Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
matekF765-WING.h
Go to the documentation of this file.
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#ifndef CONFIG_MATEK_F765_WING_H
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#define CONFIG_MATEK_F765_WING_H
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#define BOARD_MATEK_F765_WING
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#include "
board.h
"
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/*
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* AHB_CLK
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*/
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#define AHB_CLK STM32_HCLK
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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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/* blue, 1 on LED_ON, 0 on LED_OFF */
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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_set
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#define LED_1_GPIO_OFF gpio_clear
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/* greeg, 1 on LED_ON, 0 on LED_OFF */
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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_set
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#define LED_2_GPIO_OFF gpio_clear
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/*
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* ADCs
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*/
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// AIRSPEED
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#if USE_ADC_1
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#define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AIRSPEED_ADC_IN)
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#define ADC_1 AD1_1
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#define ADC_1_GPIO_PORT PAL_PORT(LINE_AIRSPEED)
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#define ADC_1_GPIO_PIN PAL_PAD(LINE_AIRSPEED)
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#endif
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// RSSI
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#if USE_ADC_2
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#define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, RSSI_ADC_IN)
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#define ADC_2 AD1_2
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#define ADC_2_GPIO_PORT PAL_PORT(LINE_RSSI)
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#define ADC_2_GPIO_PIN PAL_PAD(LINE_RSSI)
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#endif
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// VBAT enabled by default
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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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#define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, VBAT_MEAS_ADC_IN)
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#define ADC_3 AD1_3
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#define ADC_3_GPIO_PORT PAL_PORT(LINE_VBAT_MEAS)
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#define ADC_3_GPIO_PIN PAL_PAD(LINE_VBAT_MEAS)
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#endif
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// CURRENT
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#if USE_ADC_4
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#define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, CURRENT_MEAS_ADC_IN)
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#define ADC_4 AD1_4
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#define ADC_4_GPIO_PORT PAL_PORT(LINE_CURRENT_MEAS)
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#define ADC_4_GPIO_PIN PAL_PAD(LINE_CURRENT_MEAS)
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#endif
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/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
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#ifndef ADC_CHANNEL_VSUPPLY
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#define ADC_CHANNEL_VSUPPLY ADC_3
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#endif
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/*
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* R1 = 1k
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* R2 = 10k
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* adc * (3.3 / 2^12) * ((R1 + R2) / R1)
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*/
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#define VBAT_R1 1000.0f
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#define VBAT_R2 10000.0f
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#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f)*((VBAT_R1+VBAT_R2)/VBAT_R1)*adc)
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/*
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* current sensor: 132A, 3.3V 12bits ADC -> 40 A/V -> 40000 * 3.3/2^12 mA/ADC
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*/
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#define DefaultMilliAmpereOfAdc(adc) ((40000.f*3.3f/4096.f)*adc)
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/*
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* PWM TIM defines
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* enable TIM 2, 4, 5, 8, 9 by default
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*/
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#ifndef USE_PWM_TIM2
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#define USE_PWM_TIM2 1
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#endif
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#ifndef USE_PWM_TIM4
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#define USE_PWM_TIM4 1
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#endif
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#ifndef USE_PWM_TIM5
