Paparazzi UAS  v5.15_devel-50-g4d7045d
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board.h
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1 /*
2  ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
3 
4  Licensed under the Apache License, Version 2.0 (the "License");
5  you may not use this file except in compliance with the License.
6  You may obtain a copy of the License at
7 
8  http://www.apache.org/licenses/LICENSE-2.0
9 
10  Unless required by applicable law or agreed to in writing, software
11  distributed under the License is distributed on an "AS IS" BASIS,
12  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  See the License for the specific language governing permissions and
14  limitations under the License.
15 */
16 
17 #ifndef _BOARD_H_
18 #define _BOARD_H_
19 
20 /*
21  * Setup for STMicroelectronics STM32F4-Lisa MX.
22  */
23 
24 /*
25  * Board identifier.
26  */
27 #define BOARD_ST_STM32F4_LISA
28 #define BOARD_NAME "STMicroelectronics STM32F4-Lisa"
29 
30 
31 /*
32  * Board oscillators-related settings.
33  * NOTE: LSE not fitted.
34  */
35 #if !defined(STM32_LSECLK)
36 #define STM32_LSECLK 0
37 #endif
38 
39 #if !defined(STM32_HSECLK)
40 #define STM32_HSECLK 12000000
41 #endif
42 
43 
44 /*
45  * Board voltages.
46  * Required for performance limits calculation.
47  */
48 #define STM32_VDD 330
49 
50 /*
51  * MCU type as defined in the ST header file stm32f4xx.h.
52  */
53 #define STM32F407xx
54 
55 
56 /*
57  * I/O ports initial setup, this configuration is established soon after reset
58  * in the initialization code.
59  * Please refer to the STM32 Reference Manual for details.
60  */
61 #define PIN_MODE_INPUT(n) (0U << ((n) * 2U))
62 #define PIN_MODE_OUTPUT(n) (1U << ((n) * 2U))
63 #define PIN_MODE_ALTERNATE(n) (2U << ((n) * 2U))
64 #define PIN_MODE_ANALOG(n) (3U << ((n) * 2U))
65 #define PIN_ODR_LOW(n) (0U << (n))
66 #define PIN_ODR_HIGH(n) (1U << (n))
67 #define PIN_OTYPE_PUSHPULL(n) (0U << (n))
68 #define PIN_OTYPE_OPENDRAIN(n) (1U << (n))
69 #define PIN_OSPEED_2M(n) (0U << ((n) * 2U))
70 #define PIN_OSPEED_25M(n) (1U << ((n) * 2U))
71 #define PIN_OSPEED_50M(n) (2U << ((n) * 2U))
72 #define PIN_OSPEED_100M(n) (3U << ((n) * 2U))
73 #define PIN_PUPDR_FLOATING(n) (0U << ((n) * 2U))
74 #define PIN_PUPDR_PULLUP(n) (1U << ((n) * 2U))
75 #define PIN_PUPDR_PULLDOWN(n) (2U << ((n) * 2U))
76 #define PIN_AFIO_AF(n, v) ((v) << (((n) % 8U) * 4U))
77 
78 /*
79  * Port A setup.
80  *
81  * PA0 - Alternate Push Pull output 50MHz (SERVO5-Timer5Ch1)
82  * PA1 - Alternate Push Pull output 50MHz (SERVO6-Timer5Ch2)
83  * PA2 - Alternate Push Pull output 50MHz (UART2_TX)
84  * PA3 - Digital input (UART2_RX)
85  * PA4 - Alternate Push Pull output 50MHz (EXTSPI1_SS)
86  * PA5 - Alternate Push Pull output 50MHz (EXTSPI1_SCK)
87  * PA6 - Digital input. (EXTSPI1_MISO)
88  * PA7 - Alternate Push Pull output 50MHz (EXTSPI1_MOSI)
89  * PA8 - Open Drain output 50MHz (LED1)
90  * PA9 - Digital input. (USB_VBUS)
91  * PA10 - Digital input. (UART1_Rx / PPM_IN Timer1Ch3)
92  * PA11 - Alternate input (USB_DM)
93  * PA12 - Alternate input (USB_DP)
94  * PA13 - Digital input (JTAG_TMS/SWDIO)
95  * PA14 - Digital input (JTAG_TCK/SWCLCK)
96  * PA15 - Digital input (JTAG_TDI)
97  */
98 #define VAL_GPIOA_MODER (PIN_MODE_ALTERNATE(0)| \
99  PIN_MODE_ALTERNATE(1) | \
100  PIN_MODE_ALTERNATE(2) | \
101  PIN_MODE_ALTERNATE(3) | \
102  PIN_MODE_ALTERNATE(4) | \
103  PIN_MODE_ALTERNATE(5) | \
104  PIN_MODE_ALTERNATE(6) | \
105  PIN_MODE_ALTERNATE(7) | \
106  PIN_MODE_OUTPUT(8) | \
107  PIN_MODE_INPUT(9) | \
108  PIN_MODE_ALTERNATE(10) | \
109  PIN_MODE_ALTERNATE(11) | \
110  PIN_MODE_ALTERNATE(12) | \
111  PIN_MODE_ALTERNATE(13) | \
112  PIN_MODE_ALTERNATE(14) | \
113  PIN_MODE_ALTERNATE(15))
114 #define VAL_GPIOA_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
115  PIN_OTYPE_PUSHPULL(1) | \
116  PIN_OTYPE_PUSHPULL(2) | \
117  PIN_OTYPE_PUSHPULL(3) | \
118  PIN_OTYPE_PUSHPULL(4) | \
119  PIN_OTYPE_PUSHPULL(5) | \
120  PIN_OTYPE_PUSHPULL(6) | \
121  PIN_OTYPE_PUSHPULL(7) | \
122  PIN_OTYPE_OPENDRAIN(8) | \
123  PIN_OTYPE_PUSHPULL(9) | \
124  PIN_OTYPE_PUSHPULL(10) | \
125  PIN_OTYPE_PUSHPULL(11) | \
126  PIN_OTYPE_PUSHPULL(12) | \
127  PIN_OTYPE_PUSHPULL(13) | \
128  PIN_OTYPE_PUSHPULL(14) | \
129  PIN_OTYPE_PUSHPULL(15))
130 #define VAL_GPIOA_OSPEEDR (PIN_OSPEED_50M(0) | \
131  PIN_OSPEED_50M(1) | \
132  PIN_OSPEED_50M(2) | \
133  PIN_OSPEED_50M(3) | \
134  PIN_OSPEED_50M(4) | \
135  PIN_OSPEED_50M(5) | \
136  PIN_OSPEED_50M(6) | \
137  PIN_OSPEED_50M(7) | \
138  PIN_OSPEED_50M(8) | \
139  PIN_OSPEED_50M(9) | \
140  PIN_OSPEED_50M(10) | \
141  PIN_OSPEED_50M(11) | \
142  PIN_OSPEED_50M(12) | \
143  PIN_OSPEED_100M(13) | \
144  PIN_OSPEED_100M(14) | \
145  PIN_OSPEED_100M(15))
146 #define VAL_GPIOA_PUPDR (PIN_PUPDR_FLOATING(0) | \
147  PIN_PUPDR_FLOATING(1) | \
148  PIN_PUPDR_FLOATING(2) | \
149  PIN_PUPDR_FLOATING(3) | \
150  PIN_PUPDR_FLOATING(4) | \
151  PIN_PUPDR_FLOATING(5) | \
152  PIN_PUPDR_FLOATING(6) | \
153  PIN_PUPDR_FLOATING(7) | \
154  PIN_PUPDR_FLOATING(8) | \
155  PIN_PUPDR_FLOATING(9) | \
156  PIN_PUPDR_FLOATING(10) | \
157  PIN_PUPDR_FLOATING(11) | \
158  PIN_PUPDR_FLOATING(12) | \
159  PIN_PUPDR_FLOATING(13) | \
160  PIN_PUPDR_FLOATING(14) | \
161  PIN_PUPDR_FLOATING(15))
162 #define VAL_GPIOA_ODR (PIN_ODR_HIGH(0) | \
163  PIN_ODR_HIGH(1) | \
164  PIN_ODR_HIGH(2) | \
165  PIN_ODR_HIGH(3) | \
166  PIN_ODR_HIGH(4) | \
167  PIN_ODR_HIGH(5) | \
168  PIN_ODR_HIGH(6) | \
169  PIN_ODR_HIGH(7) | \
170  PIN_ODR_HIGH(8) | \
171  PIN_ODR_HIGH(9) | \
172  PIN_ODR_HIGH(10) | \
173  PIN_ODR_HIGH(11) | \
174  PIN_ODR_HIGH(12) | \
175  PIN_ODR_HIGH(13) | \
176  PIN_ODR_HIGH(14) | \
177  PIN_ODR_HIGH(15))
178 #define VAL_GPIOA_AFRL (PIN_AFIO_AF(0, 2) | \
179  PIN_AFIO_AF(1, 2) | \
180  PIN_AFIO_AF(2, 7) | \
181  PIN_AFIO_AF(3, 7) | \
182  PIN_AFIO_AF(4, 5) | \
183  PIN_AFIO_AF(5, 5) | \
184  PIN_AFIO_AF(6, 5) | \
