWN_DOWN; 00430 // conf.spi_config[2].miso_gpio_config.alt_fct = GPIO_STM32_AF_6; 00431 // 00432 // conf.spi_config[2].mosi_gpio_config.port = GPIO_STM32_PORT_C; 00433 // conf.spi_config[2].mosi_gpio_config.pin = GPIO_STM32_PIN_12; 00434 // conf.spi_config[2].mosi_gpio_config.dir = GPIO_OUTPUT; 00435 // conf.spi_config[2].mosi_gpio_config.pull = GPIO_PULL_UPDOWN_DOWN; 00436 // conf.spi_config[2].mosi_gpio_config.alt_fct = GPIO_STM32_AF_6; 00437 // 00438 // conf.spi_config[2].nss_gpio_config.port = GPIO_STM32_PORT_A; 00439 // conf.spi_config[2].nss_gpio_config.pin = GPIO_STM32_PIN_15; 00440 // conf.spi_config[2].nss_gpio_config.dir = GPIO_OUTPUT; 00441 // conf.spi_config[2].nss_gpio_config.pull = GPIO_PULL_UPDOWN_NONE; 00442 // conf.spi_config[2].nss_gpio_config.alt_fct = GPIO_STM32_AF_6; 00443 // 00444 // conf.spi_config[2].sck_gpio_config.port = GPIO_STM32_PORT_C; 00445 // conf.spi_config[2].sck_gpio_config.pin = GPIO_STM32_PIN_10; 00446 // conf.spi_config[2].sck_gpio_config.dir = GPIO_OUTPUT; 00447 // conf.spi_config[2].sck_gpio_config.pull = GPIO_PULL_UPDOWN_DOWN; 00448 // conf.spi_config[2].sck_gpio_config.alt_fct = GPIO_STM32_AF_6; 00449 // 00450 // conf.i2c_config[0] = i2c_stm32_default_config(); 00451 // conf.i2c_config[0].i2c_device_config = STM32_I2C1; 00452 // conf.i2c_config[0].rcc_i2c_config = RCC_I2C1; 00453 // conf.i2c_config[0].rcc_sda_port_config = RCC_GPIOB; 00454 // conf.i2c_config[0].sda_config.port = GPIO_STM32_PORT_B; 00455 // conf.i2c_config[0].sda_config.pin = GPIO_STM32_PIN_9; 00456 // conf.i2c_config[0].sda_config.alt_fct = GPIO_STM32_AF_4; 00457 // conf.i2c_config[0].rcc_clk_port_config = RCC_GPIOB; 00458 // conf.i2c_config[0].clk_config.port = GPIO_STM32_PORT_B; 00459 // conf.i2c_config[0].clk_config.pin = GPIO_STM32_PIN_8; 00460 // conf.i2c_config[0].clk_config.alt_fct = GPIO_STM32_AF_4; 00461 // conf.i2c_config[0].clk_speed = 100000; 00462 // conf.i2c_config[0].tenbit_config = false; // currently only support 8 bits addressing 00463 // conf.i2c_config[0].timeout = 20000; 00464 // 00465 // conf.i2c_config[1] = i2c_stm32_default_config(); 00466 // conf.i2c_config[1].i2c_device_config = STM32_I2C2; 00467 // conf.i2c_config[1].rcc_i2c_config = RCC_I2C2; 00468 // conf.i2c_config[1].rcc_sda_port_config = RCC_GPIOB; 00469 // conf.i2c_config[1].sda_config.port = GPIO_STM32_PORT_B; 00470 // conf.i2c_config[1].sda_config.pin = GPIO_STM32_PIN_11; 00471 // conf.i2c_config[1].sda_config.alt_fct = GPIO_STM32_AF_4; 00472 // conf.i2c_config[1].rcc_clk_port_config = RCC_GPIOB; 00473 // conf.i2c_config[1].clk_config.port = GPIO_STM32_PORT_B; 00474 // conf.i2c_config[1].clk_config.pin = GPIO_STM32_PIN_10; 00475 // conf.i2c_config[1].clk_config.alt_fct = GPIO_STM32_AF_4; 00476 // conf.i2c_config[1].clk_speed = 100000; 00477 // conf.i2c_config[1].tenbit_config = false; // currently only support 8 bits addressing 00478 // conf.i2c_config[1].timeout = 20000; 00479 00480 return conf; 00481 } 00482 00483 00484 #endif /* SPARKY_CHIBI_HPP_ */
1.7.6.1
