Hi.
Just to let everyone know i just finished testing (on the bench) the mini version of the openpilot revo. I wrote a slightly different board config because i wanted to also test the transparent serial link provided by the orangerx 433 Mhz LRS rc receiver (contains a rfm22 module) running the openlrsng firmware, so i moved the telemetry link to UART6 on the RC input port which allowed me to have a single connector to the receiver-modem. Everything worked fine at 9600bps (i didn't test the telemetry link at a higher serial speed) until the openpilot revo mini died probably from voltage regulator overheating. I have mixed feelings for this autopilot board as i feel that the single 3.3v regulator is not up to the task of a otherwise wonderfully small autopilot board. If it is powered from more than 5v as mine was (6.6v) the regulator gets very hot Now on to make my own 1w rc-modem transceivers which will carry the rc link as well as the telemetry. BTW Felix i think there is a typo in the normal openpilot_revo_1.0.h file because the PPM input pin used is the PA01 which ends up to servo 5 not 6 (counting from 1) of the revo board. Below is the board file i used: #ifndef CONFIG_OPENPILOT_REVO_MINI_1_0_H #define CONFIG_OPENPILOT_REVO_MINI_1_0_H #define BOARD_REVO_MINI /* OpenPilot Revo has a 8MHz external clock and 168MHz internal. */ #define EXT_CLK 8000000 #define AHB_CLK 168000000 /* by default activate onboard baro */ #ifndef USE_BARO_BOARD #define USE_BARO_BOARD 1 #endif #if defined(USE_I2C2) && defined(USE_UART3) #error CANNOT USE I2C2 AND UART3 BOTH AT THE SAME TIME #endif /* * Onboard LEDs */ /* STAT blue, on PB5 */ #ifndef USE_LED_1 #define USE_LED_1 1 #endif #define LED_1_GPIO GPIOB #define LED_1_GPIO_PIN GPIO5 #define LED_1_GPIO_ON gpio_clear #define LED_1_GPIO_OFF gpio_set #define LED_1_AFIO_REMAP ((void)0) /* WARN red, on PB4 */ #ifndef USE_LED_2 #define USE_LED_2 1 #endif #define LED_2_GPIO GPIOB #define LED_2_GPIO_PIN GPIO4 #define LED_2_GPIO_ON gpio_clear #define LED_2_GPIO_OFF gpio_set #define LED_2_AFIO_REMAP ((void)0) /* Default actuators driver */ #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) #define ActuatorsDefaultInit() ActuatorsPwmInit() #define ActuatorsDefaultCommit() ActuatorsPwmCommit() /* UART */ //CAN BE USED AS GPS SERIAL PORT, CONNECTED TO MAIN PORT PLUG #define UART1_GPIO_AF GPIO_AF7 #define UART1_GPIO_PORT_TX GPIOA #define UART1_GPIO_TX GPIO9 #define UART1_GPIO_PORT_RX GPIOA #define UART1_GPIO_RX GPIO10 //CANNOT BE USED IF SERVO3 AND SERVO4 ARE USED #if (!defined(USE_PWM3) || USE_PWM3 == 0) && (!defined(USE_PWM4) || USE_PWM4 == 0) #if (!defined(USE_ADC_3) || USE_ADC_3 == 