185  PIN_AFIO_AF(7, 5))
186 #define VAL_GPIOA_AFRH (PIN_AFIO_AF(8, 0) | \
187  PIN_AFIO_AF(9, 0) | \
188  PIN_AFIO_AF(10, 1) | \
189  PIN_AFIO_AF(11, 10) | \
190  PIN_AFIO_AF(12, 10) | \
191  PIN_AFIO_AF(13, 0) | \
192  PIN_AFIO_AF(14, 0) | \
193  PIN_AFIO_AF(15, 0))
194 
195 /*
196  * Port B setup:
197  * PB0 - Digital input (BARO_DRDY)
198  * PB1 - Digital input (EXTSPI1_DRDY)
199  * PB2 - Digital input (IMU_ACC_DRDY)
200  * PB3 - Digital input (JTAG_TDO/SWD)
201  * PB4 - Open Drain output 50MHz (LED2)
202  * PB5 - Digital input (IMU_MAG_DRDY)
203  * PB6 - Alternate Push Pull output 50MHz (SERVO7-Timer4Ch1)/USART1_TX
204  * PB7 - Alternate Push Pull output 50MHz (SERVO8-Timer4Ch2)/USART1_RX
205  * PB8 - Digital input. (CAN_RX)
206  * PB9 - Open Drain output 50MHz. (CAN_TX)
207  * PB10 - Alternate Open Drain output 2MHz.(I2C2_SCL)
208  * PB11 - Alternate Open Drain output 2MHz.(I2C2_SDA)
209  * PB12 - Push Pull output 50MHz. (IMU_ACC_SPI2_CS)
210  * PB13 - Alternate Push Pull output 50MHz (IMU_SPI2_SCK)
211  * PB14 - Digital input (IMU_SPI2_MISO)
212  * PB15 - Alternate Push Pull output 50MHz (IMU_SPI_MOSI)
213  */
214 #define VAL_GPIOB_MODER (PIN_MODE_INPUT(0) | \
215  PIN_MODE_INPUT(1) | \
216  PIN_MODE_INPUT(2) | \
217  PIN_MODE_ALTERNATE(3) | \
218  PIN_MODE_OUTPUT(4) | \
219  PIN_MODE_INPUT(5) | \
220  PIN_MODE_ALTERNATE(6) | \
221  PIN_MODE_ALTERNATE(7) | \
222  PIN_MODE_ALTERNATE(8) | \
223  PIN_MODE_ALTERNATE(9) | \
224  PIN_MODE_ALTERNATE(10) | \
225  PIN_MODE_ALTERNATE(11) | \
226  PIN_MODE_OUTPUT(12) | \
227  PIN_MODE_ALTERNATE(13) | \
228  PIN_MODE_ALTERNATE(14) | \
229  PIN_MODE_ALTERNATE(15))
230 #define VAL_GPIOB_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
231  PIN_OTYPE_PUSHPULL(1) | \
232  PIN_OTYPE_PUSHPULL(2) | \
233  PIN_OTYPE_PUSHPULL(3) | \
234  PIN_OTYPE_OPENDRAIN(4) | \
235  PIN_OTYPE_PUSHPULL(5) | \
236  PIN_OTYPE_PUSHPULL(6) | \
237  PIN_OTYPE_PUSHPULL(7) | \
238  PIN_OTYPE_PUSHPULL(8) | \
239  PIN_OTYPE_OPENDRAIN(9) | \
240  PIN_OTYPE_OPENDRAIN(10) | \
241  PIN_OTYPE_OPENDRAIN(11) | \
242  PIN_OTYPE_PUSHPULL(12) | \
243  PIN_OTYPE_PUSHPULL(13) | \
244  PIN_OTYPE_PUSHPULL(14) | \
245  PIN_OTYPE_PUSHPULL(15))
246 #define VAL_GPIOB_OSPEEDR (PIN_OSPEED_50M(0) | \
247  PIN_OSPEED_50M(1) | \
248  PIN_OSPEED_50M(2) | \
249  PIN_OSPEED_100M(3) | \
250  PIN_OSPEED_50M(4) | \
251  PIN_OSPEED_50M(5) | \
252  PIN_OSPEED_50M(6) | \
253  PIN_OSPEED_50M(7) | \
254  PIN_OSPEED_50M(8) | \
255  PIN_OSPEED_50M(9) | \
256  PIN_OSPEED_2M(10) | \
257  PIN_OSPEED_2M(11) | \
258  PIN_OSPEED_50M(12) | \
259  PIN_OSPEED_50M(13) | \
260  PIN_OSPEED_50M(14) | \
261  PIN_OSPEED_50M(15))
262 #define VAL_GPIOB_PUPDR (PIN_PUPDR_FLOATING(0) | \
263  PIN_PUPDR_FLOATING(1) | \
264  PIN_PUPDR_FLOATING(2) | \
265  PIN_PUPDR_FLOATING(3) | \
266  PIN_PUPDR_FLOATING(4) | \
267  PIN_PUPDR_FLOATING(5) | \
268  PIN_PUPDR_FLOATING(6) | \
269  PIN_PUPDR_FLOATING(7) | \
270  PIN_PUPDR_FLOATING(8) | \
271  PIN_PUPDR_FLOATING(9) | \
272  PIN_PUPDR_FLOATING(10) | \
273  PIN_PUPDR_FLOATING(11) | \
274  PIN_PUPDR_FLOATING(12) | \
275  PIN_PUPDR_FLOATING(13) | \
276  PIN_PUPDR_FLOATING(14) | \
277  PIN_PUPDR_FLOATING(15))
278 #define VAL_GPIOB_ODR (PIN_ODR_HIGH(0) | \
279  PIN_ODR_HIGH(1) | \
280  PIN_ODR_HIGH(2) | \
281  PIN_ODR_HIGH(3) | \
282  PIN_ODR_HIGH(4) | \
283  PIN_ODR_HIGH(5) | \
284  PIN_ODR_HIGH(6) | \
285  PIN_ODR_HIGH(7) | \
286  PIN_ODR_HIGH(8) | \
287  PIN_ODR_HIGH(9) | \
288  PIN_ODR_HIGH(10) | \
289  PIN_ODR_HIGH(11) | \
290  PIN_ODR_HIGH(12) | \
291  PIN_ODR_HIGH(13) | \
292  PIN_ODR_HIGH(14) | \
293  PIN_ODR_HIGH(15))
294 #define VAL_GPIOB_AFRL (PIN_AFIO_AF(0, 0) | \
295  PIN_AFIO_AF(1, 0) | \
296  PIN_AFIO_AF(2, 0) | \
297  PIN_AFIO_AF(3, 0) | \
298  PIN_AFIO_AF(4, 0) | \
299  PIN_AFIO_AF(5, 0) | \
300  PIN_AFIO_AF(6, 7) | \
301  PIN_AFIO_AF(7, 7))
302 #define VAL_GPIOB_AFRH (PIN_AFIO_AF(8, 9) | \
303  PIN_AFIO_AF(9, 9) | \
304  PIN_AFIO_AF(10, 4) | \
305  PIN_AFIO_AF(11, 4) | \
306  PIN_AFIO_AF(12, 0) | \
307  PIN_AFIO_AF(13, 5) | \
308  PIN_AFIO_AF(14, 5) | \
309  PIN_AFIO_AF(15, 5))
310 
311 /*
312  * Port C setup:
313  * PC0 - Analog input (ADC2)
314  * PC1 - Analog input (ADC3)
315  * PC2 - Open Drain output 50MHz (LED3)
316  * PC3 - Analog input (ADC1)
317  * PC4 - Analog input (VBAT_MEAS)
318  * PC5 - Open Drain output 50MHz (LED4)
319  * PC6 - Alternate Push Pull output 50MHz (SERVO1-Timer3Ch1)
320  * PC7 - Alternate Push Pull output 50MHz (SERVO2-Timer3Ch2)
321  * PC8 - Alternate Push Pull output 50MHz (SERVO3-Timer3Ch3)
322  * PC9 - Alternate Push Pull output 50MHz (SERVO4-Timer3Ch4)
323  * PC10 - Alternate Push Pull output 50MHz (UART3_TX)
324  * PC11 - Digital input (UART3_RX)
325  * PC12 - Alternate Push Pull output 50MHz (PC12-UART5_TX)
326  * PC13 - Push Pull output 50MHz. (IMU_GYRO_SS-Baro_SS_SPI2)
327  * PC14 - Digital input (IMU_GYRO_DRDY)
328  * PC15 - Open Drain output 50MHz (LED5)
329  */
330 #define VAL_GPIOC_MODER (PIN_MODE_INPUT(0) |\
331  PIN_MODE_INPUT(1) | \
332  PIN_MODE_OUTPUT(2) | \
333  PIN_MODE_INPUT(3) | \
334  PIN_MODE_INPUT(4) | \
335  PIN_MODE_OUTPUT(5) | \
336  PIN_MODE_ALTERNATE(6) | \
337  PIN_MODE_ALTERNATE(7) | \
338  PIN_MODE_ALTERNATE(8) | \
339  PIN_MODE_ALTERNATE(9) | \
340  PIN_MODE_ALTERNATE(10) | \
341  PIN_MODE_ALTERNATE(11) | \
342  PIN_MODE_ALTERNATE(12) | \
343  PIN_MODE_OUTPUT(13) | \
344  PIN_MODE_INPUT(14) | \
345  PIN_MODE_OUTPUT(15))
346 #define VAL_GPIOC_OTYPER (PIN_OTYPE_PUSHPULL(0) |\
347  PIN_OTYPE_PUSHPULL(1) | \
348  PIN_OTYPE_OPENDRAIN(2) | \
349  PIN_OTYPE_PUSHPULL(3) | \
350  PIN_OTYPE_PUSHPULL(4) | \
351  PIN_OTYPE_OPENDRAIN(5) | \
352  PIN_OTYPE_PUSHPULL(6) | \
353  PIN_OTYPE_PUSHPULL(7) | \
354  PIN_OTYPE_PUSHPULL(8) | \
355  PIN_OTYPE_PUSHPULL(9) | \
356  PIN_OTYPE_PUSHPULL(10) | \
357  PIN_OTYPE_PUSHPULL(11) | \
358  PIN_OTYPE_PUSHPULL(12) | \
359  PIN_OTYPE_PUSHPULL(13) | \
360  PIN_OTYPE_PUSHPULL(14) | \
361  PIN_OTYPE_OPENDRAIN(15))
