Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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common_board.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2022 Freek van Tienen <freek.v.tienen@gmail.com>
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*
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* This file is part of Paparazzi.
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*
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* Paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* Paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#ifndef ARCH_COMMON_BOARD_H
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#define ARCH_COMMON_BOARD_H
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#include "board.h"
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#include <hal.h>
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/*
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* Concat macro
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*/
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#define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2
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#define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)
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/*
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* LEDs
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*/
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#if defined(LINE_LED1)
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#ifndef USE_LED_1
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#define USE_LED_1 1
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#endif
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#define LED_1_GPIO PAL_PORT(LINE_LED1)
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#define LED_1_GPIO_PIN PAL_PAD(LINE_LED1)
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#define LED_1_GPIO_ON gpio_clear
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#define LED_1_GPIO_OFF gpio_set
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#elif defined(LINE_NLED1)
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#ifndef USE_LED_1
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#define USE_LED_1 1
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#endif
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#define LED_1_GPIO PAL_PORT(LINE_NLED1)
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#define LED_1_GPIO_PIN PAL_PAD(LINE_NLED1)
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#define LED_1_GPIO_ON gpio_set
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#define LED_1_GPIO_OFF gpio_clear
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#endif
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#if defined(LINE_LED2)
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#ifndef USE_LED_2
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#define USE_LED_2 1
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#endif
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#define LED_2_GPIO PAL_PORT(LINE_LED2)
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#define LED_2_GPIO_PIN PAL_PAD(LINE_LED2)
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#define LED_2_GPIO_ON gpio_clear
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#define LED_2_GPIO_OFF gpio_set
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#elif defined(LINE_NLED2)
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#ifndef USE_LED_2
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#define USE_LED_2 1
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#endif
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#define LED_2_GPIO PAL_PORT(LINE_NLED2)
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#define LED_2_GPIO_PIN PAL_PAD(LINE_NLED2)
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#define LED_2_GPIO_ON gpio_set
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#define LED_2_GPIO_OFF gpio_clear
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#endif
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#if defined(LINE_LED3)
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#ifndef USE_LED_3
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#define USE_LED_3 1
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#endif
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#define LED_3_GPIO PAL_PORT(LINE_LED3)
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#define LED_3_GPIO_PIN PAL_PAD(LINE_LED3)
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#define LED_3_GPIO_ON gpio_clear
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#define LED_3_GPIO_OFF gpio_set
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#elif defined(LINE_NLED3)
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#ifndef USE_LED_3
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#define USE_LED_3 1
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#endif
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#define LED_3_GPIO PAL_PORT(LINE_NLED3)
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#define LED_3_GPIO_PIN PAL_PAD(LINE_NLED3)
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#define LED_3_GPIO_ON gpio_set
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#define LED_3_GPIO_OFF gpio_clear
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#endif
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#if defined(LINE_LED4)
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#ifndef USE_LED_4
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#define USE_LED_4 1
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#endif
