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Board.h
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/*
* Copyright (c) 2015, Texas Instruments Incorporated
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* * Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef __BOARD_H
#define __BOARD_H
#define VERBOSE 1
#ifdef __cplusplus
extern "C" {
#endif
#include "MSP_EXP432P401RLP.h"
/* BIOS Header files */
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/utils/Load.h>
#include <ti/sysbios/knl/Semaphore.h>
#include <ti/sysbios/knl/Swi.h>
#include <ti/sysbios/knl/Task.h>
#include <ti/sysbios/hal/Seconds.h>
#include <ti/sysbios/hal/Timer.h>
#include <ti/sysbios/knl/Mailbox.h>
#include <ti/sysbios/knl/Queue.h>
/* TI-RTOS Header files */
#include <ti/drivers/GPIO.h>
#include <ti/drivers/UART.h>
#include <ti/drivers/I2C.h>
#include <ti/drivers/PWM.h>
#include <ti/drivers/SPI.h>
#include <stdint.h>
#include <string.h>
#include <ctype.h>
#include <math.h>
/* XDCtools Header files */
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/System.h>
#include "fw/core/cli.h" //enable CLI printf everywhere
#define MAVLINK_SYSTEM_ID 25
/* Clock cycle conversion factors */
#define CYCLES_PER_US 48 // cycles per microsecond
#define CYCLES_PER_MS 48000 // cycles per millisecond
#define CYCLES_PER_S 48000000 // cycles per second
/* Board specific I2C addresses */
#define Board_EPS_I2CADDR (0x48)
#define Board_BMP180_I2CADDR (0x77) //temp/pres
#define Board_BMP280_I2CADDR (0x77) //temp/pres
#define Board_BNO055_MAINBOARD_I2CADDR (0x28) //IMU 1
#define Board_BNO055_WEATHERSTRIP_I2CADDR (0x29) //IMU 2
#define Board_MCP3425AD_I2CADDR (0x68) //ADC for UV
#define Board_SHT21_I2CADDR (0x40) //temp/hygro
#define Board_BME280_I2CADDR (0x76) //hygro/pres
#define Board_AS3935_I2CADDR (0x03) //lightning
/* The default I�C address of the BNO055 device is (0x29).
* The alternative address (0x28), can be selected by pulling COM3 down.
*/
/* EPS pins */
#define Board_EPS_ALIVE_REQ_IV DIO_PORT_IV__IFG1 // pin 2.1
/* Board specific SPI CS pins */
#define Board_Flash_CS Octanis_Flash_CS
/* General board mappings */
#define Board_initGeneral MSP_EXP432P401RLP_initGeneral
#define Board_initGPIO MSP_EXP432P401RLP_initGPIO
#define Board_initI2C MSP_EXP432P401RLP_initI2C
#define Board_initPWM MSP_EXP432P401RLP_initPWM
#define Board_initSDSPI MSP_EXP432P401RLP_initSDSPI
#define Board_initSPI MSP_EXP432P401RLP_initSPI
#define Board_initUART MSP_EXP432P401RLP_initUART
#define Board_initWatchdog MSP_EXP432P401RLP_initWatchdog
#define Board_LED_ON MSP_EXP432P401RLP_LED_ON
#define Board_LED_OFF MSP_EXP432P401RLP_LED_OFF
//#define Board_BUTTON0 MSP_EXP432P401RLP_S1
//#define Board_BUTTON1 MSP_EXP432P401RLP_S2
#define Board_LED_RED Octanis_LED0
#define Board_LED_GREEN Octanis_LED1
#define Board_ROCKBLOCK_SLEEP Octanis_ROCKBLOCK_SLEEP
#define Board_ROCKBLOCK_NET Octanis_ROCKBLOCK_NET
/* LoRa module pin definitions */