362 #define VAL_GPIOC_OSPEEDR (PIN_OSPEED_50M(0) |\
363  PIN_OSPEED_50M(1) | \
364  PIN_OSPEED_50M(2) | \
365  PIN_OSPEED_50M(3) | \
366  PIN_OSPEED_50M(4) | \
367  PIN_OSPEED_50M(5) | \
368  PIN_OSPEED_50M(6) | \
369  PIN_OSPEED_50M(7) | \
370  PIN_OSPEED_50M(8) | \
371  PIN_OSPEED_50M(9) | \
372  PIN_OSPEED_50M(10) | \
373  PIN_OSPEED_50M(11) | \
374  PIN_OSPEED_50M(12) | \
375  PIN_OSPEED_50M(13) | \
376  PIN_OSPEED_50M(14) | \
377  PIN_OSPEED_50M(15))
378 #define VAL_GPIOC_PUPDR (PIN_PUPDR_FLOATING(0) |\
379  PIN_PUPDR_FLOATING(1) | \
380  PIN_PUPDR_FLOATING(2) | \
381  PIN_PUPDR_FLOATING(3) | \
382  PIN_PUPDR_FLOATING(4) | \
383  PIN_PUPDR_FLOATING(5) | \
384  PIN_PUPDR_FLOATING(6) | \
385  PIN_PUPDR_FLOATING(7) | \
386  PIN_PUPDR_FLOATING(8) | \
387  PIN_PUPDR_FLOATING(9) | \
388  PIN_PUPDR_FLOATING(10) | \
389  PIN_PUPDR_FLOATING(11) | \
390  PIN_PUPDR_FLOATING(12) | \
391  PIN_PUPDR_FLOATING(13) | \
392  PIN_PUPDR_FLOATING(14) | \
393  PIN_PUPDR_FLOATING(15))
394 #define VAL_GPIOC_ODR (PIN_ODR_HIGH(0) | \
395  PIN_ODR_HIGH(1) | \
396  PIN_ODR_HIGH(2) | \
397  PIN_ODR_HIGH(3) | \
398  PIN_ODR_HIGH(4) | \
399  PIN_ODR_HIGH(5) | \
400  PIN_ODR_HIGH(6) | \
401  PIN_ODR_HIGH(7) | \
402  PIN_ODR_HIGH(8) | \
403  PIN_ODR_HIGH(9) | \
404  PIN_ODR_HIGH(10) | \
405  PIN_ODR_HIGH(11) | \
406  PIN_ODR_HIGH(12) | \
407  PIN_ODR_HIGH(13) | \
408  PIN_ODR_HIGH(14) | \
409  PIN_ODR_HIGH(15))
410 #define VAL_GPIOC_AFRL (PIN_AFIO_AF(0, 0) |\
411  PIN_AFIO_AF(1, 0) | \
412  PIN_AFIO_AF(2, 0) | \
413  PIN_AFIO_AF(3, 0) | \
414  PIN_AFIO_AF(4, 0) | \
415  PIN_AFIO_AF(5, 0) | \
416  PIN_AFIO_AF(6, 2) | \
417  PIN_AFIO_AF(7, 2))
418 #define VAL_GPIOC_AFRH (PIN_AFIO_AF(8, 2) | \
419  PIN_AFIO_AF(9, 2) | \
420  PIN_AFIO_AF(10, 7) | \
421  PIN_AFIO_AF(11, 7) | \
422  PIN_AFIO_AF(12, 8) | \
423  PIN_AFIO_AF(13, 0) | \
424  PIN_AFIO_AF(14, 0) | \
425  PIN_AFIO_AF(15, 0))
426 
427 /*
428  * Port D setup:
429  * PD0 - Digital input with PullUp or PullDown resistor depending on ODR. (OSC_IN).
430  * PD1 - Digital input with PullUp or PullDown resistor depending on ODR. (OSC_OUT).
431  * PD2 - Digital input (UART5_RX).
432  * PD3 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
433  * PD4 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
434  * PD5 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
435  * PD6 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
436  * PD7 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
437  * PD8 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
438  * PD9 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
439  * PD10 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
440  * PD11 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
441  * PD12 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
442  * PD13 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
443  * PD14 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
444  * PD15 - Digital input with PullUp or PullDown resistor depending on ODR. (unconnected).
445  */
446 #define VAL_GPIOD_MODER (PIN_MODE_INPUT(0) | \
447  PIN_MODE_INPUT(1) | \
448  PIN_MODE_ALTERNATE(2) | \
449  PIN_MODE_INPUT(3) | \
450  PIN_MODE_INPUT(4) | \
451  PIN_MODE_INPUT(5) | \
452  PIN_MODE_INPUT(6) | \
453  PIN_MODE_INPUT(7) | \
454  PIN_MODE_INPUT(8) | \
455  PIN_MODE_INPUT(9) | \
456  PIN_MODE_INPUT(10) | \
457  PIN_MODE_INPUT(11) | \
458  PIN_MODE_INPUT(12) | \
459  PIN_MODE_INPUT(13) | \
460  PIN_MODE_INPUT(14) | \
461  PIN_MODE_INPUT(15))
462 #define VAL_GPIOD_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
463  PIN_OTYPE_PUSHPULL(1) | \
464  PIN_OTYPE_PUSHPULL(2) | \
465  PIN_OTYPE_PUSHPULL(3) | \
466  PIN_OTYPE_PUSHPULL(4) | \
467  PIN_OTYPE_PUSHPULL(5) |\
468  PIN_OTYPE_PUSHPULL(6) | \
469  PIN_OTYPE_PUSHPULL(7) | \
470  PIN_OTYPE_PUSHPULL(8) | \
471  PIN_OTYPE_PUSHPULL(9) | \
472  PIN_OTYPE_PUSHPULL(10) | \
473  PIN_OTYPE_PUSHPULL(11) | \
474  PIN_OTYPE_PUSHPULL(12) | \
475  PIN_OTYPE_PUSHPULL(13) | \
476  PIN_OTYPE_PUSHPULL(14) | \
477  PIN_OTYPE_PUSHPULL(15))
478 #define VAL_GPIOD_OSPEEDR (PIN_OSPEED_100M(0) | \
479  PIN_OSPEED_100M(1) | \
480  PIN_OSPEED_50M(2) | \
481  PIN_OSPEED_100M(3) | \
482  PIN_OSPEED_100M(4) | \
483  PIN_OSPEED_100M(5) | \
484  PIN_OSPEED_100M(6) | \
485  PIN_OSPEED_100M(7) | \
486  PIN_OSPEED_100M(8) | \
487  PIN_OSPEED_100M(9) | \
488  PIN_OSPEED_100M(10) | \
489  PIN_OSPEED_100M(11) | \
490  PIN_OSPEED_100M(12) | \
491  PIN_OSPEED_100M(13) | \
492  PIN_OSPEED_100M(14) | \
493  PIN_OSPEED_100M(15))
494 #define VAL_GPIOD_PUPDR (PIN_PUPDR_FLOATING(0) | \
495  PIN_PUPDR_FLOATING(1) | \
496  PIN_PUPDR_FLOATING(2) | \
497  PIN_PUPDR_FLOATING(3) | \
498  PIN_PUPDR_FLOATING(4) | \
499  PIN_PUPDR_FLOATING(5) |\
500  PIN_PUPDR_FLOATING(6) | \
501  PIN_PUPDR_FLOATING(7) | \
502  PIN_PUPDR_FLOATING(8) | \
503  PIN_PUPDR_FLOATING(9) | \
504  PIN_PUPDR_FLOATING(10) | \
505  PIN_PUPDR_FLOATING(11) | \
506  PIN_PUPDR_FLOATING(12) | \
507  PIN_PUPDR_FLOATING(13) | \
508  PIN_PUPDR_FLOATING(14) | \
509  PIN_PUPDR_FLOATING(15))
510 #define VAL_GPIOD_ODR (PIN_ODR_HIGH(0) | \
511  PIN_ODR_HIGH(1) | \
512  PIN_ODR_HIGH(2) | \
513  PIN_ODR_HIGH(3) | \
514  PIN_ODR_HIGH(4) | \
515  PIN_ODR_HIGH(5) | \
516  PIN_ODR_HIGH(6) | \
517  PIN_ODR_HIGH(7) | \
518  PIN_ODR_HIGH(8) | \
519  PIN_ODR_HIGH(9) | \
520  PIN_ODR_HIGH(10) | \
521  PIN_ODR_HIGH(11) | \
522  PIN_ODR_HIGH(12) | \
523  PIN_ODR_HIGH(13) | \
524  PIN_ODR_HIGH(14) | \
525  PIN_ODR_HIGH(15))
526 #define VAL_GPIOD_AFRL (PIN_AFIO_AF(0, 0) | \
527  PIN_AFIO_AF(1, 0) | \
528  PIN_AFIO_AF(2, 8) | \
529  PIN_AFIO_AF(3, 0) | \
530  PIN_AFIO_AF(4, 0) | \
531  PIN_AFIO_AF(5, 0) | \
532  PIN_AFIO_AF(6, 0) | \
533  PIN_AFIO_AF(7, 0))
534 #define VAL_GPIOD_AFRH (PIN_AFIO_AF(8, 0) | \
535  PIN_AFIO_AF(9, 0) | \
536  PIN_AFIO_AF(10, 0) | \
537  PIN_AFIO_AF(11, 0) | \
538  PIN_AFIO_AF(12, 0) | \
539  PIN_AFIO_AF(13, 0) | \
540  PIN_AFIO_AF(14, 0) | \
541  PIN_AFIO_AF(15, 0))
542 
543 /*
544  * Port E setup.