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#define USE_PWM_TIM5 1
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#endif
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#ifndef USE_PWM_TIM8
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#define USE_PWM_TIM8 1
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#endif
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#ifndef USE_PWM_TIM9
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#define USE_PWM_TIM9 1
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#endif
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/*
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* PWM defines
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*/
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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_S1)
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#define PWM_SERVO_1_PIN PAL_PAD(LINE_S1)
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#define PWM_SERVO_1_AF AF_S1
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#define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, S1_TIM)
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#define PWM_SERVO_1_CHANNEL (S1_TIM_CH-1)
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#define PWM_SERVO_1_CONF CONCAT_BOARD_PARAM(pwmcfg, S1_TIM)
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#endif
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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_S2)
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#define PWM_SERVO_2_PIN PAL_PAD(LINE_S2)
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#define PWM_SERVO_2_AF AF_S2
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#define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, S2_TIM)
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#define PWM_SERVO_2_CHANNEL (S2_TIM_CH-1)
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#define PWM_SERVO_2_CONF CONCAT_BOARD_PARAM(pwmcfg, S2_TIM)
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#endif
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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_S3)
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#define PWM_SERVO_3_PIN PAL_PAD(LINE_S3)
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#define PWM_SERVO_3_AF AF_S3
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#define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, S3_TIM)
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#define PWM_SERVO_3_CHANNEL (S3_TIM_CH-1)
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#define PWM_SERVO_3_CONF CONCAT_BOARD_PARAM(pwmcfg, S3_TIM)
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#endif
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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_S4)
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#define PWM_SERVO_4_PIN PAL_PAD(LINE_S4)
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#define PWM_SERVO_4_AF AF_S4
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#define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, S4_TIM)
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#define PWM_SERVO_4_CHANNEL (S4_TIM_CH-1)
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#define PWM_SERVO_4_CONF CONCAT_BOARD_PARAM(pwmcfg, S4_TIM)
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#endif
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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_S5)
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#define PWM_SERVO_5_PIN PAL_PAD(LINE_S5)
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#define PWM_SERVO_5_AF AF_S5
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#define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, S5_TIM)
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#define PWM_SERVO_5_CHANNEL (S5_TIM_CH-1)
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#define PWM_SERVO_5_CONF CONCAT_BOARD_PARAM(pwmcfg, S5_TIM)
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#endif
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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_S6)
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#define PWM_SERVO_6_PIN PAL_PAD(LINE_S6)
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#define PWM_SERVO_6_AF AF_S6
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#define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, S6_TIM)
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#define PWM_SERVO_6_CHANNEL (S6_TIM_CH-1)
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#define PWM_SERVO_6_CONF CONCAT_BOARD_PARAM(pwmcfg, S6_TIM)
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#endif
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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_S7)
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#define PWM_SERVO_7_PIN PAL_PAD(LINE_S7)
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#define PWM_SERVO_7_AF AF_S7
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#define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, S7_TIM)
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#define PWM_SERVO_7_CHANNEL (S7_TIM_CH-1)
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#define PWM_SERVO_7_CONF CONCAT_BOARD_PARAM(pwmcfg, S7_TIM)
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#endif
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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_S8)
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#define PWM_SERVO_8_PIN PAL_PAD(LINE_S8)
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#define PWM_SERVO_8_AF AF_S8
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#define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, S8_TIM)
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#define PWM_SERVO_8_CHANNEL (S8_TIM_CH-1)
