Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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_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 0
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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 1
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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 2
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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 3
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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 4
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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 5
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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 6
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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 7
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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)
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#define UART7_GPIO_AF AF_LINE_UART7_TX
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#elif defined(AF_LINE_UART7_RX)
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#define UART7_GPIO_AF AF_LINE_UART7_RX
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#else
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#define UART7_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART8_TX)
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#define UART8_GPIO_PORT_TX PAL_PORT(LINE_UART8_TX)
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#define UART8_GPIO_TX PAL_PAD(LINE_UART8_TX)
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#endif
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#if defined(LINE_UART8_RX)
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#define UART8_GPIO_PORT_RX PAL_PORT(LINE_UART8_RX)
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#define UART8_GPIO_RX PAL_PAD(LINE_UART8_RX)
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#endif
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#if defined(AF_LINE_UART8_TX)
524
#define UART8_GPIO_AF AF_LINE_UART8_TX
525
#elif defined(AF_LINE_UART8_RX)
526
#define UART8_GPIO_AF AF_LINE_UART8_RX
527
#else
528
#define UART8_GPIO_AF ((void)0)
529
#endif
530
534
// Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK
535
#define STM32_CR1_DNF(n) ((n & 0x0f) << 8)
536
537
// Timing register
538
#if defined(STM32F7XX)
539
#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
540
#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
541
#elif defined(STM32H7XX)
542
#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
543
#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
544
#endif
545
546
547
#ifndef I2C1_CLOCK_SPEED
548
#define I2C1_CLOCK_SPEED 400000
549
#endif
550
551
#if I2C1_CLOCK_SPEED == 400000
552
#define I2C1_CFG_DEF { \
553
.timingr = I2C_CFG_400KHZ_TIMINGR, \
554
.cr1 = STM32_CR1_DNF(0), \
555
.cr2 = 0 \
556
}
557
#elif I2C1_CLOCK_SPEED == 100000
558
#define I2C1_CFG_DEF { \
559
.timingr = I2C_CFG_100KHZ_TIMINGR, \
560
.cr1 = STM32_CR1_DNF(0), \
561
.cr2 = 0 \
562
}
563
#else
564
#error "Unknown I2C1 clock speed"
565
#endif
566
567
#ifndef I2C2_CLOCK_SPEED
568
#define I2C2_CLOCK_SPEED 400000
569
#endif
570
571
#if I2C2_CLOCK_SPEED == 400000
572
#define I2C2_CFG_DEF { \
573
.timingr = I2C_CFG_400KHZ_TIMINGR, \
574
.cr1 = STM32_CR1_DNF(0), \
575
.cr2 = 0 \
576
}
577
#elif I2C2_CLOCK_SPEED == 100000
578
#define I2C2_CFG_DEF { \