545  * PE0 - PE15 - floating input
546  */
547 #define VAL_GPIOE_MODER (PIN_MODE_INPUT(0) | \
548  PIN_MODE_INPUT(1) | \
549  PIN_MODE_INPUT(2) | \
550  PIN_MODE_INPUT(3) | \
551  PIN_MODE_INPUT(4) | \
552  PIN_MODE_INPUT(5) | \
553  PIN_MODE_INPUT(6) | \
554  PIN_MODE_INPUT(7) | \
555  PIN_MODE_INPUT(8) | \
556  PIN_MODE_INPUT(9) | \
557  PIN_MODE_INPUT(10) | \
558  PIN_MODE_INPUT(11) | \
559  PIN_MODE_INPUT(12) | \
560  PIN_MODE_INPUT(13) | \
561  PIN_MODE_INPUT(14) | \
562  PIN_MODE_INPUT(15))
563 #define VAL_GPIOE_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
564  PIN_OTYPE_PUSHPULL(1) | \
565  PIN_OTYPE_PUSHPULL(2) | \
566  PIN_OTYPE_PUSHPULL(3) | \
567  PIN_OTYPE_PUSHPULL(4) | \
568  PIN_OTYPE_PUSHPULL(5) | \
569  PIN_OTYPE_PUSHPULL(6) | \
570  PIN_OTYPE_PUSHPULL(7) | \
571  PIN_OTYPE_PUSHPULL(8) | \
572  PIN_OTYPE_PUSHPULL(9) | \
573  PIN_OTYPE_PUSHPULL(10) | \
574  PIN_OTYPE_PUSHPULL(11) | \
575  PIN_OTYPE_PUSHPULL(12) | \
576  PIN_OTYPE_PUSHPULL(13) | \
577  PIN_OTYPE_PUSHPULL(14) | \
578  PIN_OTYPE_PUSHPULL(15))
579 #define VAL_GPIOE_OSPEEDR (PIN_OSPEED_100M(0) | \
580  PIN_OSPEED_100M(1) | \
581  PIN_OSPEED_100M(2) | \
582  PIN_OSPEED_100M(3) | \
583  PIN_OSPEED_100M(4) | \
584  PIN_OSPEED_100M(5) | \
585  PIN_OSPEED_100M(6) | \
586  PIN_OSPEED_100M(7) | \
587  PIN_OSPEED_100M(8) | \
588  PIN_OSPEED_100M(9) | \
589  PIN_OSPEED_100M(10) | \
590  PIN_OSPEED_100M(11) | \
591  PIN_OSPEED_100M(12) | \
592  PIN_OSPEED_100M(13) | \
593  PIN_OSPEED_100M(14) | \
594  PIN_OSPEED_100M(15))
595 #define VAL_GPIOE_PUPDR (PIN_PUPDR_FLOATING(0) | \
596  PIN_PUPDR_FLOATING(1) | \
597  PIN_PUPDR_FLOATING(2) | \
598  PIN_PUPDR_FLOATING(3) | \
599  PIN_PUPDR_FLOATING(4) | \
600  PIN_PUPDR_FLOATING(5) | \
601  PIN_PUPDR_FLOATING(6) | \
602  PIN_PUPDR_FLOATING(7) | \
603  PIN_PUPDR_FLOATING(8) | \
604  PIN_PUPDR_FLOATING(9) | \
605  PIN_PUPDR_FLOATING(10) | \
606  PIN_PUPDR_FLOATING(11) | \
607  PIN_PUPDR_FLOATING(12) | \
608  PIN_PUPDR_FLOATING(13) | \
609  PIN_PUPDR_FLOATING(14) | \
610  PIN_PUPDR_FLOATING(15))
611 #define VAL_GPIOE_ODR (PIN_ODR_HIGH(0) | \
612  PIN_ODR_HIGH(1) | \
613  PIN_ODR_HIGH(2) | \
614  PIN_ODR_HIGH(3) | \
615  PIN_ODR_HIGH(4) | \
616  PIN_ODR_HIGH(5) | \
617  PIN_ODR_HIGH(6) | \
618  PIN_ODR_HIGH(7) | \
619  PIN_ODR_HIGH(8) | \
620  PIN_ODR_HIGH(9) | \
621  PIN_ODR_HIGH(10) | \
622  PIN_ODR_HIGH(11) | \
623  PIN_ODR_HIGH(12) | \
624  PIN_ODR_HIGH(13) | \
625  PIN_ODR_HIGH(14) | \
626  PIN_ODR_HIGH(15))
627 #define VAL_GPIOE_AFRL (PIN_AFIO_AF(0, 0) | \
628  PIN_AFIO_AF(1, 0) | \
629  PIN_AFIO_AF(2, 0) | \
630  PIN_AFIO_AF(3, 0) | \
631  PIN_AFIO_AF(4, 0) | \
632  PIN_AFIO_AF(5, 0) | \
633  PIN_AFIO_AF(6, 0) | \
634  PIN_AFIO_AF(7, 0))
635 #define VAL_GPIOE_AFRH (PIN_AFIO_AF(8, 0) | \
636  PIN_AFIO_AF(9, 0) | \
637  PIN_AFIO_AF(10, 0) | \
638  PIN_AFIO_AF(11, 0) | \
639  PIN_AFIO_AF(12, 0) | \
640  PIN_AFIO_AF(13, 0) | \
641  PIN_AFIO_AF(14, 0) | \
642  PIN_AFIO_AF(15, 0))
643 
644 /*
645  * GPIOF setup:
646  *
647  * PF0 - PF15 (input floating).