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#define LED_4_GPIO PAL_PORT(LINE_LED4)
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#define LED_4_GPIO_PIN PAL_PAD(LINE_LED4)
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#define LED_4_GPIO_ON gpio_clear
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#define LED_4_GPIO_OFF gpio_set
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#elif defined(LINE_NLED4)
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#ifndef USE_LED_4
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#define USE_LED_4 1
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#endif
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#define LED_4_GPIO PAL_PORT(LINE_NLED4)
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#define LED_4_GPIO_PIN PAL_PAD(LINE_NLED4)
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#define LED_4_GPIO_ON gpio_set
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#define LED_4_GPIO_OFF gpio_clear
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#endif
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#if defined(LINE_LED5)
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#ifndef USE_LED_5
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#define USE_LED_5 1
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#endif
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#define LED_5_GPIO PAL_PORT(LINE_LED5)
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#define LED_5_GPIO_PIN PAL_PAD(LINE_LED5)
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#define LED_5_GPIO_ON gpio_clear
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#define LED_5_GPIO_OFF gpio_set
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#elif defined(LINE_NLED5)
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#ifndef USE_LED_5
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#define USE_LED_5 1
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#endif
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#define LED_5_GPIO PAL_PORT(LINE_NLED5)
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#define LED_5_GPIO_PIN PAL_PAD(LINE_NLED5)
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#define LED_5_GPIO_ON gpio_set
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#define LED_5_GPIO_OFF gpio_clear
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#endif
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#if defined(LINE_LED6)
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#ifndef USE_LED_6
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#define USE_LED_6 1
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#endif
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#define LED_6_GPIO PAL_PORT(LINE_LED6)
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#define LED_6_GPIO_PIN PAL_PAD(LINE_LED6)
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#define LED_6_GPIO_ON gpio_clear
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#define LED_6_GPIO_OFF gpio_set
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#elif defined(LINE_NLED6)
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#ifndef USE_LED_6
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#define USE_LED_6 1
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#endif
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#define LED_6_GPIO PAL_PORT(LINE_NLED6)
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#define LED_6_GPIO_PIN PAL_PAD(LINE_NLED6)
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#define LED_6_GPIO_ON gpio_set
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#define LED_6_GPIO_OFF gpio_clear
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#endif
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/*
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* IMU Heater
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*/
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#if defined(LINE_IMU_HEATER)
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#define IMU_HEATER_GPIO PAL_PORT(LINE_IMU_HEATER)
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#define IMU_HEATER_GPIO_PIN PAL_PAD(LINE_IMU_HEATER)
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#endif
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/*
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* ADCs
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*/
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#if defined(LINE_ADC1)
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#ifndef USE_ADC_1
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#define USE_ADC_1 1
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#endif
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#if USE_ADC_1
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#if defined(ADC1_ADC_IN)
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#define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC1_ADC_IN)
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#elif defined(ADC1_ADC_INP)
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#define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC1_ADC_INP)
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#endif
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#define ADC_1 AD1_1
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#define ADC_1_GPIO_PORT PAL_PORT(LINE_ADC1)
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#define ADC_1_GPIO_PIN PAL_PAD(LINE_ADC1)
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#endif
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#endif
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#if defined(LINE_ADC2)
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#ifndef USE_ADC_2