0) && (!defined(USE_ADC_4) || USE_ADC_4 == 0) #define UART2_GPIO_AF GPIO_AF7 #define UART2_GPIO_PORT_TX GPIOA #define UART2_GPIO_TX GPIO2 #define UART2_GPIO_PORT_RX GPIOA #define UART2_GPIO_RX GPIO3 #endif #endif //CANNOT BE USED IF IC2 IS NEEDED, CONNECTED TO FLEXI PORT PLUG #if !defined(USE_I2C2) #define UART3_GPIO_AF GPIO_AF7 #define UART3_GPIO_PORT_TX GPIOB #define UART3_GPIO_TX GPIO10 #define UART3_GPIO_PORT_RX GPIOB #define UART3_GPIO_RX GPIO11 #endif //CANNOT BE USED IF SPI3 IS NEEDED, CONNECTED TO OPLINK PORT PLUG. #define UART5_GPIO_AF GPIO_AF8 #define UART5_GPIO_PORT_RX GPIOD #define UART5_GPIO_RX GPIO2 #define UART5_GPIO_PORT_TX GPIOC #define UART5_GPIO_TX GPIO12 //CONNECTED TO RX INPUT PORT PLUG. #define UART6_GPIO_AF GPIO_AF8 #define UART6_GPIO_PORT_RX GPIOC #define UART6_GPIO_RX GPIO7 #define UART6_GPIO_PORT_TX GPIOC #define UART6_GPIO_TX GPIO6 /* SPI */ /* MPU6000 */ #define SPI1_GPIO_AF GPIO_AF5 #define SPI1_GPIO_PORT_MISO GPIOA #define SPI1_GPIO_MISO GPIO6 #define SPI1_GPIO_PORT_MOSI GPIOA #define SPI1_GPIO_MOSI GPIO7 #define SPI1_GPIO_PORT_SCK GPIOA #define SPI1_GPIO_SCK GPIO5 #define SPI1_GPIO_PORT_NSS GPIOA #define SPI1_GPIO_NSS GPIO4 /* flash and RFM22B-S2 modem */ #define SPI3_GPIO_AF GPIO_AF5 #define SPI3_GPIO_PORT_MISO GPIOC #define SPI3_GPIO_MISO GPIO11 #define SPI3_GPIO_PORT_MOSI GPIOC #define SPI3_GPIO_MOSI GPIO12 #define SPI3_GPIO_PORT_SCK GPIOC #define SPI3_GPIO_SCK GPIO10 /* modem CS */ #define SPI3_GPIO_PORT_NSS GPIOA #define SPI3_GPIO_NSS GPIO15 /* MODEM select */ #define SPI_SELECT_SLAVE0_PORT GPIOA #define SPI_SELECT_SLAVE0_PIN GPIO15 /* external flash chip select */ #define SPI_SELECT_SLAVE1_PORT GPIOB #define SPI_SELECT_SLAVE1_PIN GPIO3 /* MPU6000 select */ #define SPI_SELECT_SLAVE2_PORT GPIOA #define SPI_SELECT_SLAVE2_PIN GPIO4 /* I2C mapping */ /* HMC5883L mag on I2C1 with DRDY on PB7 */ /* MS5611 baro on I2C1 */ #define I2C1_GPIO_PORT GPIOB #define I2C1_GPIO_SCL GPIO8 #define I2C1_GPIO_SDA GPIO9 //CANNOT BE USED IF UART3 IS NEEDED, CONNECTED TO FLEXI PORT PLUG #if !defined(USE_UART3) #define I2C2_GPIO_PORT GPIOB #define I2C2_GPIO_SCL GPIO10 #define I2C2_GPIO_SDA GPIO11 #endif /* * ADC */ /* Onboard ADCs */ /* ADC1 PC2/ADC1,2,3 channel 12 (Voltage input 3.3v max) ADC2 PC1/ADC1,2,3 channel 11 (Current input 3.3v max) ADC3 PA3/ADC1,2,3 channel 3 ADC4 PA2/ADC1,2,3 channel 2 */ /* provide defines that can be used to access the ADC_x in the code or airframe file * these directly map to the index number of the 4 adc channels defined above * 4th (index 3) is used for bat monitoring by default */ #if RADIO_CONTROL_PPM_PIN == SERVO_5_OUT #define USE_AD_TIM1 1 #else #define USE_AD_TIM2 