648  */
649 #define VAL_GPIOF_MODER (PIN_MODE_INPUT(0) | \
650  PIN_MODE_INPUT(1) | \
651  PIN_MODE_INPUT(2) | \
652  PIN_MODE_INPUT(3) | \
653  PIN_MODE_INPUT(4) | \
654  PIN_MODE_INPUT(5) | \
655  PIN_MODE_INPUT(6) | \
656  PIN_MODE_INPUT(7) | \
657  PIN_MODE_INPUT(8) | \
658  PIN_MODE_INPUT(9) | \
659  PIN_MODE_INPUT(10) | \
660  PIN_MODE_INPUT(11) | \
661  PIN_MODE_INPUT(12) | \
662  PIN_MODE_INPUT(13) | \
663  PIN_MODE_INPUT(14) | \
664  PIN_MODE_INPUT(15))
665 #define VAL_GPIOF_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
666  PIN_OTYPE_PUSHPULL(1) | \
667  PIN_OTYPE_PUSHPULL(2) | \
668  PIN_OTYPE_PUSHPULL(3) | \
669  PIN_OTYPE_PUSHPULL(4) | \
670  PIN_OTYPE_PUSHPULL(5) | \
671  PIN_OTYPE_PUSHPULL(6) | \
672  PIN_OTYPE_PUSHPULL(7) | \
673  PIN_OTYPE_PUSHPULL(8) | \
674  PIN_OTYPE_PUSHPULL(9) | \
675  PIN_OTYPE_PUSHPULL(10) | \
676  PIN_OTYPE_PUSHPULL(11) | \
677  PIN_OTYPE_PUSHPULL(12) | \
678  PIN_OTYPE_PUSHPULL(13) | \
679  PIN_OTYPE_PUSHPULL(14) | \
680  PIN_OTYPE_PUSHPULL(15))
681 #define VAL_GPIOF_OSPEEDR (PIN_OSPEED_100M(0) | \
682  PIN_OSPEED_100M(1) | \
683  PIN_OSPEED_100M(2) | \
684  PIN_OSPEED_100M(3) | \
685  PIN_OSPEED_100M(4) | \
686  PIN_OSPEED_100M(5) | \
687  PIN_OSPEED_100M(6) | \
688  PIN_OSPEED_100M(7) | \
689  PIN_OSPEED_100M(8) | \
690  PIN_OSPEED_100M(9) | \
691  PIN_OSPEED_100M(10) | \
692  PIN_OSPEED_100M(11) | \
693  PIN_OSPEED_100M(12) | \
694  PIN_OSPEED_100M(13) | \
695  PIN_OSPEED_100M(14) | \
696  PIN_OSPEED_100M(15))
697 #define VAL_GPIOF_PUPDR (PIN_PUPDR_FLOATING(0) | \
698  PIN_PUPDR_FLOATING(1) | \
699  PIN_PUPDR_FLOATING(2) | \
700  PIN_PUPDR_FLOATING(3) | \
701  PIN_PUPDR_FLOATING(4) | \
702  PIN_PUPDR_FLOATING(5) | \
703  PIN_PUPDR_FLOATING(6) | \
704  PIN_PUPDR_FLOATING(7) | \
705  PIN_PUPDR_FLOATING(8) | \
706  PIN_PUPDR_FLOATING(9) | \
707  PIN_PUPDR_FLOATING(10) | \
708  PIN_PUPDR_FLOATING(11) | \
709  PIN_PUPDR_FLOATING(12) | \
710  PIN_PUPDR_FLOATING(13) | \
711  PIN_PUPDR_FLOATING(14) | \
712  PIN_PUPDR_FLOATING(15))
713 #define VAL_GPIOF_ODR (PIN_ODR_HIGH(0) | \
714  PIN_ODR_HIGH(1) | \
715  PIN_ODR_HIGH(2) | \
716  PIN_ODR_HIGH(3) | \
717  PIN_ODR_HIGH(4) | \
718  PIN_ODR_HIGH(5) | \
719  PIN_ODR_HIGH(6) | \
720  PIN_ODR_HIGH(7) | \
721  PIN_ODR_HIGH(8) | \
722  PIN_ODR_HIGH(9) | \
723  PIN_ODR_HIGH(10) | \
724  PIN_ODR_HIGH(11) | \
725  PIN_ODR_HIGH(12) | \
726  PIN_ODR_HIGH(13) | \
727  PIN_ODR_HIGH(14) | \
728  PIN_ODR_HIGH(15))
729 #define VAL_GPIOF_AFRL (PIN_AFIO_AF(0, 0) | \
730  PIN_AFIO_AF(1, 0) | \
731  PIN_AFIO_AF(2, 0) | \
732  PIN_AFIO_AF(3, 0) | \
733  PIN_AFIO_AF(4, 0) | \
734  PIN_AFIO_AF(5, 0) | \
735  PIN_AFIO_AF(6, 0) | \
736  PIN_AFIO_AF(7, 0))
737 #define VAL_GPIOF_AFRH (PIN_AFIO_AF(8, 0) | \
738  PIN_AFIO_AF(9, 0) | \
739  PIN_AFIO_AF(10, 0) | \
740  PIN_AFIO_AF(11, 0) | \
741  PIN_AFIO_AF(12, 0) | \
742  PIN_AFIO_AF(13, 0) | \
743  PIN_AFIO_AF(14, 0) | \
744  PIN_AFIO_AF(15, 0))
745 
746 /*
747  * GPIOG setup:
748  *
749  * PG0 - PG15 (input floating).
750  */
751 #define VAL_GPIOG_MODER (PIN_MODE_INPUT(0) | \
752  PIN_MODE_INPUT(1) | \
753  PIN_MODE_INPUT(2) | \
754  PIN_MODE_INPUT(3) | \
755  PIN_MODE_INPUT(4) | \
756  PIN_MODE_INPUT(5) | \
757  PIN_MODE_INPUT(6) | \
758  PIN_MODE_INPUT(7) | \
759  PIN_MODE_INPUT(8) | \
760  PIN_MODE_INPUT(9) | \
761  PIN_MODE_INPUT(10) | \
762  PIN_MODE_INPUT(11) | \
763  PIN_MODE_INPUT(12) | \
764  PIN_MODE_INPUT(13) | \
765  PIN_MODE_INPUT(14) | \
766  PIN_MODE_INPUT(15))
767 #define VAL_GPIOG_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
768  PIN_OTYPE_PUSHPULL(1) | \
769  PIN_OTYPE_PUSHPULL(2) | \
770  PIN_OTYPE_PUSHPULL(3) | \
771  PIN_OTYPE_PUSHPULL(4) | \
772  PIN_OTYPE_PUSHPULL(5) | \
773  PIN_OTYPE_PUSHPULL(6) | \
774  PIN_OTYPE_PUSHPULL(7) | \
775  PIN_OTYPE_PUSHPULL(8) | \
776  PIN_OTYPE_PUSHPULL(9) | \
777  PIN_OTYPE_PUSHPULL(10) | \
778  PIN_OTYPE_PUSHPULL(11) | \
779  PIN_OTYPE_PUSHPULL(12) | \
780  PIN_OTYPE_PUSHPULL(13) | \
781  PIN_OTYPE_PUSHPULL(14) | \
782  PIN_OTYPE_PUSHPULL(15))
783 #define VAL_GPIOG_OSPEEDR (PIN_OSPEED_100M(0) | \
784  PIN_OSPEED_100M(1) | \
785  PIN_OSPEED_100M(2) | \
786  PIN_OSPEED_100M(3) | \
787  PIN_OSPEED_100M(4) | \
788  PIN_OSPEED_100M(5) | \
789  PIN_OSPEED_100M(6) | \
790  PIN_OSPEED_100M(7) | \
791  PIN_OSPEED_100M(8) | \
792  PIN_OSPEED_100M(9) | \
793  PIN_OSPEED_100M(10) | \
794  PIN_OSPEED_100M(11) | \
795  PIN_OSPEED_100M(12) | \
796  PIN_OSPEED_100M(13) | \
797  PIN_OSPEED_100M(14) | \
798  PIN_OSPEED_100M(15))
799 #define VAL_GPIOG_PUPDR (PIN_PUPDR_FLOATING(0) | \
800  PIN_PUPDR_FLOATING(1) | \
801  PIN_PUPDR_FLOATING(2) | \
802  PIN_PUPDR_FLOATING(3) | \
803  PIN_PUPDR_FLOATING(4) | \
804  PIN_PUPDR_FLOATING(5) | \
805  PIN_PUPDR_FLOATING(6) | \
806  PIN_PUPDR_FLOATING(7) | \
807  PIN_PUPDR_FLOATING(8) | \
808  PIN_PUPDR_FLOATING(9) | \
809  PIN_PUPDR_FLOATING(10) | \
810  PIN_PUPDR_FLOATING(11) | \
811  PIN_PUPDR_FLOATING(12) | \
812  PIN_PUPDR_FLOATING(13) | \
813  PIN_PUPDR_FLOATING(14) | \
814  PIN_PUPDR_FLOATING(15))
815 #define VAL_GPIOG_ODR (PIN_ODR_HIGH(0) | \
816  PIN_ODR_HIGH(1) | \
817  PIN_ODR_HIGH(2) | \
818  PIN_ODR_HIGH(3) | \
819  PIN_ODR_HIGH(4) | \
820  PIN_ODR_HIGH(5) | \
821  PIN_ODR_HIGH(6) | \
822  PIN_ODR_HIGH(7) | \
823  PIN_ODR_HIGH(8) | \
824  PIN_ODR_HIGH(9) | \
825  PIN_ODR_HIGH(10) | \
826  PIN_ODR_HIGH(11) | \
827  PIN_ODR_HIGH(12) | \
828  PIN_ODR_HIGH(13) | \
829  PIN_ODR_HIGH(14) | \
830  PIN_ODR_HIGH(15))
831 #define VAL_GPIOG_AFRL (PIN_AFIO_AF(0, 0) | \
832  PIN_AFIO_AF(1, 0) | \
833  PIN_AFIO_AF(2, 0) | \
834  PIN_AFIO_AF(3, 0) | \
835  PIN_AFIO_AF(4, 0) | \
836  PIN_AFIO_AF(5, 0) | \
837  PIN_AFIO_AF(6, 0) | \
838  PIN_AFIO_AF(7, 0))
839 #define VAL_GPIOG_AFRH (PIN_AFIO_AF(8, 0) | \
840  PIN_AFIO_AF(9, 0) | \
841  PIN_AFIO_AF(10, 0) | \
842  PIN_AFIO_AF(11, 0) | \
843  PIN_AFIO_AF(12, 0) | \
844  PIN_AFIO_AF(13, 0) | \
845  PIN_AFIO_AF(14, 0) | \
846  PIN_AFIO_AF(15, 0))
847 
848 /*
849  * GPIOH setup:
850  *
851  * PH0 - PH15 (input floating).