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#define PWM_SERVO_8_CONF CONCAT_BOARD_PARAM(pwmcfg, S8_TIM)
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#endif
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#ifndef USE_PWM9
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#define USE_PWM9 1
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#endif
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#if USE_PWM9
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#define PWM_SERVO_9 9
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#define PWM_SERVO_9_GPIO PAL_PORT(LINE_S9)
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#define PWM_SERVO_9_PIN PAL_PAD(LINE_S9)
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#define PWM_SERVO_9_AF AF_S9
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#define PWM_SERVO_9_DRIVER CONCAT_BOARD_PARAM(PWMD, S9_TIM)
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#define PWM_SERVO_9_CHANNEL (S9_TIM_CH-1)
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#define PWM_SERVO_9_CONF CONCAT_BOARD_PARAM(pwmcfg, S9_TIM)
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#endif
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#ifndef USE_PWM10
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#define USE_PWM10 1
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#endif
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#if USE_PWM10
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#define PWM_SERVO_10 10
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#define PWM_SERVO_10_GPIO PAL_PORT(LINE_S10)
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#define PWM_SERVO_10_PIN PAL_PAD(LINE_S10)
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#define PWM_SERVO_10_AF AF_S10
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#define PWM_SERVO_10_DRIVER CONCAT_BOARD_PARAM(PWMD, S10_TIM)
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#define PWM_SERVO_10_CHANNEL (S10_TIM_CH-1)
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#define PWM_SERVO_10_CONF CONCAT_BOARD_PARAM(pwmcfg, S10_TIM)
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#endif
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#ifndef USE_PWM11
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#define USE_PWM11 0
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#endif
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#if USE_PWM11
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#define PWM_SERVO_11 11
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#define PWM_SERVO_11_GPIO PAL_PORT(LINE_S11)
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#define PWM_SERVO_11_PIN PAL_PAD(LINE_S11)
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#define PWM_SERVO_11_AF AF_S11
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#define PWM_SERVO_11_DRIVER CONCAT_BOARD_PARAM(PWMD, S11_TIM)
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#define PWM_SERVO_11_CHANNEL (S11_TIM_CH-1)
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#define PWM_SERVO_11_CONF CONCAT_BOARD_PARAM(pwmcfg, S11_TIM)
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#endif
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#ifndef USE_PWM12
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#define USE_PWM12 0
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#endif
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#if USE_PWM12
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#define PWM_SERVO_12 12
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#define PWM_SERVO_12_GPIO PAL_PORT(LINE_S12)
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#define PWM_SERVO_12_PIN PAL_PAD(LINE_S12)
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#define PWM_SERVO_12_AF AF_12
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#define PWM_SERVO_12_DRIVER CONCAT_BOARD_PARAM(PWMD, S12_TIM)
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#define PWM_SERVO_12_CHANNEL (S12_TIM_CH-1)
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#define PWM_SERVO_12_CONF CONCAT_BOARD_PARAM(pwmcfg, S12_TIM)
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#endif
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// servo index starting at 1 + regular servos + aux servos
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// so NB = 1+10+2
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#define ACTUATORS_PWM_NB 13
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#ifndef DSHOT_TELEMETRY_DEV
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#define DSHOT_TELEMETRY_DEV NULL
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#endif
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#ifndef USE_DSHOT_TIM4
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#define USE_DSHOT_TIM4 1
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#endif
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#if USE_DSHOT_TIM4
// Servo 7, 8, 9, 10 on TIM4
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// Servo B1, B2, B3, B4 on TM4 are primary DSHOT connector
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#define DSHOT_SERVO_7 1
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#define DSHOT_SERVO_7_GPIO PAL_PORT(LINE_S7)
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#define DSHOT_SERVO_7_PIN PAL_PAD(LINE_S7)
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#define DSHOT_SERVO_7_AF AF_S7
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#define DSHOT_SERVO_7_DRIVER CONCAT_BOARD_PARAM(DSHOTD, S7_TIM)
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#define DSHOT_SERVO_7_CHANNEL S7_TIM_CH
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#define DSHOT_SERVO_8 2
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#define DSHOT_SERVO_8_GPIO PAL_PORT(LINE_S8)
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#define DSHOT_SERVO_8_PIN PAL_PAD(LINE_S8)
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#define DSHOT_SERVO_8_AF AF_S8