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#define USE_ADC_2 1
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#endif
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#if USE_ADC_2
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#if defined(ADC2_ADC_IN)
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#define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC2_ADC_IN)
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#elif defined(ADC2_ADC_INP)
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#define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC2_ADC_INP)
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#endif
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#define ADC_2 AD1_2
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#define ADC_2_GPIO_PORT PAL_PORT(LINE_ADC2)
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#define ADC_2_GPIO_PIN PAL_PAD(LINE_ADC2)
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#endif
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#endif
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#if defined(LINE_ADC3)
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#ifndef USE_ADC_3
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#define USE_ADC_3 1
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#endif
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#if USE_ADC_3
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#if defined(ADC3_ADC_IN)
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#define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC3_ADC_IN)
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#elif defined(ADC3_ADC_INP)
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#define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC3_ADC_INP)
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#endif
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#define ADC_3 AD1_3
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#define ADC_3_GPIO_PORT PAL_PORT(LINE_ADC3)
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#define ADC_3_GPIO_PIN PAL_PAD(LINE_ADC3)
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#endif
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#endif
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#if defined(LINE_ADC4)
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#ifndef USE_ADC_4
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#define USE_ADC_4 1
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#endif
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#if USE_ADC_4
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#if defined(ADC4_ADC_IN)
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#define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC4_ADC_IN)
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#elif defined(ADC4_ADC_INP)
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#define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC4_ADC_INP)
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#endif
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#define ADC_4 AD1_4
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#define ADC_4_GPIO_PORT PAL_PORT(LINE_ADC4)
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#define ADC_4_GPIO_PIN PAL_PAD(LINE_ADC4)
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#endif
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#endif
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#if defined(LINE_ADC5)
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#ifndef USE_ADC_5
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#define USE_ADC_5 1
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#endif
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#if USE_ADC_5
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#if defined(ADC5_ADC_IN)
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#define AD1_5_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC5_ADC_IN)
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#elif defined(ADC5_ADC_INP)
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#define AD1_5_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC5_ADC_INP)
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#endif
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#define ADC_5 AD1_5
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#define ADC_5_GPIO_PORT PAL_PORT(LINE_ADC5)
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#define ADC_5_GPIO_PIN PAL_PAD(LINE_ADC5)
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#endif
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#endif
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#if defined(LINE_ADC6)
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#if USE_ADC_6
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#if defined(ADC6_ADC_IN)
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#define AD1_6_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC6_ADC_IN)
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#elif defined(ADC6_ADC_INP)
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#define AD1_6_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, ADC6_ADC_INP)
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#endif
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#define ADC_6 AD1_6
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#define ADC_6_GPIO_PORT PAL_PORT(LINE_ADC6)
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#define ADC_6_GPIO_PIN PAL_PAD(LINE_ADC6)
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#endif
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#endif
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/*