852  */
853 #define VAL_GPIOH_MODER (PIN_MODE_INPUT(0) | \
854  PIN_MODE_INPUT(1) | \
855  PIN_MODE_INPUT(2) | \
856  PIN_MODE_INPUT(3) | \
857  PIN_MODE_INPUT(4) | \
858  PIN_MODE_INPUT(5) | \
859  PIN_MODE_INPUT(6) | \
860  PIN_MODE_INPUT(7) | \
861  PIN_MODE_INPUT(8) | \
862  PIN_MODE_INPUT(9) | \
863  PIN_MODE_INPUT(10) | \
864  PIN_MODE_INPUT(11) | \
865  PIN_MODE_INPUT(12) | \
866  PIN_MODE_INPUT(13) | \
867  PIN_MODE_INPUT(14) | \
868  PIN_MODE_INPUT(15))
869 #define VAL_GPIOH_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
870  PIN_OTYPE_PUSHPULL(1) | \
871  PIN_OTYPE_PUSHPULL(2) | \
872  PIN_OTYPE_PUSHPULL(3) | \
873  PIN_OTYPE_PUSHPULL(4) | \
874  PIN_OTYPE_PUSHPULL(5) | \
875  PIN_OTYPE_PUSHPULL(6) | \
876  PIN_OTYPE_PUSHPULL(7) | \
877  PIN_OTYPE_PUSHPULL(8) | \
878  PIN_OTYPE_PUSHPULL(9) | \
879  PIN_OTYPE_PUSHPULL(10) | \
880  PIN_OTYPE_PUSHPULL(11) | \
881  PIN_OTYPE_PUSHPULL(12) | \
882  PIN_OTYPE_PUSHPULL(13) | \
883  PIN_OTYPE_PUSHPULL(14) | \
884  PIN_OTYPE_PUSHPULL(15))
885 #define VAL_GPIOH_OSPEEDR (PIN_OSPEED_100M(0) | \
886  PIN_OSPEED_100M(1) | \
887  PIN_OSPEED_100M(2) | \
888  PIN_OSPEED_100M(3) | \
889  PIN_OSPEED_100M(4) | \
890  PIN_OSPEED_100M(5) | \
891  PIN_OSPEED_100M(6) | \
892  PIN_OSPEED_100M(7) | \
893  PIN_OSPEED_100M(8) | \
894  PIN_OSPEED_100M(9) | \
895  PIN_OSPEED_100M(10) | \
896  PIN_OSPEED_100M(11) | \
897  PIN_OSPEED_100M(12) | \
898  PIN_OSPEED_100M(13) | \
899  PIN_OSPEED_100M(14) | \
900  PIN_OSPEED_100M(15))
901 #define VAL_GPIOH_PUPDR (PIN_PUPDR_FLOATING(0) | \
902  PIN_PUPDR_FLOATING(1) | \
903  PIN_PUPDR_FLOATING(2) | \
904  PIN_PUPDR_FLOATING(3) | \
905  PIN_PUPDR_FLOATING(4) | \
906  PIN_PUPDR_FLOATING(5) | \
907  PIN_PUPDR_FLOATING(6) | \
908  PIN_PUPDR_FLOATING(7) | \
909  PIN_PUPDR_FLOATING(8) | \
910  PIN_PUPDR_FLOATING(9) | \
911  PIN_PUPDR_FLOATING(10) | \
912  PIN_PUPDR_FLOATING(11) | \
913  PIN_PUPDR_FLOATING(12) | \
914  PIN_PUPDR_FLOATING(13) | \
915  PIN_PUPDR_FLOATING(14) | \
916  PIN_PUPDR_FLOATING(15))
917 #define VAL_GPIOH_ODR (PIN_ODR_HIGH(0) | \
918  PIN_ODR_HIGH(1) | \
919  PIN_ODR_HIGH(2) | \
920  PIN_ODR_HIGH(3) | \
921  PIN_ODR_HIGH(4) | \
922  PIN_ODR_HIGH(5) | \
923  PIN_ODR_HIGH(6) | \
924  PIN_ODR_HIGH(7) | \
925  PIN_ODR_HIGH(8) | \
926  PIN_ODR_HIGH(9) | \
927  PIN_ODR_HIGH(10) | \
928  PIN_ODR_HIGH(11) | \
929  PIN_ODR_HIGH(12) | \
930  PIN_ODR_HIGH(13) | \
931  PIN_ODR_HIGH(14) | \
932  PIN_ODR_HIGH(15))
933 #define VAL_GPIOH_AFRL (PIN_AFIO_AF(0, 0) | \
934  PIN_AFIO_AF(1, 0) | \
935  PIN_AFIO_AF(2, 0) | \
936  PIN_AFIO_AF(3, 0) | \
937  PIN_AFIO_AF(4, 0) | \
938  PIN_AFIO_AF(5, 0) | \
939  PIN_AFIO_AF(6, 0) | \
940  PIN_AFIO_AF(7, 0))
941 #define VAL_GPIOH_AFRH (PIN_AFIO_AF(8, 0) | \
942  PIN_AFIO_AF(9, 0) | \
943  PIN_AFIO_AF(10, 0) | \
944  PIN_AFIO_AF(11, 0) | \
945  PIN_AFIO_AF(12, 0) | \
946  PIN_AFIO_AF(13, 0) | \
947  PIN_AFIO_AF(14, 0) | \
948  PIN_AFIO_AF(15, 0))
949 
950 /*
951  * GPIOI setup:
952  *
953  * PI0 - PI15 (input floating).
954  */
955 #define VAL_GPIOI_MODER (PIN_MODE_INPUT(0) | \
956  PIN_MODE_INPUT(1) | \
957  PIN_MODE_INPUT(2) | \
958  PIN_MODE_INPUT(3) | \
959  PIN_MODE_INPUT(4) | \
960  PIN_MODE_INPUT(5) | \
961  PIN_MODE_INPUT(6) | \
962  PIN_MODE_INPUT(7) | \
963  PIN_MODE_INPUT(8) | \
964  PIN_MODE_INPUT(9) | \
965  PIN_MODE_INPUT(10) | \
966  PIN_MODE_INPUT(11) | \
967  PIN_MODE_INPUT(12) | \
968  PIN_MODE_INPUT(13) | \
969  PIN_MODE_INPUT(14) | \
970  PIN_MODE_INPUT(15))
971 #define VAL_GPIOI_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
972  PIN_OTYPE_PUSHPULL(1) | \
973  PIN_OTYPE_PUSHPULL(2) | \
974  PIN_OTYPE_PUSHPULL(3) | \
975  PIN_OTYPE_PUSHPULL(4) | \
976  PIN_OTYPE_PUSHPULL(5) | \
977  PIN_OTYPE_PUSHPULL(6) | \
978  PIN_OTYPE_PUSHPULL(7) | \
979  PIN_OTYPE_PUSHPULL(8) | \
980  PIN_OTYPE_PUSHPULL(9) | \
981  PIN_OTYPE_PUSHPULL(10) | \
982  PIN_OTYPE_PUSHPULL(11) | \
983  PIN_OTYPE_PUSHPULL(12) | \
984  PIN_OTYPE_PUSHPULL(13) | \
985  PIN_OTYPE_PUSHPULL(14) | \
986  PIN_OTYPE_PUSHPULL(15))
987 #define VAL_GPIOI_OSPEEDR (PIN_OSPEED_100M(0) | \
988  PIN_OSPEED_100M(1) | \
989  PIN_OSPEED_100M(2) | \
990  PIN_OSPEED_100M(3) | \
991  PIN_OSPEED_100M(4) | \
992  PIN_OSPEED_100M(5) | \
993  PIN_OSPEED_100M(6) | \
994  PIN_OSPEED_100M(7) | \
995  PIN_OSPEED_100M(8) | \
996  PIN_OSPEED_100M(9) | \
997  PIN_OSPEED_100M(10) | \
998  PIN_OSPEED_100M(11) | \
999  PIN_OSPEED_100M(12) | \
1000  PIN_OSPEED_100M(13) | \
1001  PIN_OSPEED_100M(14) | \
1002  PIN_OSPEED_100M(15))
1003 #define VAL_GPIOI_PUPDR (PIN_PUPDR_FLOATING(0) | \
1004  PIN_PUPDR_FLOATING(1) | \
1005  PIN_PUPDR_FLOATING(2) | \
1006  PIN_PUPDR_FLOATING(3) | \
1007  PIN_PUPDR_FLOATING(4) | \
1008  PIN_PUPDR_FLOATING(5) | \
1009  PIN_PUPDR_FLOATING(6) | \
1010  PIN_PUPDR_FLOATING(7) | \
1011  PIN_PUPDR_FLOATING(8) | \
1012  PIN_PUPDR_FLOATING(9) | \
1013  PIN_PUPDR_FLOATING(10) | \
1014  PIN_PUPDR_FLOATING(11) | \
1015  PIN_PUPDR_FLOATING(12) | \
1016  PIN_PUPDR_FLOATING(13) | \
1017  PIN_PUPDR_FLOATING(14) | \
1018  PIN_PUPDR_FLOATING(15))
1019 #define VAL_GPIOI_ODR (PIN_ODR_HIGH(0) | \
1020  PIN_ODR_HIGH(1) | \
1021  PIN_ODR_HIGH(2) | \
1022  PIN_ODR_HIGH(3) | \
1023  PIN_ODR_HIGH(4) | \
1024  PIN_ODR_HIGH(5) | \
1025  PIN_ODR_HIGH(6) | \
1026  PIN_ODR_HIGH(7) | \
1027  PIN_ODR_HIGH(8) | \
1028  PIN_ODR_HIGH(9) | \
1029  PIN_ODR_HIGH(10) | \
1030  PIN_ODR_HIGH(11) | \