1 #endif #ifndef USE_ADC_1 #define USE_ADC_1 1 #endif #ifndef USE_ADC_2 #define USE_ADC_2 1 #endif /* Voltage on Pwr/Sen/Sonar CONN3 */ #if USE_ADC_1 #define AD1_1_CHANNEL 12 #define ADC_1 AD1_1 #define ADC_1_GPIO_PORT GPIOC #define ADC_1_GPIO_PIN GPIO2 #endif /* Current on Pwr/Sen/Sonar CONN3 */ #if USE_ADC_2 #define AD1_2_CHANNEL 11 #define ADC_2 AD1_2 #define ADC_2_GPIO_PORT GPIOC #define ADC_2_GPIO_PIN GPIO1 #endif /* FREE ON SERVO 3 */ #if USE_ADC_3 #define AD1_3_CHANNEL 3 #define ADC_3 AD1_3 #define ADC_3_GPIO_PORT GPIOA #define ADC_3_GPIO_PIN GPIO3 #endif /* FREE ON SERVO 4 */ #if USE_ADC_4 #define AD1_4_CHANNEL 2 #define ADC_4 AD1_4 #define ADC_4_GPIO_PORT GPIOA #define ADC_4_GPIO_PIN GPIO2 #endif /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ #ifndef ADC_CHANNEL_VSUPPLY #define ADC_CHANNEL_VSUPPLY ADC_1 #endif /* no voltage divider on board, adjust VoltageOfAdc in airframe file */ #define DefaultVoltageOfAdc(adc) (0.0045*adc) /* PPM * * Default is input on GPIOA1 (Servo pin 5) */ #define SERVO_5_IN 1 #define SERVO_5_OUT 2 #define SERVO_6_IN 3 #ifndef RADIO_CONTROL_PPM_PIN #define RADIO_CONTROL_PPM_PIN SERVO_5_OUT #endif #if RADIO_CONTROL_PPM_PIN == SERVO_6_IN /* input on PC9 (SERVO 6 IN) */ #define USE_PPM_TIM8 1 #define PPM_CHANNEL TIM_IC4 #define PPM_TIMER_INPUT TIM_IC_IN_TI4 #define PPM_IRQ NVIC_TIM8_CC_IRQ #define PPM_IRQ2 NVIC_TIM8_UP_TIM13_IRQ // Capture/Compare InteruptEnable and InterruptFlag #define PPM_CC_IE TIM_DIER_CC4IE #define PPM_CC_IF TIM_SR_CC4IF #define PPM_GPIO_PORT GPIOC #define PPM_GPIO_PIN GPIO9 #define PPM_GPIO_AF GPIO_AF3 #elif RADIO_CONTROL_PPM_PIN == SERVO_5_IN /* input on PC8 (SERVO 5 IN) */ #define USE_PPM_TIM8 1 #define PPM_CHANNEL TIM_IC3 #define PPM_TIMER_INPUT TIM_IC_IN_TI3 #define PPM_IRQ NVIC_TIM8_CC_IRQ #define PPM_IRQ2 NVIC_TIM8_UP_TIM13_IRQ // Capture/Compare InteruptEnable and InterruptFlag #define PPM_CC_IE TIM_DIER_CC3IE #define PPM_CC_IF TIM_SR_CC3IF #define PPM_GPIO_PORT GPIOC #define PPM_GPIO_PIN GPIO8 #define PPM_GPIO_AF GPIO_AF3 #elif RADIO_CONTROL_PPM_PIN == SERVO_5_OUT /* input on PA01 (SERVO 5 OUT) */ #define USE_PPM_TIM2 1 #define PPM_CHANNEL TIM_IC2 #define PPM_TIMER_INPUT TIM_IC_IN_TI2 #define PPM_IRQ NVIC_TIM2_IRQ // Capture/Compare InteruptEnable and InterruptFlag #define PPM_CC_IE TIM_DIER_CC2IE #define PPM_CC_IF TIM_SR_CC2IF #define PPM_GPIO_PORT GPIOA #define PPM_GPIO_PIN GPIO1 #define PPM_GPIO_AF GPIO_AF1 // Move default ADC timer #if USE_AD_TIM2 #undef USE_AD_TIM2 #endif #define USE_AD_TIM1 1 #else #error "Unknown PPM config" #endif // PPM_CONFIG /* * PWM * */ #define PWM_USE_TIM3 1 #define PWM_USE_TIM5 1 #if (defined(USE_ADC_3) && USE_ADC_3) || (defined(USE_ADC_4) && USE_ADC_4) #define PWM_USE_TIM9 1 #endif #if (RADIO_CONTROL_PPM_PIN != SERVO_1_IN && RADIO_CONTROL_PPM_PIN != SERVO_2_IN) #define PWM_USE_TIM12 1 #elif (RADIO_CONTROL_PPM_PIN != SERVO_5_IN && RADIO_CONTROL_PPM_PIN != SERVO_6_IN) #define PWM_USE_TIM8 1 #endif #define USE_PWM1 1 #define USE_PWM2 1 #define USE_PWM3 1 #define USE_PWM4 1 #define USE_PWM5 1 #define USE_PWM6 1 #define USE_PWM7 1 #define USE_PWM8 1 // PWM_SERVO_x is the index of the servo in the actuators_pwm_values array #if USE_PWM1 #define PWM_SERVO_1 0 #define PWM_SERVO_1_TIMER TIM3 #define PWM_SERVO_1_GPIO GPIOB #define PWM_SERVO_1_PIN GPIO0 #define PWM_SERVO_1_AF GPIO_AF2 #define PWM_SERVO_1_OC TIM_OC3 #define PWM_SERVO_1_OC_BIT (1<<2) #else #define PWM_SERVO_1_OC_BIT 0 #endif #if USE_PWM2 #define PWM_SERVO_2 1 #define PWM_SERVO_2_TIMER TIM3 #define PWM_SERVO_2_GPIO GPIOB #define PWM_SERVO_2_PIN GPIO1 #define PWM_SERVO_2_AF GPIO_AF2 #define PWM_SERVO_2_OC TIM_OC4 #define PWM_SERVO_2_OC_BIT (1<<3) #else #define PWM_SERVO_2_OC_BIT 0 #endif #if USE_PWM3 && (!defined(USE_ADC_3) || USE_ADC_3 != 1) #define PWM_SERVO_3 2 #define PWM_SERVO_3_TIMER TIM9 #define PWM_SERVO_3_GPIO GPIOA #define PWM_SERVO_3_PIN GPIO3 #define PWM_SERVO_3_AF GPIO_AF3 #define PWM_SERVO_3_OC TIM_OC2 #define PWM_SERVO_3_OC_BIT (1<<1) #else #define PWM_SERVO_3_OC_BIT 0 #undef USE_PWM3 #warning SERVO 3 NOT AVAILABLE #endif #if USE_PWM4 && (!defined(USE_ADC_4) || USE_ADC_4 != 1) #define PWM_SERVO_4 3 #define PWM_SERVO_4_TIMER TIM9 #define PWM_SERVO_4_GPIO GPIOA #define PWM_SERVO_4_PIN GPIO2 #define PWM_SERVO_4_AF GPIO_AF3 #define PWM_SERVO_4_OC TIM_OC1 #define PWM_SERVO_4_OC_BIT (1<<0) #else #define PWM_SERVO_4_OC_BIT 0 #undef USE_PWM4 #warning SERVO 4 NOT AVAILABLE #endif #if USE_PWM5 && RADIO_CONTROL_PPM_PIN != SERVO_5_OUT #define PWM_SERVO_5 4 #define PWM_SERVO_5_TIMER TIM5 #define PWM_SERVO_5_GPIO GPIOA #define PWM_SERVO_5_PIN GPIO1 #define PWM_SERVO_5_AF GPIO_AF2 #define PWM_SERVO_5_OC TIM_OC2 #define PWM_SERVO_5_OC_BIT (1<<1) #else #define PWM_SERVO_5_OC_BIT 0 #endif #if USE_PWM6 #define PWM_SERVO_6 5 #define PWM_SERVO_6_TIMER TIM5 #define PWM_SERVO_6_GPIO GPIOA #define PWM_SERVO_6_PIN GPIO0 #define PWM_SERVO_6_AF GPIO_AF2 #define PWM_SERVO_6_OC TIM_OC1 #define PWM_SERVO_6_OC_BIT (1<<0) #else #define PWM_SERVO_6_OC_BIT 0 #endif #if USE_PWM7 #define PWM_SERVO_7 6 #define PWM_SERVO_7_TIMER TIM12 #define PWM_SERVO_7_GPIO GPIOB #define PWM_SERVO_7_PIN GPIO14 #define PWM_SERVO_7_AF GPIO_AF9 #define PWM_SERVO_7_OC TIM_OC1 #define PWM_SERVO_7_OC_BIT (1<<0) #else #define PWM_SERVO_7_OC_BIT 0 #endif #if USE_PWM8 #define PWM_SERVO_8 7 #define PWM_SERVO_8_TIMER