#define Board_LORA_RESET_N Octanis_LORA_RESET_N
/*Ultrasonic pin and timer definitions*/
#define Board_ULTRASONIC_ENABLE Octanis_5V_EXT_ENABLE
#define Board_ULTRASONIC_TRIGGER0 Octanis_ULTRASONIC_TRIGGER0
#define Board_ULTRASONIC_TRIGGER1 Octanis_ULTRASONIC_TRIGGER1
#define Board_ULTRASONIC_IN_0_PORT GPIO_PORT_P6
#define Board_ULTRASONIC_IN_0_PIN GPIO_PIN6
#define Board_ULTRASONIC_IN_0_SELECT GPIO_PRIMARY_MODULE_FUNCTION
#define Board_ULTRASONIC_IN_0_TAx_MODULE TIMER_A2_BASE
#define Board_ULTRASONIC_IN_0_CCR TIMER_A_CAPTURECOMPARE_REGISTER_3
#define Board_ULTRASONIC_IN_0_CCTL TIMER_A2->CCTL[3]
#define Board_ULTRASONIC_IN_0_IV 0x06
#define Board_ULTRASONIC_IN_1_PORT GPIO_PORT_P5
#define Board_ULTRASONIC_IN_1_PIN GPIO_PIN7
#define Board_ULTRASONIC_IN_1_SELECT GPIO_PRIMARY_MODULE_FUNCTION
#define Board_ULTRASONIC_IN_1_TAx_MODULE TIMER_A2_BASE
#define Board_ULTRASONIC_IN_1_CCR TIMER_A_CAPTURECOMPARE_REGISTER_2
#define Board_ULTRASONIC_IN_1_CCTL TIMER_A2->CCTL[2]
#define Board_ULTRASONIC_IN_1_IV 0x04
#define Board_ULTRASONIC_IN_2_PORT GPIO_PORT_P9
#define Board_ULTRASONIC_IN_2_PIN GPIO_PIN2
#define Board_ULTRASONIC_IN_2_SELECT GPIO_PRIMARY_MODULE_FUNCTION
#define Board_ULTRASONIC_IN_2_TAx_MODULE TIMER_A3_BASE
#define Board_ULTRASONIC_IN_2_CCR TIMER_A_CAPTURECOMPARE_REGISTER_3
#define Board_ULTRASONIC_IN_2_CCTL TIMER_A3->CCTL[3]
#define Board_ULTRASONIC_IN_2_IV 0x06
#define Board_ULTRASONIC_IN_3_PORT GPIO_PORT_P9
#define Board_ULTRASONIC_IN_3_PIN GPIO_PIN3
#define Board_ULTRASONIC_IN_3_SELECT GPIO_PRIMARY_MODULE_FUNCTION
#define Board_ULTRASONIC_IN_3_TAx_MODULE TIMER_A3_BASE
#define Board_ULTRASONIC_IN_3_CCR TIMER_A_CAPTURECOMPARE_REGISTER_4
#define Board_ULTRASONIC_IN_3_CCTL TIMER_A3->CCTL[4]
#define Board_ULTRASONIC_IN_3_IV 0x08
#define Board_ULTRASONIC_IN_4_PORT GPIO_PORT_P5
#define Board_ULTRASONIC_IN_4_PIN GPIO_PIN6
#define Board_ULTRASONIC_IN_4_SELECT GPIO_PRIMARY_MODULE_FUNCTION
#define Board_ULTRASONIC_IN_4_TAx_MODULE TIMER_A2_BASE
#define Board_ULTRASONIC_IN_4_CCR TIMER_A_CAPTURECOMPARE_REGISTER_1
#define Board_ULTRASONIC_IN_4_CCTL TIMER_A2->CCTL[1]
#define Board_ULTRASONIC_IN_4_IV 0x02
#define Board_ULTRASONIC_IN_5_PORT GPIO_PORT_P6
#define Board_ULTRASONIC_IN_5_PIN GPIO_PIN7
#define Board_ULTRASONIC_IN_5_SELECT GPIO_PRIMARY_MODULE_FUNCTION
#define Board_ULTRASONIC_IN_5_TAx_MODULE TIMER_A2_BASE
#define Board_ULTRASONIC_IN_5_CCR TIMER_A_CAPTURECOMPARE_REGISTER_4
#define Board_ULTRASONIC_IN_5_CCTL TIMER_A2->CCTL[4]
#define Board_ULTRASONIC_IN_5_IV 0x08
//remapped port!
#define Board_ULTRASONIC_IN_6_PORT GPIO_PORT_P7
#define Board_ULTRASONIC_IN_6_PIN GPIO_PIN0
#define Board_ULTRASONIC_IN_6_SELECT GPIO_PRIMARY_MODULE_FUNCTION
#define Board_ULTRASONIC_IN_6_TAx_MODULE TIMER_A0_BASE
#define Board_ULTRASONIC_IN_6_CCR TIMER_A_CAPTURECOMPARE_REGISTER_2
#define Board_ULTRASONIC_IN_6_CCTL TIMER_A0->CCTL[2]
#define Board_ULTRASONIC_IN_6_IV 0x04
//remapped port!