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* PWM defines
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*/
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#if defined(LINE_SERVO0)
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#ifndef USE_PWM0
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#define USE_PWM0 1
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#endif
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#if USE_PWM1
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#define PWM_SERVO_0 0
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#define PWM_SERVO_0_GPIO PAL_PORT(LINE_SERVO0)
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#define PWM_SERVO_0_PIN PAL_PAD(LINE_SERVO0)
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#define PWM_SERVO_0_AF AF_LINE_SERVO0
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#define PWM_SERVO_0_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO0_TIM)
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#define PWM_SERVO_0_CHANNEL (SERVO0_TIM_CH-1)
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#define PWM_SERVO_0_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO0_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO1)
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#ifndef USE_PWM1
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#define USE_PWM1 1
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#endif
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#if USE_PWM1
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#define PWM_SERVO_1 1
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#define PWM_SERVO_1_GPIO PAL_PORT(LINE_SERVO1)
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#define PWM_SERVO_1_PIN PAL_PAD(LINE_SERVO1)
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#define PWM_SERVO_1_AF AF_LINE_SERVO1
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#define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO1_TIM)
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#define PWM_SERVO_1_CHANNEL (SERVO1_TIM_CH-1)
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#define PWM_SERVO_1_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO1_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO2)
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#ifndef USE_PWM2
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#define USE_PWM2 1
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#endif
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#if USE_PWM2
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#define PWM_SERVO_2 2
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#define PWM_SERVO_2_GPIO PAL_PORT(LINE_SERVO2)
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#define PWM_SERVO_2_PIN PAL_PAD(LINE_SERVO2)
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#define PWM_SERVO_2_AF AF_LINE_SERVO2
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#define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO2_TIM)
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#define PWM_SERVO_2_CHANNEL (SERVO2_TIM_CH-1)
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#define PWM_SERVO_2_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO2_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO3)
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#ifndef USE_PWM3
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#define USE_PWM3 1
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#endif
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#if USE_PWM3
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#define PWM_SERVO_3 3
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#define PWM_SERVO_3_GPIO PAL_PORT(LINE_SERVO3)
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#define PWM_SERVO_3_PIN PAL_PAD(LINE_SERVO3)
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#define PWM_SERVO_3_AF AF_LINE_SERVO3
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#define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO3_TIM)
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#define PWM_SERVO_3_CHANNEL (SERVO3_TIM_CH-1)
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#define PWM_SERVO_3_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO3_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO4)
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#ifndef USE_PWM4
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#define USE_PWM4 1
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#endif
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#if USE_PWM4
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#define PWM_SERVO_4 4
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#define PWM_SERVO_4_GPIO PAL_PORT(LINE_SERVO4)
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#define PWM_SERVO_4_PIN PAL_PAD(LINE_SERVO4)
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#define PWM_SERVO_4_AF AF_LINE_SERVO4
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#define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO4_TIM)
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#define PWM_SERVO_4_CHANNEL (SERVO4_TIM_CH-1)
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#define PWM_SERVO_4_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO4_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO5)
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#ifndef USE_PWM5
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#define USE_PWM5 1
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#endif
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#if USE_PWM5
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#define PWM_SERVO_5 5