1031  PIN_ODR_HIGH(12) | \
1032  PIN_ODR_HIGH(13) | \
1033  PIN_ODR_HIGH(14) | \
1034  PIN_ODR_HIGH(15))
1035 #define VAL_GPIOI_AFRL (PIN_AFIO_AF(0, 0) | \
1036  PIN_AFIO_AF(1, 0) | \
1037  PIN_AFIO_AF(2, 0) | \
1038  PIN_AFIO_AF(3, 0) | \
1039  PIN_AFIO_AF(4, 0) | \
1040  PIN_AFIO_AF(5, 0) | \
1041  PIN_AFIO_AF(6, 0) | \
1042  PIN_AFIO_AF(7, 0))
1043 #define VAL_GPIOI_AFRH (PIN_AFIO_AF(8, 0) | \
1044  PIN_AFIO_AF(9, 0) | \
1045  PIN_AFIO_AF(10, 0) | \
1046  PIN_AFIO_AF(11, 0) | \
1047  PIN_AFIO_AF(12, 0) | \
1048  PIN_AFIO_AF(13, 0) | \
1049  PIN_AFIO_AF(14, 0) | \
1050  PIN_AFIO_AF(15, 0))
1051 
1052 
1053 /*
1054  * AHB_CLK
1055  */
1056 #define AHB_CLK STM32_HCLK
1057 
1058 
1059 /*
1060  * LEDs
1061  */
1062 /* 1 red, on PA8 */
1063 #ifndef USE_LED_1
1064 #define USE_LED_1 1
1065 #endif
1066 #define LED_1_GPIO GPIOA
1067 #define LED_1_GPIO_PIN 8
1068 #define LED_1_GPIO_ON gpio_clear
1069 #define LED_1_GPIO_OFF gpio_set
1070 
1071 /* 2 green, shared with JTAG_TRST */
1072 #ifndef USE_LED_2
1073 #define USE_LED_2 1
1074 #endif
1075 #define LED_2_GPIO GPIOB
1076 #define LED_2_GPIO_PIN 4
1077 #define LED_2_GPIO_ON gpio_clear
1078 #define LED_2_GPIO_OFF gpio_set
1079 
1080 /* 3 green, shared with ADC12 (ADC_6 on connector ANALOG2) */
1081 #ifndef USE_LED_3
1082 #define USE_LED_3 1
1083 #endif
1084 #define LED_3_GPIO GPIOC
1085 #define LED_3_GPIO_PIN 2
1086 #define LED_3_GPIO_ON gpio_clear
1087 #define LED_3_GPIO_OFF gpio_set
1088 
1089 /* 4 red, shared with ADC15 (ADC_4 on connector ANALOG2) */
1090 #ifndef USE_LED_4
1091 #define USE_LED_4 1
1092 #endif
1093 #define LED_4_GPIO GPIOC
1094 #define LED_4_GPIO_PIN 5
1095 #define LED_4_GPIO_ON gpio_clear
1096 #define LED_4_GPIO_OFF gpio_set
1097 
1098 /* 5 green, on PC15 */
1099 #ifndef USE_LED_5
1100 #define USE_LED_5 0
1101 #endif
1102 #define LED_5_GPIO GPIOC
1103 #define LED_5_GPIO_PIN 15
1104 #define LED_5_GPIO_ON gpio_set
1105 #define LED_5_GPIO_OFF gpio_clear
1106 
1107 /*
1108  * ADCs
1109  */
1110 // AUX 1
1111 #if USE_ADC_1
1112 #define AD1_1_CHANNEL ADC_CHANNEL_IN13
1113 #define ADC_1 AD1_1
1114 #define ADC_1_GPIO_PORT GPIOC
1115 #define ADC_1_GPIO_PIN GPIO3
1116 #endif
1117 
1118 // AUX 2
1119 #if USE_ADC_2
1120 #define AD1_2_CHANNEL ADC_CHANNEL_IN10
1121 #define ADC_2 AD1_2
1122 #define ADC_2_GPIO_PORT GPIOC
1123 #define ADC_2_GPIO_PIN GPIO0
1124 #endif
1125 
1126 // AUX 3
1127 #if USE_ADC_3
1128 #define AD1_3_CHANNEL ADC_CHANNEL_IN11
1129 #define ADC_3 AD1_3
1130 #define ADC_3_GPIO_PORT GPIOC
1131 #define ADC_3_GPIO_PIN GPIO1
1132 #endif
1133 
1134 // Internal ADC for battery enabled by default
1135 #ifndef USE_ADC_4
1136 #define USE_ADC_4 1
1137 #endif
1138 #if USE_ADC_4
1139 #define AD1_4_CHANNEL ADC_CHANNEL_IN14
1140 #define ADC_4 AD1_4
1141 #define ADC_4_GPIO_PORT GPIOC
1142 #define ADC_4_GPIO_PIN GPIO4
1143 #endif
1144 
1145 // Internal Temperature sensor enabled by default
1146 #ifndef USE_ADC_5
1147 #define USE_ADC_5 1
1148 #define USE_ADC_SENSOR 1
1149 #endif
1150 #if USE_ADC_5
1151 #define AD1_5_CHANNEL ADC_CHANNEL_SENSOR
1152 #define ADC_5 AD1_5
1153 #define ADC_5_GPIO_PORT GPIOC
1154 #define ADC_5_GPIO_PIN GPIO4
1155 #endif
1156 
1157 
1158 
1159 /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
1160 #ifndef ADC_CHANNEL_VSUPPLY
1161 #define ADC_CHANNEL_VSUPPLY ADC_4
1162 #endif
1163 
1164 #define DefaultVoltageOfAdc(adc) (0.004489*adc)
1165 
1166 /*
1167  * PWM defines
1168  */
1169 #ifndef USE_PWM0
1170 #define USE_PWM0 1
1171 #endif
1172 #if USE_PWM0
1173 #define PWM_SERVO_0 0
1174 #define PWM_SERVO_0_GPIO GPIOC
1175 #define PWM_SERVO_0_PIN GPIO6
1176 #define PWM_SERVO_0_AF GPIO_AF2
1177 #define PWM_SERVO_0_DRIVER PWMD3
1178 #define PWM_SERVO_0_CHANNEL 0
1179 #define PWM_SERVO_0_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
1180 #else
1181 #define PWM_SERVO_0_ACTIVE PWM_OUTPUT_DISABLED
1182 #endif
1183 
1184 #ifndef USE_PWM1
1185 #define USE_PWM1 1
1186 #endif
1187 #if USE_PWM1
1188 #define PWM_SERVO_1 1
1189 #define PWM_SERVO_1_GPIO GPIOC
1190 #define PWM_SERVO_1_PIN GPIO7
1191 #define PWM_SERVO_1_AF GPIO_AF2
1192 #define PWM_SERVO_1_DRIVER PWMD3
1193 #define PWM_SERVO_1_CHANNEL 1
1194 #define PWM_SERVO_1_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
1195 #else
1196 #define PWM_SERVO_1_ACTIVE PWM_OUTPUT_DISABLED
1197 #endif
1198 
1199 #ifndef USE_PWM2
1200 #define USE_PWM2 1
1201 #endif
1202 #if USE_PWM2
1203 #define PWM_SERVO_2 2
1204 #define PWM_SERVO_2_GPIO GPIOC
1205 #define PWM_SERVO_2_PIN GPIO8
1206 #define PWM_SERVO_2_AF GPIO_AF2
1207 #define PWM_SERVO_2_DRIVER PWMD3
1208 #define PWM_SERVO_2_CHANNEL 2
1209 #define PWM_SERVO_2_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
1210 #else
1211 #define PWM_SERVO_2_ACTIVE PWM_OUTPUT_DISABLED
1212 #endif
1213 
1214 #ifndef USE_PWM3
1215 #define USE_PWM3 1
1216 #endif
1217 #if USE_PWM3
1218 #define PWM_SERVO_3 3
1219 #define PWM_SERVO_3_GPIO GPIOC
1220 #define PWM_SERVO_3_PIN GPIO9
1221 #define PWM_SERVO_3_AF GPIO_AF2
1222 #define PWM_SERVO_3_DRIVER PWMD3
1223 #define PWM_SERVO_3_CHANNEL 3
1224 #define PWM_SERVO_3_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
1225 #else
1226 #define PWM_SERVO_3_ACTIVE PWM_OUTPUT_DISABLED
1227 #endif
1228 
1229 #ifndef USE_PWM4
1230 #define USE_PWM4 1
1231 #endif
1232 #if USE_PWM4
1233 #define PWM_SERVO_4 4
1234 #define PWM_SERVO_4_GPIO GPIOA