#define Board_ULTRASONIC_IN_7_PORT GPIO_PORT_P7
#define Board_ULTRASONIC_IN_7_PIN GPIO_PIN1
#define Board_ULTRASONIC_IN_7_SELECT GPIO_PRIMARY_MODULE_FUNCTION
#define Board_ULTRASONIC_IN_7_TAx_MODULE TIMER_A0_BASE
#define Board_ULTRASONIC_IN_7_CCR TIMER_A_CAPTURECOMPARE_REGISTER_3
#define Board_ULTRASONIC_IN_7_CCTL TIMER_A0->CCTL[3]
#define Board_ULTRASONIC_IN_7_IV 0x06
/* UV sensor pins */
#define Board_UV_INT Octanis_UV_INT
#define Board_UV_INT_PORT GPIO_PORT_P1
#define Board_UV_INT_PIN GPIO_PIN5
#define Board_UV_ON 1
#define Board_UV_OFF 0
/* Windsensor pins */
#define Board_WINDSENSOR_SLEEP Octanis_WINDSENSOR_SLEEP
#define Board_WINDSENSOR_IN_PORT GPIO_PORT_P7 //P7.3 (TIMER_A0->CCR[1] port mapped in PWM_init())
#define Board_WINDSENSOR_IN_PIN GPIO_PIN3
#define Board_WINDSENSOR_IN_SELECT GPIO_PRIMARY_MODULE_FUNCTION
#define Board_WINDSENSOR_IN_TAx_MODULE TIMER_A0_BASE
#define Board_WINDSENSOR_IN_CCR TIMER_A_CAPTURECOMPARE_REGISTER_1
#define Board_WINDSENSOR_IN_CCTL TIMER_A0->CCTL[1]
#define Board_WINDSENSOR_IN_IV 0x02
/* Lightning sensor */
#define Board_LIGHTNING_INT Octanis_LIGHTNING_INT
#ifdef VERSION_1
#define Board_LIGHTNING_INT_IV DIO_PORT_IV__IFG0
#else
#define Board_LIGHTNING_INT_IV DIO_PORT_IV__IFG4
#endif
/*Geiger counter */
#define Board_GEIGER_COUNTER Octanis_GEIGER_COUNTER
#define Board_GEIGER_EN Octanis_GEIGER_EN
#define Board_GEIGER_ON 1
#define Board_GEIGER_OFF 0
/*Debug pin to see when he switches to obstacle avoidance mode*/
#define Board_OBS_A_EN Octanis_OBS_A_EN
/* Motor pins */
#define Board_M1234_SLEEP_N Octanis_M1234_SLEEP_N
#define Board_M1_PH Octanis_M1_PH
#define Board_M2_PH Octanis_M2_PH
#define Board_M3_PH Octanis_M3_PH
#define Board_M4_PH Octanis_M4_PH
#define Board_M1_EN Octanis_M1_EN
#define Board_M2_EN Octanis_M2_EN
#define Board_M3_EN Octanis_M3_EN
#define Board_M4_EN Octanis_M4_EN
#define Board_M1_ANGLE_ENCODER_CS Octanis_M1_ANGLE_ENCODER_CS
#define Board_M5678_ON Octanis_M5678_ON
#define Board_M5_PH Octanis_M5_PH
#define Board_M6_PH Octanis_M6_PH
#define Board_M7_PH Octanis_M7_PH
#define Board_M8_PH Octanis_M8_PH
#ifdef VERSION_0_5
#define Board_M5_EN_PWM Octanis_PWM_TA1_2
#define Board_M6_EN_PWM Octanis_PWM_TA1_1
#define Board_M7_EN_PWM Octanis_PWM_TA1_3
#define Board_M8_EN_PWM Octanis_PWM_TA1_4
#else
#define Board_M5_EN_PWM Octanis_PWM_TA1_1
#define Board_M6_EN_PWM Octanis_PWM_TA1_2
#define Board_M7_EN_PWM Octanis_PWM_TA1_3
#define Board_M8_EN_PWM Octanis_PWM_TA1_4
#endif
#define Board_M5678_CURR_SENS_EN Octanis_M5678_CURR_SENS_EN
#define Board_I2C0 Octanis_I2CB0
#define Board_SPI Octanis_SPIB1
#define Board_UART0_DEBUG MSP_EXP432P401RLP_UARTA0 //"backchannel UART"
#define Board_UART1_GPS MSP_EXP432P401RLP_UARTA1 //P9.6,9.7
#define Board_UART2_COMM MSP_EXP432P401RLP_UARTA2 //P3.2,3.3 (GSM or ROCKBLOCK)
#define Board_UART3_LORACOMM MSP_EXP432P401RLP_UARTA3 //P2.2=RX,2.3=TX
#define Board_WATCHDOG0 MSP_EXP432P401RLP_WATCHDOG
#ifdef __cplusplus
}
#endif
#endif /* __BOARD_H */