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#define PWM_SERVO_5_GPIO PAL_PORT(LINE_SERVO5)
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#define PWM_SERVO_5_PIN PAL_PAD(LINE_SERVO5)
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#define PWM_SERVO_5_AF AF_LINE_SERVO5
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#define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO5_TIM)
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#define PWM_SERVO_5_CHANNEL (SERVO5_TIM_CH-1)
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#define PWM_SERVO_5_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO5_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO6)
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#ifndef USE_PWM6
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#define USE_PWM6 1
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#endif
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#if USE_PWM6
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#define PWM_SERVO_6 6
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#define PWM_SERVO_6_GPIO PAL_PORT(LINE_SERVO6)
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#define PWM_SERVO_6_PIN PAL_PAD(LINE_SERVO6)
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#define PWM_SERVO_6_AF AF_LINE_SERVO6
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#define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO6_TIM)
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#define PWM_SERVO_6_CHANNEL (SERVO6_TIM_CH-1)
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#define PWM_SERVO_6_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO6_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO7)
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#ifndef USE_PWM7
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#define USE_PWM7 1
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#endif
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#if USE_PWM7
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#define PWM_SERVO_7 7
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#define PWM_SERVO_7_GPIO PAL_PORT(LINE_SERVO7)
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#define PWM_SERVO_7_PIN PAL_PAD(LINE_SERVO7)
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#define PWM_SERVO_7_AF AF_LINE_SERVO7
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#define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO7_TIM)
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#define PWM_SERVO_7_CHANNEL (SERVO7_TIM_CH-1)
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#define PWM_SERVO_7_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO7_TIM)
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#endif
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#endif
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#if defined(LINE_SERVO8)
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#ifndef USE_PWM8
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#define USE_PWM8 1
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#endif
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#if USE_PWM8
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#define PWM_SERVO_8 8
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#define PWM_SERVO_8_GPIO PAL_PORT(LINE_SERVO8)
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#define PWM_SERVO_8_PIN PAL_PAD(LINE_SERVO8)
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#define PWM_SERVO_8_AF AF_LINE_SERVO8
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#define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SERVO8_TIM)
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#define PWM_SERVO_8_CHANNEL (SERVO8_TIM_CH-1)
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#define PWM_SERVO_8_CONF CONCAT_BOARD_PARAM(pwmcfg, SERVO8_TIM)
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#endif
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#endif
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/*
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* ALARM defines
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*/
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#if defined(LINE_ALARM)
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#define ALARM_GPIO PAL_PORT(LINE_ALARM)
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#define ALARM_PIN PAL_PAD(LINE_ALARM)
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#define ALARM_AF AF_LINE_SERVO1
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#define ALARM_DRIVER CONCAT_BOARD_PARAM(PWMD, ALARM_TIM)
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#define ALARM_CHANNEL (ALARM_TIM_CH-1)
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#define ALARM_CONF CONCAT_BOARD_PARAM(pwmcfg, ALARM_TIM)
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#endif
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/*
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* PWM input
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*/
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#define PWM_INPUT1_ICU CONCAT_BOARD_PARAM(ICUD, PWM_INPUT1_TIM)
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#define PWM_INPUT1_CHANNEL CONCAT_BOARD_PARAM(ICU_CHANNEL_, PWM_INPUT1_TIM_CH)
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#define PWM_INPUT1_GPIO_PORT PAL_PORT(LINE_PWM_INPUT1)
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#define PWM_INPUT1_GPIO_PIN PAL_PAD(LINE_PWM_INPUT1)
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#define PWM_INPUT1_GPIO_AF AF_LINE_PWM_INPUT1
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#if defined(LINE_UART1_TX)