TIM12 #define PWM_SERVO_8_GPIO GPIOB #define PWM_SERVO_8_PIN GPIO15 #define PWM_SERVO_8_AF GPIO_AF9 #define PWM_SERVO_8_OC TIM_OC2 #define PWM_SERVO_8_OC_BIT (1<<1) #else #define PWM_SERVO_8_OC_BIT 0 #endif #if (RADIO_CONTROL_PPM_PIN != SERVO_5_IN && RADIO_CONTROL_PPM_PIN != SERVO_6_IN) #if USE_PWM9 #define PWM_SERVO_9 8 #define PWM_SERVO_9_TIMER TIM8 #define PWM_SERVO_9_GPIO GPIOC #define PWM_SERVO_9_PIN GPIO8 #define PWM_SERVO_9_AF GPIO_AF3 #define PWM_SERVO_9_OC TIM_OC3 #define PWM_SERVO_9_OC_BIT (1<<2) #else #define PWM_SERVO_9_OC_BIT 0 #endif #if USE_PWM10 #define PWM_SERVO_10 9 #define PWM_SERVO_10_TIMER TIM8 #define PWM_SERVO_10_GPIO GPIOC #define PWM_SERVO_10_PIN GPIO9 #define PWM_SERVO_10_AF GPIO_AF3 #define PWM_SERVO_10_OC TIM_OC4 #define PWM_SERVO_10_OC_BIT (1<<3) #else #define PWM_SERVO_10_OC_BIT 0 #endif #endif /* servos 1-2 on TIM3 */ #define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT | PWM_SERVO_2_OC_BIT) /* servos 3-4 on TIM9 */ #define PWM_TIM9_CHAN_MASK (PWM_SERVO_3_OC_BIT | PWM_SERVO_4_OC_BIT) /* servos 5-6 on TIM5 */ #define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT | PWM_SERVO_6_OC_BIT) /* servos 7-8 on TIM12 */ #define PWM_TIM12_CHAN_MASK (PWM_SERVO_7_OC_BIT | PWM_SERVO_8_OC_BIT) #if (RADIO_CONTROL_PPM_PIN != SERVO_5_IN && RADIO_CONTROL_PPM_PIN != SERVO_6_IN) /* servos 9-10 on TIM8 */ #define PWM_TIM8_CHAN_MASK (PWM_SERVO_9_OC_BIT | PWM_SERVO_10_OC_BIT) #endif /* * Spektrum */ /* The line that is pulled low at power up to initiate the bind process */ #define SPEKTRUM_BIND_PIN GPIO0 #define SPEKTRUM_BIND_PIN_PORT GPIOB #define SPEKTRUM_UART1_RCC RCC_USART1 #define SPEKTRUM_UART1_BANK GPIOA #define SPEKTRUM_UART1_PIN GPIO10 #define SPEKTRUM_UART1_AF GPIO_AF7 #define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ #define SPEKTRUM_UART1_ISR usart1_isr #define SPEKTRUM_UART1_DEV USART1 #define SPEKTRUM_UART2_RCC RCC_USART2 #define SPEKTRUM_UART2_BANK GPIOA #define SPEKTRUM_UART2_PIN GPIO3 #define SPEKTRUM_UART2_AF GPIO_AF7 #define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ #define SPEKTRUM_UART2_ISR usart2_isr #define SPEKTRUM_UART2_DEV USART2 #define SPEKTRUM_UART5_RCC RCC_UART5 #define SPEKTRUM_UART5_BANK GPIOD #define SPEKTRUM_UART5_PIN GPIO2 #define SPEKTRUM_UART5_AF GPIO_AF8 #define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ #define SPEKTRUM_UART5_ISR uart5_isr #define SPEKTRUM_UART5_DEV UART5 #endif /* CONFIG_OPENPILOT_REVO_MINI_1_0_H */ _______________________________________________ Paparazzi-devel mailing list [hidden email] https://lists.nongnu.org/mailman/listinfo/paparazzi-devel |
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