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#define DSHOT_SERVO_8_DRIVER CONCAT_BOARD_PARAM(DSHOTD, S8_TIM)
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#define DSHOT_SERVO_8_CHANNEL S8_TIM_CH
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#define DSHOT_SERVO_9 3
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#define DSHOT_SERVO_9_GPIO PAL_PORT(LINE_S9)
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#define DSHOT_SERVO_9_PIN PAL_PAD(LINE_S9)
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#define DSHOT_SERVO_9_AF AF_S9
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#define DSHOT_SERVO_9_DRIVER CONCAT_BOARD_PARAM(DSHOTD, S9_TIM)
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#define DSHOT_SERVO_9_CHANNEL S9_TIM_CH
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#define DSHOT_SERVO_10 4
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#define DSHOT_SERVO_10_GPIO PAL_PORT(LINE_S10)
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#define DSHOT_SERVO_10_PIN PAL_PAD(LINE_S10)
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#define DSHOT_SERVO_10_AF AF_S10
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#define DSHOT_SERVO_10_DRIVER CONCAT_BOARD_PARAM(DSHOTD, S10_TIM)
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#define DSHOT_SERVO_10_CHANNEL S10_TIM_CH
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#define DSHOT_CONF_TIM4 1
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#define DSHOT_CONF4_DEF { \
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.dma_stream = STM32_PWM4_UP_DMA_STREAM, \
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.dma_channel = STM32_PWM4_UP_DMA_CHANNEL, \
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.pwmp = &PWMD4, \
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.tlm_sd = DSHOT_TELEMETRY_DEV, \
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.dma_buf = &dshot4DmaBuffer, \
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.dcache_memory_in_use = false \
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}
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#endif
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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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#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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#define UART7_GPIO_AF AF_UART7_TX
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#ifndef UART7_HW_FLOW_CONTROL
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#define UART7_HW_FLOW_CONTROL FALSE
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#endif
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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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#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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#define UART2_GPIO_AF AF_UART2_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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#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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#define UART3_GPIO_AF AF_UART3_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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#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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#define UART8_GPIO_AF AF_UART8_TX
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#define USE_UART6_RX TRUE
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#define USE_UART6_TX FALSE
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#define UART6_GPIO_PORT_RX PAL_PORT(LINE_RC1)
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#define UART6_GPIO_RX PAL_PAD(LINE_RC1)
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#define UART6_GPIO_AF RC1_USART_AF
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/* The line that is pulled low at power up to initiate the bind process
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* PB1: AUXb4
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*/
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#define SPEKTRUM_BIND_PIN PAL_PORT(LINE_XXX)
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#define SPEKTRUM_BIND_PIN_PORT PAL_PAD(LINE_XXX)
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// no wait with chibios as the RTC oscillator takes longer to stabilize
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#define SPEKTRUM_BIND_WAIT 30000
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#define RC_PPM_TICKS_PER_USEC 6
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#define PPM_TIMER_FREQUENCY 6000000
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#define PPM_CHANNEL CONCAT_BOARD_PARAM(ICU_CHANNEL_, RC2_TIM_CH)
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#define PPM_TIMER CONCAT_BOARD_PARAM(ICUD, RC2_TIM)
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/*
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* PWM input
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*/
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// PWM_INPUT 1
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#define PWM_INPUT1_ICU ICUD1
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#define PWM_INPUT1_CHANNEL ICU_CHANNEL_1
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#define PWM_INPUT1_GPIO_PORT PAL_PORT(LINE_LED_WS2812)
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#define PWM_INPUT1_GPIO_PIN PAL_PAD(LINE_LED_WS2812)
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#define PWM_INPUT1_GPIO_AF AF_LED_WS2812
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// Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK
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#define STM32_CR1_DNF(n) ((n & 0x0f) << 8)
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// Timing register
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#define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(0U) | \