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#define UART1_GPIO_PORT_TX PAL_PORT(LINE_UART1_TX)
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#define UART1_GPIO_TX PAL_PAD(LINE_UART1_TX)
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#endif
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#if defined(LINE_UART1_RX)
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#define UART1_GPIO_PORT_RX PAL_PORT(LINE_UART1_RX)
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#define UART1_GPIO_RX PAL_PAD(LINE_UART1_RX)
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#endif
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#if defined(AF_LINE_UART1_TX)
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#define UART1_GPIO_AF AF_LINE_UART1_TX
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#elif defined(AF_LINE_UART1_RX)
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#define UART1_GPIO_AF AF_LINE_UART1_RX
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#else
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#define UART1_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART2_TX)
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#define UART2_GPIO_PORT_TX PAL_PORT(LINE_UART2_TX)
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#define UART2_GPIO_TX PAL_PAD(LINE_UART2_TX)
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#endif
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#if defined(LINE_UART2_RX)
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#define UART2_GPIO_PORT_RX PAL_PORT(LINE_UART2_RX)
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#define UART2_GPIO_RX PAL_PAD(LINE_UART2_RX)
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#endif
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#if defined(AF_LINE_UART2_TX)
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#define UART2_GPIO_AF AF_LINE_UART2_TX
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#elif defined(AF_LINE_UART2_RX)
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#define UART2_GPIO_AF AF_LINE_UART2_RX
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#else
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#define UART2_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART3_TX)
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#define UART3_GPIO_PORT_TX PAL_PORT(LINE_UART3_TX)
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#define UART3_GPIO_TX PAL_PAD(LINE_UART3_TX)
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#endif
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#if defined(LINE_UART3_RX)
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#define UART3_GPIO_PORT_RX PAL_PORT(LINE_UART3_RX)
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#define UART3_GPIO_RX PAL_PAD(LINE_UART3_RX)
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#endif
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#if defined(AF_LINE_UART3_TX)
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#define UART3_GPIO_AF AF_LINE_UART3_TX
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#elif defined(AF_LINE_UART3_RX)
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#define UART3_GPIO_AF AF_LINE_UART3_RX
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#else
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#define UART3_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART4_TX)
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#define UART4_GPIO_PORT_TX PAL_PORT(LINE_UART4_TX)
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#define UART4_GPIO_TX PAL_PAD(LINE_UART4_TX)
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#endif
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#if defined(LINE_UART4_RX)
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#define UART4_GPIO_PORT_RX PAL_PORT(LINE_UART4_RX)
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#define UART4_GPIO_RX PAL_PAD(LINE_UART4_RX)
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#endif
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#if defined(AF_LINE_UART4_TX)
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#define UART4_GPIO_AF AF_LINE_UART4_TX
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#elif defined(AF_LINE_UART4_RX)
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#define UART4_GPIO_AF AF_LINE_UART4_RX
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#else
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#define UART4_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART5_TX)
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#define UART5_GPIO_PORT_TX PAL_PORT(LINE_UART5_TX)
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#define UART5_GPIO_TX PAL_PAD(LINE_UART5_TX)
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#endif
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#if defined(LINE_UART5_RX)
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#define UART5_GPIO_PORT_RX PAL_PORT(LINE_UART5_RX)
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#define UART5_GPIO_RX PAL_PAD(LINE_UART5_RX)
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#endif
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#if defined(AF_LINE_UART5_TX)
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#define UART5_GPIO_AF AF_LINE_UART5_TX
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#elif defined(AF_LINE_UART5_RX)
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#define UART5_GPIO_AF AF_LINE_UART5_RX
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#else
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#define UART5_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART6_TX)
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#define UART6_GPIO_PORT_TX PAL_PORT(LINE_UART6_TX)