579
.timingr = I2C_CFG_100KHZ_TIMINGR, \
580
.cr1 = STM32_CR1_DNF(0), \
581
.cr2 = 0 \
582
}
583
#else
584
#error "Unknown I2C2 clock speed"
585
#endif
586
587
#ifndef I2C3_CLOCK_SPEED
588
#define I2C3_CLOCK_SPEED 400000
589
#endif
590
591
#if I2C3_CLOCK_SPEED == 400000
592
#define I2C3_CFG_DEF { \
593
.timingr = I2C_CFG_400KHZ_TIMINGR, \
594
.cr1 = STM32_CR1_DNF(0), \
595
.cr2 = 0 \
596
}
597
#elif I2C3_CLOCK_SPEED == 100000
598
#define I2C3_CFG_DEF { \
599
.timingr = I2C_CFG_100KHZ_TIMINGR, \
600
.cr1 = STM32_CR1_DNF(0), \
601
.cr2 = 0 \
602
}
603
#else
604
#error "Unknown I2C3 clock speed"
605
#endif
606
607
#ifndef I2C4_CLOCK_SPEED
608
#define I2C4_CLOCK_SPEED 400000
609
#endif
610
611
#if I2C4_CLOCK_SPEED == 400000
612
#define I2C4_CFG_DEF { \
613
.timingr = I2C_CFG_400KHZ_TIMINGR, \
614
.cr1 = STM32_CR1_DNF(0), \
615
.cr2 = 0 \
616
}
617
#elif I2C4_CLOCK_SPEED == 100000
618
#define I2C4_CFG_DEF { \
619
.timingr = I2C_CFG_100KHZ_TIMINGR, \
620
.cr1 = STM32_CR1_DNF(0), \
621
.cr2 = 0 \
622
}
623
#else
624
#error "Unknown I2C4 clock speed"
625
#endif
626
630
#if defined(LINE_SPI1_MISO) && defined(LINE_SPI1_MOSI) && defined(LINE_SPI1_SCK)
631
#define SPI1_GPIO_PORT_MISO PAL_PORT(LINE_SPI1_MISO)
632
#define SPI1_GPIO_MISO PAL_PAD(LINE_SPI1_MISO)
633
#define SPI1_GPIO_PORT_MOSI PAL_PORT(LINE_SPI1_MOSI)
634
#define SPI1_GPIO_MOSI PAL_PAD(LINE_SPI1_MOSI)
635
#define SPI1_GPIO_PORT_SCK PAL_PORT(LINE_SPI1_SCK)
636
#define SPI1_GPIO_SCK PAL_PAD(LINE_SPI1_SCK)
637
638
#if defined(AF_LINE_SPI1_SCK)
639
#define SPI1_GPIO_AF AF_LINE_SPI1_SCK
640
#endif
641
#endif
642
643
#if defined(LINE_SPI2_MISO) && defined(LINE_SPI2_MOSI) && defined(LINE_SPI2_SCK)
644
#define SPI2_GPIO_PORT_MISO PAL_PORT(LINE_SPI2_MISO)
645
#define SPI2_GPIO_MISO PAL_PAD(LINE_SPI2_MISO)
646
#define SPI2_GPIO_PORT_MOSI PAL_PORT(LINE_SPI2_MOSI)
647
#define SPI2_GPIO_MOSI PAL_PAD(LINE_SPI2_MOSI)
648
#define SPI2_GPIO_PORT_SCK PAL_PORT(LINE_SPI2_SCK)
649
#define SPI2_GPIO_SCK PAL_PAD(LINE_SPI2_SCK)
650
651
#if defined(AF_LINE_SPI2_SCK)
652
#define SPI2_GPIO_AF AF_LINE_SPI2_SCK
653
#endif
654
#endif
655
656
#if defined(LINE_SPI3_MISO) && defined(LINE_SPI3_MOSI) && defined(LINE_SPI3_SCK)
657
#define SPI3_GPIO_PORT_MISO PAL_PORT(LINE_SPI3_MISO)
658
#define SPI3_GPIO_MISO PAL_PAD(LINE_SPI3_MISO)
659
#define SPI3_GPIO_PORT_MOSI PAL_PORT(LINE_SPI3_MOSI)
660
#define SPI3_GPIO_MOSI PAL_PAD(LINE_SPI3_MOSI)
661
#define SPI3_GPIO_PORT_SCK PAL_PORT(LINE_SPI3_SCK)
662
#define SPI3_GPIO_SCK PAL_PAD(LINE_SPI3_SCK)
663
664
#if defined(AF_LINE_SPI3_SCK)
665
#define SPI3_GPIO_AF AF_LINE_SPI3_SCK
666
#endif
667
#endif
668
669
#if defined(LINE_SPI4_MISO) && defined(LINE_SPI4_MOSI) && defined(LINE_SPI4_SCK)
670
#define SPI4_GPIO_PORT_MISO PAL_PORT(LINE_SPI4_MISO)
671
#define SPI4_GPIO_MISO PAL_PAD(LINE_SPI4_MISO)
672
#define SPI4_GPIO_PORT_MOSI PAL_PORT(LINE_SPI4_MOSI)
673
#define SPI4_GPIO_MOSI PAL_PAD(LINE_SPI4_MOSI)
674
#define SPI4_GPIO_PORT_SCK PAL_PORT(LINE_SPI4_SCK)
675
#define SPI4_GPIO_SCK PAL_PAD(LINE_SPI4_SCK)
676
677
#if defined(AF_LINE_SPI4_SCK)
678
#define SPI4_GPIO_AF AF_LINE_SPI4_SCK
679
#endif
680
#endif
681
682
#if defined(LINE_SPI5_MISO) && defined(LINE_SPI5_MOSI) && defined(LINE_SPI5_SCK)
683
#define SPI5_GPIO_PORT_MISO PAL_PORT(LINE_SPI5_MISO)
684
#define SPI5_GPIO_MISO PAL_PAD(LINE_SPI5_MISO)
685
#define SPI5_GPIO_PORT_MOSI PAL_PORT(LINE_SPI5_MOSI)
686
#define SPI5_GPIO_MOSI PAL_PAD(LINE_SPI5_MOSI)
687
#define SPI5_GPIO_PORT_SCK PAL_PORT(LINE_SPI5_SCK)
688
#define SPI5_GPIO_SCK PAL_PAD(LINE_SPI5_SCK)
689
690
#if defined(AF_LINE_SPI5_SCK)