1235 #define PWM_SERVO_4_PIN GPIO0
1236 #define PWM_SERVO_4_AF GPIO_AF2
1237 #define PWM_SERVO_4_DRIVER PWMD5
1238 #define PWM_SERVO_4_CHANNEL 0
1239 #define PWM_SERVO_4_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
1240 #else
1241 #define PWM_SERVO_4_ACTIVE PWM_OUTPUT_DISABLED
1242 #endif
1243 
1244 #ifndef USE_PWM5
1245 #define USE_PWM5 1
1246 #endif
1247 #if USE_PWM5
1248 #define PWM_SERVO_5 5
1249 #define PWM_SERVO_5_GPIO GPIOA
1250 #define PWM_SERVO_5_PIN GPIO1
1251 #define PWM_SERVO_5_AF GPIO_AF2
1252 #define PWM_SERVO_5_DRIVER PWMD5
1253 #define PWM_SERVO_5_CHANNEL 1
1254 #define PWM_SERVO_5_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
1255 #else
1256 #define PWM_SERVO_5_ACTIVE PWM_OUTPUT_DISABLED
1257 #endif
1258 
1259 
1260 #if USE_SERVOS_7AND8
1261  #if USE_I2C1
1262  #error "You cannot USE_SERVOS_7AND8 and USE_I2C1 at the same time"
1263  #else /* !USE_I2C1 */
1264  #if USE_PWM6
1265  #define PWM_SERVO_6 6
1266  #define PWM_SERVO_6_GPIO GPIOB
1267  #define PWM_SERVO_6_PIN GPIO6
1268  #define PWM_SERVO_6_AF GPIO_AF2
1269  #define PWM_SERVO_6_DRIVER PWMD4
1270  #define PWM_SERVO_6_CHANNEL 0
1271  #define PWM_SERVO_6_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
1272  #else
1273  #define PWM_SERVO_6_ACTIVE PWM_OUTPUT_DISABLED
1274  #endif
1275 
1276  #if USE_PWM7
1277  #define PWM_SERVO_7 7
1278  #define PWM_SERVO_7_GPIO GPIOB
1279  #define PWM_SERVO_7_PIN GPIO7
1280  #define PWM_SERVO_7_AF GPIO_AF2
1281  #define PWM_SERVO_7_DRIVER PWMD4
1282  #define PWM_SERVO_7_CHANNEL 1
1283  #define PWM_SERVO_7_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
1284  #else
1285  #define PWM_SERVO_7_ACTIVE PWM_OUTPUT_DISABLED
1286  #endif
1287 
1288  #define PWM_CONF_TIM3 1
1289  #define PWM_CONF_TIM4 1
1290  #define PWM_CONF_TIM5 1
1291  #define PWM_CONF3_DEF { \
1292  PWM_FREQUENCY, \
1293  PWM_FREQUENCY/TIM3_SERVO_HZ, \
1294  NULL, \
1295  { \
1296  {PWM_SERVO_0_ACTIVE, NULL}, \
1297  {PWM_SERVO_1_ACTIVE, NULL}, \
1298  {PWM_SERVO_2_ACTIVE, NULL}, \
1299  {PWM_SERVO_3_ACTIVE, NULL} \
1300  }, \
1301  0, \
1302  0 \
1303  }
1304  #define PWM_CONF4_DEF { \
1305  PWM_FREQUENCY, \
1306  PWM_FREQUENCY/TIM4_SERVO_HZ, \
1307  NULL, \
1308  { \
1309  {PWM_SERVO_6_ACTIVE, NULL}, \
1310  {PWM_SERVO_7_ACTIVE, NULL}, \
1311  {PWM_OUTPUT_DISABLED, NULL}, \
1312  {PWM_OUTPUT_DISABLED, NULL} \
1313  }, \
1314  0, \
1315  0 \
1316  }
1317  #define PWM_CONF5_DEF { \
1318  PWM_FREQUENCY, \
1319  PWM_FREQUENCY/TIM5_SERVO_HZ, \
1320  NULL, \
1321  { \
1322  {PWM_SERVO_4_ACTIVE, NULL}, \
1323  {PWM_SERVO_5_ACTIVE, NULL}, \
1324  {PWM_OUTPUT_DISABLED, NULL}, \
1325  {PWM_OUTPUT_DISABLED, NULL} \
1326  }, \
1327  0, \
1328  0 \
1329  }
1330  #endif /* USE_I2C1 */
1331 #else /* !USE_SERVOS_7AND8 */
1332  #define PWM_CONF_TIM3 1
1333  #define PWM_CONF_TIM5 1
1334  #define PWM_CONF3_DEF { \
1335  PWM_FREQUENCY, \
1336  PWM_FREQUENCY/TIM3_SERVO_HZ, \
1337  NULL, \
1338  { \
1339  {PWM_SERVO_0_ACTIVE, NULL}, \
1340  {PWM_SERVO_1_ACTIVE, NULL}, \
1341  {PWM_SERVO_2_ACTIVE, NULL}, \
1342  {PWM_SERVO_3_ACTIVE, NULL} \
1343  }, \
1344  0, \
1345  0 \
1346  }
1347  #define PWM_CONF5_DEF { \
1348  PWM_FREQUENCY, \
1349  PWM_FREQUENCY/TIM5_SERVO_HZ, \
1350  NULL, \
1351  { \
1352  {PWM_SERVO_4_ACTIVE, NULL}, \
1353  {PWM_SERVO_5_ACTIVE, NULL}, \
1354  {PWM_OUTPUT_DISABLED, NULL}, \
1355  {PWM_OUTPUT_DISABLED, NULL} \
1356  }, \
1357  0, \
1358  0 \
1359  }
1360 #endif /* USE_SERVOS_7AND8 */
1361 
1362 
1366 #define RC_PPM_TICKS_PER_USEC 6
1367 #define PPM_TIMER_FREQUENCY 6000000
1368 #define PPM_CHANNEL ICU_CHANNEL_1
1369 #define PPM_TIMER ICUD1
1370 
1374 #define I2C1_CLOCK_SPEED 400000
1375 #define I2C1_CFG_DEF { \
1376  OPMODE_I2C, \
1377  I2C1_CLOCK_SPEED, \
1378  FAST_DUTY_CYCLE_2, \
1379  }
1380 
1381 #define I2C2_CLOCK_SPEED 400000
1382 #define I2C2_CFG_DEF { \
1383  OPMODE_I2C, \
1384  I2C2_CLOCK_SPEED, \
1385  FAST_DUTY_CYCLE_2, \
1386  }
1387 
1391 #define SPI_SELECT_SLAVE0_PORT GPIOA
1392 #define SPI_SELECT_SLAVE0_PIN GPIO15
1393 
1394 #define SPI_SELECT_SLAVE1_PORT GPIOA
1395 #define SPI_SELECT_SLAVE1_PIN GPIO4
1396 
1397 #define SPI_SELECT_SLAVE2_PORT GPIOB
1398 #define SPI_SELECT_SLAVE2_PIN GPIO12
1399 
1400 #define SPI_SELECT_SLAVE3_PORT GPIOC
1401 #define SPI_SELECT_SLAVE3_PIN GPIO13
1402 
1403 #define SPI_SELECT_SLAVE4_PORT GPIOC
1404 #define SPI_SELECT_SLAVE4_PIN GPIO12
1405 
1406 #define SPI_SELECT_SLAVE5_PORT GPIOC
1407 #define SPI_SELECT_SLAVE5_PIN GPIO4
1408 
1409 #define SPI1_GPIO_PORT_NSS GPIOA
1410 #define SPI1_GPIO_NSS GPIO4
1411 
1412 #define SPI2_GPIO_PORT_NSS GPIOB
1413 #define SPI2_GPIO_NSS GPIO12
1414 
1415 #define SPI3_GPIO_PORT_NSS GPIO
1416 
1423 #ifndef USE_BARO_BOARD
1424 #define USE_BARO_BOARD 1
1425 #endif
1426 
1427 /*
1428  * Actuators for fixedwing
1429  */
1430  /* Default actuators driver */
1431 #define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
1432 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
1433 #define ActuatorsDefaultInit() ActuatorsPwmInit()
1434 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
1435 
1436 #if !defined(_FROM_ASM_)
1437 #ifdef __cplusplus
1438 extern "C" {
1439 #endif
1440  void boardInit(void);
1441 #ifdef __cplusplus
1442 }
1443 #endif
1444 #endif /* _FROM_ASM_ */
1445 
1446 #endif /* _BOARD_H_ */
void boardInit(void)
Board-specific initialization code.
Definition: board.c:261