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#define UART6_GPIO_TX PAL_PAD(LINE_UART6_TX)
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#endif
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#if defined(LINE_UART6_RX)
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#define UART6_GPIO_PORT_RX PAL_PORT(LINE_UART6_RX)
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#define UART6_GPIO_RX PAL_PAD(LINE_UART6_RX)
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#endif
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#if defined(AF_LINE_UART6_TX)
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#define UART6_GPIO_AF AF_LINE_UART6_TX
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#elif defined(AF_LINE_UART6_RX)
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#define UART6_GPIO_AF AF_LINE_UART6_RX
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#else
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#define UART6_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART7_TX)
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#define UART7_GPIO_PORT_TX PAL_PORT(LINE_UART7_TX)
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#define UART7_GPIO_TX PAL_PAD(LINE_UART7_TX)
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#endif
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#if defined(LINE_UART7_RX)
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#define UART7_GPIO_PORT_RX PAL_PORT(LINE_UART7_RX)
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#define UART7_GPIO_RX PAL_PAD(LINE_UART7_RX)
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#endif
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#if defined(AF_LINE_UART7_TX)
523
#define UART7_GPIO_AF AF_LINE_UART7_TX
524
#elif defined(AF_LINE_UART7_RX)
525
#define UART7_GPIO_AF AF_LINE_UART7_RX
526
#else
527
#define UART7_GPIO_AF ((void)0)
528
#endif
529
530
#if defined(LINE_UART8_TX)
531
#define UART8_GPIO_PORT_TX PAL_PORT(LINE_UART8_TX)
532
#define UART8_GPIO_TX PAL_PAD(LINE_UART8_TX)
533
#endif
534
#if defined(LINE_UART8_RX)
535
#define UART8_GPIO_PORT_RX PAL_PORT(LINE_UART8_RX)
536
#define UART8_GPIO_RX PAL_PAD(LINE_UART8_RX)
537
#endif
538
#if defined(AF_LINE_UART8_TX)
539
#define UART8_GPIO_AF AF_LINE_UART8_TX
540
#elif defined(AF_LINE_UART8_RX)
541
#define UART8_GPIO_AF AF_LINE_UART8_RX
542
#else
543
#define UART8_GPIO_AF ((void)0)
544
#endif
545
549
// Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK
550
#define STM32_CR1_DNF(n) ((n & 0x0f) << 8)
551
552
// Timing register
553
#if defined(STM32F7XX)
554
#define I2C_CFG_100KHZ_TIMINGR (STM32_TIMINGR_PRESC(3U) | STM32_TIMINGR_SCLDEL(8U) | STM32_TIMINGR_SDADEL(1U) | STM32_TIMINGR_SCLH(46U) | STM32_TIMINGR_SCLL(62U))
// 0x30812E3E
555
#define I2C_CFG_400KHZ_TIMINGR (STM32_TIMINGR_PRESC(6U) | STM32_TIMINGR_SCLDEL(0U) | STM32_TIMINGR_SDADEL(0U) | STM32_TIMINGR_SCLH(3U) | STM32_TIMINGR_SCLL(13U))
// 0x6000030D
556
#elif defined(STM32H7XX)
557
#define I2C_CFG_100KHZ_TIMINGR (STM32_TIMINGR_PRESC(0U) | STM32_TIMINGR_SCLDEL(7U) | STM32_TIMINGR_SDADEL(0U) | STM32_TIMINGR_SCLH(124U) | STM32_TIMINGR_SCLL(187U))
// 0x00707CBB
558
#define I2C_CFG_400KHZ_TIMINGR (STM32_TIMINGR_PRESC(0U) | STM32_TIMINGR_SCLDEL(3U) | STM32_TIMINGR_SDADEL(0U) | STM32_TIMINGR_SCLH(15U) | STM32_TIMINGR_SCLL(56U))
// 0x00300F38
559
#endif
560
561
562
#ifndef I2C1_CLOCK_SPEED
563
#define I2C1_CLOCK_SPEED 400000
564
#endif
565
566
#if I2C1_CLOCK_SPEED == 400000
567
#define I2C1_CFG_DEF { \
568
.timingr = I2C_CFG_400KHZ_TIMINGR, \
569
.cr1 = STM32_CR1_DNF(0), \
570
.cr2 = 0 \
571
}
572
#elif I2C1_CLOCK_SPEED == 100000
573
#define I2C1_CFG_DEF { \
574
.timingr = I2C_CFG_100KHZ_TIMINGR, \
575
.cr1 = STM32_CR1_DNF(0), \
576
.cr2 = 0 \
577
}
578
#else
579
#error "Unknown I2C1 clock speed"
580
#endif
581
582
#ifndef I2C2_CLOCK_SPEED
583
#define I2C2_CLOCK_SPEED 400000
584
#endif
585
586
#if I2C2_CLOCK_SPEED == 400000
587
#define I2C2_CFG_DEF { \
588
.timingr = I2C_CFG_400KHZ_TIMINGR, \
589
.cr1 = STM32_CR1_DNF(0), \
590
.cr2 = 0 \
591
}
592
#elif I2C2_CLOCK_SPEED == 100000
593
#define I2C2_CFG_DEF { \
594
.timingr = I2C_CFG_100KHZ_TIMINGR, \
595
.cr1 = STM32_CR1_DNF(0), \
596
.cr2 = 0 \
597
}
598
#else
599
#error "Unknown I2C2 clock speed"
600
#endif
601
602
#ifndef I2C3_CLOCK_SPEED
603
#define I2C3_CLOCK_SPEED 400000
604
#endif
605
606
#if I2C3_CLOCK_SPEED == 400000
607
#define I2C3_CFG_DEF { \
608
.timingr = I2C_CFG_400KHZ_TIMINGR, \
609
.cr1 = STM32_CR1_DNF(0), \
610
.cr2 = 0 \
611
}
612
#elif I2C3_CLOCK_SPEED == 100000
613
#define I2C3_CFG_DEF { \
614
.timingr = I2C_CFG_100KHZ_TIMINGR, \
615
.cr1 = STM32_CR1_DNF(0), \
616
.cr2 = 0 \
617
}
618
#else
619
#error "Unknown I2C3 clock speed"
620
#endif
621
622
#ifndef I2C4_CLOCK_SPEED
623
#define I2C4_CLOCK_SPEED 400000
624
#endif
625
626
#if I2C4_CLOCK_SPEED == 400000
627
#define I2C4_CFG_DEF { \
628
.timingr = I2C_CFG_400KHZ_TIMINGR, \
629
.cr1 = STM32_CR1_DNF(0), \
630
.cr2 = 0 \
631
}
632
#elif I2C4_CLOCK_SPEED == 100000
633
#define I2C4_CFG_DEF { \
634
.timingr = I2C_CFG_100KHZ_TIMINGR, \
635
.cr1 = STM32_CR1_DNF(0), \
636
.cr2 = 0 \
637
}
638
#else
639
#error "Unknown I2C4 clock speed"
640
#endif
641
645
#if defined(LINE_SPI1_MISO) && defined(LINE_SPI1_MOSI) && defined(LINE_SPI1_SCK)
646
#define SPI1_GPIO_PORT_MISO PAL_PORT(LINE_SPI1_MISO)
647
#define SPI1_GPIO_MISO PAL_PAD(LINE_SPI1_MISO)
648
#define SPI1_GPIO_PORT_MOSI PAL_PORT(LINE_SPI1_MOSI)
649
#define SPI1_GPIO_MOSI PAL_PAD(LINE_SPI1_MOSI)
650
#define SPI1_GPIO_PORT_SCK PAL_PORT(LINE_SPI1_SCK)
651
#define SPI1_GPIO_SCK PAL_PAD(LINE_SPI1_SCK)
652
653
#if defined(AF_LINE_SPI1_SCK)
654
#define SPI1_GPIO_AF AF_LINE_SPI1_SCK
655
#endif
656
#endif
657
658