691
#define SPI5_GPIO_AF AF_LINE_SPI5_SCK
692
#endif
693
#endif
694
695
#if defined(LINE_SPI6_MISO) && defined(LINE_SPI6_MOSI) && defined(LINE_SPI6_SCK)
696
#define SPI6_GPIO_PORT_MISO PAL_PORT(LINE_SPI6_MISO)
697
#define SPI6_GPIO_MISO PAL_PAD(LINE_SPI6_MISO)
698
#define SPI6_GPIO_PORT_MOSI PAL_PORT(LINE_SPI6_MOSI)
699
#define SPI6_GPIO_MOSI PAL_PAD(LINE_SPI6_MOSI)
700
#define SPI6_GPIO_PORT_SCK PAL_PORT(LINE_SPI6_SCK)
701
#define SPI6_GPIO_SCK PAL_PAD(LINE_SPI6_SCK)
702
703
#if defined(AF_LINE_SPI6_SCK)
704
#define SPI6_GPIO_AF AF_LINE_SPI6_SCK
705
#endif
706
#endif
707
711
#if defined(LINE_SPI_SLAVE0)
712
#define SPI_SELECT_SLAVE0_PORT PAL_PORT(LINE_SPI_SLAVE0)
713
#define SPI_SELECT_SLAVE0_PIN PAL_PAD(LINE_SPI_SLAVE0)
714
#endif
715
716
#if defined(LINE_SPI_SLAVE1)
717
#define SPI_SELECT_SLAVE1_PORT PAL_PORT(LINE_SPI_SLAVE1)
718
#define SPI_SELECT_SLAVE1_PIN PAL_PAD(LINE_SPI_SLAVE1)
719
#endif
720
721
#if defined(LINE_SPI_SLAVE2)
722
#define SPI_SELECT_SLAVE2_PORT PAL_PORT(LINE_SPI_SLAVE2)
723
#define SPI_SELECT_SLAVE2_PIN PAL_PAD(LINE_SPI_SLAVE2)
724
#endif
725
726
#if defined(LINE_SPI_SLAVE3)
727
#define SPI_SELECT_SLAVE3_PORT PAL_PORT(LINE_SPI_SLAVE3)
728
#define SPI_SELECT_SLAVE3_PIN PAL_PAD(LINE_SPI_SLAVE3)
729
#endif
730
731
#if defined(LINE_SPI_SLAVE4)
732
#define SPI_SELECT_SLAVE4_PORT PAL_PORT(LINE_SPI_SLAVE4)
733
#define SPI_SELECT_SLAVE4_PIN PAL_PAD(LINE_SPI_SLAVE4)
734
#endif
735
736
#if defined(LINE_SPI_SLAVE5)
737
#define SPI_SELECT_SLAVE5_PORT PAL_PORT(LINE_SPI_SLAVE5)
738
#define SPI_SELECT_SLAVE5_PIN PAL_PAD(LINE_SPI_SLAVE5)
739
#endif
740
741
#if defined(LINE_SPI_SLAVE6)
742
#define SPI_SELECT_SLAVE6_PORT PAL_PORT(LINE_SPI_SLAVE6)
743
#define SPI_SELECT_SLAVE6_PIN PAL_PAD(LINE_SPI_SLAVE6)
744
#endif
745
746
#if defined(LINE_SPI_SLAVE7)
747
#define SPI_SELECT_SLAVE7_PORT PAL_PORT(LINE_SPI_SLAVE7)
748
#define SPI_SELECT_SLAVE7_PIN PAL_PAD(LINE_SPI_SLAVE7)
749
#endif
750
751
#if defined(LINE_SPI_SLAVE8)
752
#define SPI_SELECT_SLAVE8_PORT PAL_PORT(LINE_SPI_SLAVE8)
753
#define SPI_SELECT_SLAVE8_PIN PAL_PAD(LINE_SPI_SLAVE8)
754
#endif
755
759
// #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)
760
// #define SDIO_D0_PORT PAL_PORT(LINE_SDIO_D0)
761
// #define SDIO_D0_PIN PAL_PAD(LINE_SDIO_D0)
762
// #define SDIO_D1_PORT PAL_PORT(LINE_SDIO_D1)
763
// #define SDIO_D1_PIN PAL_PAD(LINE_SDIO_D1)
764
// #define SDIO_D2_PORT PAL_PORT(LINE_SDIO_D2)
765
// #define SDIO_D2_PIN PAL_PAD(LINE_SDIO_D2)
766
// #define SDIO_D3_PORT PAL_PORT(LINE_SDIO_D3)
767
// #define SDIO_D3_PIN PAL_PAD(LINE_SDIO_D3)
768
// #define SDIO_CK_PORT PAL_PORT(LINE_SDIO_CK)
769
// #define SDIO_CK_PIN PAL_PAD(LINE_SDIO_CK)
770
// #define SDIO_CMD_PORT PAL_PORT(LINE_SDIO_CMD)
771
// #define SDIO_CMD_PIN PAL_PAD(LINE_SDIO_CMD)
772
773
// #if defined(AF_LINE_SDIO_CMD)
774
// #define SDIO_AF AF_LINE_SDIO_CMD
775
// #else
776
// #define SDIO_AF ((void)0)
777
// #endif
778
// #endif
779
780
#if defined(LINE_USB_VBUS)
781
#define SDLOG_USB_VBUS_PORT PAL_PORT(LINE_USB_VBUS)
782
#define SDLOG_USB_VBUS_PIN PAL_PAD(LINE_USB_VBUS)
783
#define SDLOG_USB_VBUS_BOOT false
784
#endif
785
786
/*
787
* Actuators for fixedwing
788
*/
789
/* Default actuators driver */
790
#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
791
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
792
#define ActuatorsDefaultInit() ActuatorsPwmInit()
793
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
794
795
#endif
/* ARCH_COMMON_BOARD_H */
sw
airborne
arch
chibios
common_board.h
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1.9.1