#if defined(LINE_SPI2_MISO) && defined(LINE_SPI2_MOSI) && defined(LINE_SPI2_SCK)
659
#define SPI2_GPIO_PORT_MISO PAL_PORT(LINE_SPI2_MISO)
660
#define SPI2_GPIO_MISO PAL_PAD(LINE_SPI2_MISO)
661
#define SPI2_GPIO_PORT_MOSI PAL_PORT(LINE_SPI2_MOSI)
662
#define SPI2_GPIO_MOSI PAL_PAD(LINE_SPI2_MOSI)
663
#define SPI2_GPIO_PORT_SCK PAL_PORT(LINE_SPI2_SCK)
664
#define SPI2_GPIO_SCK PAL_PAD(LINE_SPI2_SCK)
665
666
#if defined(AF_LINE_SPI2_SCK)
667
#define SPI2_GPIO_AF AF_LINE_SPI2_SCK
668
#endif
669
#endif
670
671
#if defined(LINE_SPI3_MISO) && defined(LINE_SPI3_MOSI) && defined(LINE_SPI3_SCK)
672
#define SPI3_GPIO_PORT_MISO PAL_PORT(LINE_SPI3_MISO)
673
#define SPI3_GPIO_MISO PAL_PAD(LINE_SPI3_MISO)
674
#define SPI3_GPIO_PORT_MOSI PAL_PORT(LINE_SPI3_MOSI)
675
#define SPI3_GPIO_MOSI PAL_PAD(LINE_SPI3_MOSI)
676
#define SPI3_GPIO_PORT_SCK PAL_PORT(LINE_SPI3_SCK)
677
#define SPI3_GPIO_SCK PAL_PAD(LINE_SPI3_SCK)
678
679
#if defined(AF_LINE_SPI3_SCK)
680
#define SPI3_GPIO_AF AF_LINE_SPI3_SCK
681
#endif
682
#endif
683
684
#if defined(LINE_SPI4_MISO) && defined(LINE_SPI4_MOSI) && defined(LINE_SPI4_SCK)
685
#define SPI4_GPIO_PORT_MISO PAL_PORT(LINE_SPI4_MISO)
686
#define SPI4_GPIO_MISO PAL_PAD(LINE_SPI4_MISO)
687
#define SPI4_GPIO_PORT_MOSI PAL_PORT(LINE_SPI4_MOSI)
688
#define SPI4_GPIO_MOSI PAL_PAD(LINE_SPI4_MOSI)
689
#define SPI4_GPIO_PORT_SCK PAL_PORT(LINE_SPI4_SCK)
690
#define SPI4_GPIO_SCK PAL_PAD(LINE_SPI4_SCK)
691
692
#if defined(AF_LINE_SPI4_SCK)
693
#define SPI4_GPIO_AF AF_LINE_SPI4_SCK
694
#endif
695
#endif
696
697
#if defined(LINE_SPI5_MISO) && defined(LINE_SPI5_MOSI) && defined(LINE_SPI5_SCK)
698
#define SPI5_GPIO_PORT_MISO PAL_PORT(LINE_SPI5_MISO)
699
#define SPI5_GPIO_MISO PAL_PAD(LINE_SPI5_MISO)
700
#define SPI5_GPIO_PORT_MOSI PAL_PORT(LINE_SPI5_MOSI)
701
#define SPI5_GPIO_MOSI PAL_PAD(LINE_SPI5_MOSI)
702
#define SPI5_GPIO_PORT_SCK PAL_PORT(LINE_SPI5_SCK)
703
#define SPI5_GPIO_SCK PAL_PAD(LINE_SPI5_SCK)
704
705
#if defined(AF_LINE_SPI5_SCK)
706
#define SPI5_GPIO_AF AF_LINE_SPI5_SCK
707
#endif
708
#endif
709
710
#if defined(LINE_SPI6_MISO) && defined(LINE_SPI6_MOSI) && defined(LINE_SPI6_SCK)
711
#define SPI6_GPIO_PORT_MISO PAL_PORT(LINE_SPI6_MISO)
712
#define SPI6_GPIO_MISO PAL_PAD(LINE_SPI6_MISO)
713
#define SPI6_GPIO_PORT_MOSI PAL_PORT(LINE_SPI6_MOSI)
714
#define SPI6_GPIO_MOSI PAL_PAD(LINE_SPI6_MOSI)
715
#define SPI6_GPIO_PORT_SCK PAL_PORT(LINE_SPI6_SCK)
716
#define SPI6_GPIO_SCK PAL_PAD(LINE_SPI6_SCK)
717
718
#if defined(AF_LINE_SPI6_SCK)
719
#define SPI6_GPIO_AF AF_LINE_SPI6_SCK
720
#endif
721
#endif
722
726
#if defined(LINE_SPI_SLAVE0)
727
#define SPI_SELECT_SLAVE0_PORT PAL_PORT(LINE_SPI_SLAVE0)
728
#define SPI_SELECT_SLAVE0_PIN PAL_PAD(LINE_SPI_SLAVE0)
729
#endif
730
731
#if defined(LINE_SPI_SLAVE1)
732
#define SPI_SELECT_SLAVE1_PORT PAL_PORT(LINE_SPI_SLAVE1)
733
#define SPI_SELECT_SLAVE1_PIN PAL_PAD(LINE_SPI_SLAVE1)
734
#endif
735
736
#if defined(LINE_SPI_SLAVE2)
737
#define SPI_SELECT_SLAVE2_PORT PAL_PORT(LINE_SPI_SLAVE2)
738
#define SPI_SELECT_SLAVE2_PIN PAL_PAD(LINE_SPI_SLAVE2)
739
#endif
740
741
#if defined(LINE_SPI_SLAVE3)
742
#define SPI_SELECT_SLAVE3_PORT PAL_PORT(LINE_SPI_SLAVE3)
743
#define SPI_SELECT_SLAVE3_PIN PAL_PAD(LINE_SPI_SLAVE3)
744
#endif
745
746
#if defined(LINE_SPI_SLAVE4)
747
#define SPI_SELECT_SLAVE4_PORT PAL_PORT(LINE_SPI_SLAVE4)
748
#define SPI_SELECT_SLAVE4_PIN PAL_PAD(LINE_SPI_SLAVE4)
749
#endif
750
751
#if defined(LINE_SPI_SLAVE5)
752
#define SPI_SELECT_SLAVE5_PORT PAL_PORT(LINE_SPI_SLAVE5)
753
#define SPI_SELECT_SLAVE5_PIN PAL_PAD(LINE_SPI_SLAVE5)
754
#endif
755
756
#if defined(LINE_SPI_SLAVE6)
757
#define SPI_SELECT_SLAVE6_PORT PAL_PORT(LINE_SPI_SLAVE6)
758
#define SPI_SELECT_SLAVE6_PIN PAL_PAD(LINE_SPI_SLAVE6)
759
#endif
760
761
#if defined(LINE_SPI_SLAVE7)
762
#define SPI_SELECT_SLAVE7_PORT PAL_PORT(LINE_SPI_SLAVE7)
763
#define SPI_SELECT_SLAVE7_PIN PAL_PAD(LINE_SPI_SLAVE7)
764
#endif
765
766
#if defined(LINE_SPI_SLAVE8)
767
#define SPI_SELECT_SLAVE8_PORT PAL_PORT(LINE_SPI_SLAVE8)
768
#define SPI_SELECT_SLAVE8_PIN PAL_PAD(LINE_SPI_SLAVE8)
769
#endif
770
771
#if defined(LINE_SPI_SLAVE9)
772
#define SPI_SELECT_SLAVE9_PORT PAL_PORT(LINE_SPI_SLAVE9)
773
#define SPI_SELECT_SLAVE9_PIN PAL_PAD(LINE_SPI_SLAVE9)
774
#endif
775
779
// #if defined(LINE_SDIO_D0) && defined(LINE_SDIO_D1) && defined(LINE_SDIO_D2) && defined(LINE_SDIO_D3) && defined(LINE_SDIO_CK) && defined(LINE_SDIO_CMD)
780
// #define SDIO_D0_PORT PAL_PORT(LINE_SDIO_D0)
781
// #define SDIO_D0_PIN PAL_PAD(LINE_SDIO_D0)
782
// #define SDIO_D1_PORT PAL_PORT(LINE_SDIO_D1)
783
// #define SDIO_D1_PIN PAL_PAD(LINE_SDIO_D1)
784
// #define SDIO_D2_PORT PAL_PORT(LINE_SDIO_D2)
785
// #define SDIO_D2_PIN PAL_PAD(LINE_SDIO_D2)
786
// #define SDIO_D3_PORT PAL_PORT(LINE_SDIO_D3)
787
// #define SDIO_D3_PIN PAL_PAD(LINE_SDIO_D3)
788
// #define SDIO_CK_PORT PAL_PORT(LINE_SDIO_CK)
789
// #define SDIO_CK_PIN PAL_PAD(LINE_SDIO_CK)
790
// #define SDIO_CMD_PORT PAL_PORT(LINE_SDIO_CMD)
791
// #define SDIO_CMD_PIN PAL_PAD(LINE_SDIO_CMD)
792
793
// #if defined(AF_LINE_SDIO_CMD)
794
// #define SDIO_AF AF_LINE_SDIO_CMD
795
// #else
796
// #define SDIO_AF ((void)0)
797
// #endif
798
// #endif
799
800
#if defined(LINE_USB_VBUS)
801
#define SDLOG_USB_VBUS_PORT PAL_PORT(LINE_USB_VBUS)
802
#define SDLOG_USB_VBUS_PIN PAL_PAD(LINE_USB_VBUS)
803
#define SDLOG_USB_VBUS_BOOT false
804
#endif
805
806
/*
807
* Actuators for fixedwing
808
*/
809
/* Default actuators driver */
810
#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
811
#define ActuatorDefaultSet ActuatorPwmSet
812
#define ActuatorsDefaultInit() ActuatorsPwmInit()
813
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
814
815
#endif
/* ARCH_COMMON_BOARD_H */
sw
airborne
arch
chibios
common_board.h
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1.9.8