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STM32_TIMINGR_SCLDEL(10U) | STM32_TIMINGR_SDADEL(0U) | \
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STM32_TIMINGR_SCLH(34U) | STM32_TIMINGR_SCLL(86U))
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#define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(1U) | \
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STM32_TIMINGR_SCLDEL(9U) | STM32_TIMINGR_SDADEL(0U) | \
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STM32_TIMINGR_SCLH(105U) | STM32_TIMINGR_SCLL(153U))
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#ifndef I2C1_CLOCK_SPEED
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#define I2C1_CLOCK_SPEED 400000
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#endif
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#if I2C1_CLOCK_SPEED == 400000
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#define I2C1_CFG_DEF { \
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.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#elif I2C1_CLOCK_SPEED == 100000
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#define I2C1_CFG_DEF { \
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.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#else
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#error "Unknown I2C1 clock speed"
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#endif
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#ifndef I2C2_CLOCK_SPEED
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#define I2C2_CLOCK_SPEED 400000
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#endif
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#if I2C2_CLOCK_SPEED == 400000
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#define I2C2_CFG_DEF { \
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.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
468
}
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#elif I2C2_CLOCK_SPEED == 100000
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#define I2C2_CFG_DEF { \
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.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
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.cr1 = STM32_CR1_DNF(0), \
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.cr2 = 0 \
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}
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#else
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#error "Unknown I2C2 clock speed"
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#endif
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// Internal SPI (IMU1)
484
#define SPI3_GPIO_AF AF_SPI3_CLK
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#define SPI3_GPIO_PORT_MISO PAL_PORT(LINE_SPI3_MISO)
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#define SPI3_GPIO_MISO PAL_PAD(LINE_SPI3_MISO)
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#define SPI3_GPIO_PORT_MOSI PAL_PORT(LINE_SPI3_MOSI)
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#define SPI3_GPIO_MOSI PAL_PAD(LINE_SPI3_MOSI)
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#define SPI3_GPIO_PORT_SCK PAL_PORT(LINE_SPI3_CLK)
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#define SPI3_GPIO_SCK PAL_PAD(LINE_SPI3_CLK)
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492
// Internal SPI (IMU2)
493
#define SPI1_GPIO_AF AF_SPI1_CLK
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#define SPI1_GPIO_PORT_MISO PAL_PORT(LINE_SPI1_MISO)
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#define SPI1_GPIO_MISO PAL_PAD(LINE_SPI1_MISO)
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#define SPI1_GPIO_PORT_MOSI PAL_PORT(LINE_SPI1_MOSI)
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#define SPI1_GPIO_MOSI PAL_PAD(LINE_SPI1_MOSI)
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#define SPI1_GPIO_PORT_SCK PAL_PORT(LINE_SPI1_CLK)
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#define SPI1_GPIO_SCK PAL_PAD(LINE_SPI1_CLK)
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// Internal SPI (OSD)
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#define SPI2_GPIO_AF AF_SPI2_CLK
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#define SPI2_GPIO_PORT_MISO PAL_PORT(LINE_SPI2_MISO)
504
#define SPI2_GPIO_MISO PAL_PAD(LINE_SPI2_MISO)
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#define SPI2_GPIO_PORT_MOSI PAL_PORT(LINE_SPI2_MOSI)
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#define SPI2_GPIO_MOSI PAL_PAD(LINE_SPI2_MOSI)
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#define SPI2_GPIO_PORT_SCK PAL_PORT(LINE_SPI2_CLK)
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#define SPI2_GPIO_SCK PAL_PAD(LINE_SPI2_CLK)
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510
// External SPI
511
#define SPI4_GPIO_AF AF_SPI4_INTERNAL_CLK
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#define SPI4_GPIO_PORT_MISO PAL_PORT(LINE_SPI4_INTERNAL_MISO)
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#define SPI4_GPIO_MISO PAL_PAD(LINE_SPI4_INTERNAL_MISO)
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#define SPI4_GPIO_PORT_MOSI PAL_PORT(LINE_SPI4_INTERNAL_MOSI)
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#define SPI4_GPIO_MOSI PAL_PAD(LINE_SPI4_INTERNAL_MOSI)
516
#define SPI4_GPIO_PORT_SCK PAL_PORT(LINE_SPI4_INTERNAL_CLK)
517
#define SPI4_GPIO_SCK PAL_PAD(LINE_SPI4_INTERNAL_CLK)
518
519
// SLAVE0 on SPI4 connector
520
#define SPI_SELECT_SLAVE0_PORT PAL_PORT(LINE_SPI4_CS)
521
#define SPI_SELECT_SLAVE0_PIN PAL_PAD(LINE_SPI4_CS)
522
// SLAVE1 on S11
523
#define SPI_SELECT_SLAVE1_PORT PAL_PORT(LINE_S11)
524
#define SPI_SELECT_SLAVE1_PIN PAL_PAD(LINE_S11)
525
// SLAVE2 on S12
526
#define SPI_SELECT_SLAVE2_PORT PAL_PORT(LINE_S11)
527
#define SPI_SELECT_SLAVE2_PIN PAL_PAD(LINE_S12)
528
// SLAVE3 on IMU1 (MPU6000)
529
#define SPI_SELECT_SLAVE3_PORT PAL_PORT(LINE_IMU1_CS)
530
#define SPI_SELECT_SLAVE3_PIN PAL_PAD(LINE_IMU1_CS)
531
// SLAVE4 on IMU2 (ICM20602)
532
#define SPI_SELECT_SLAVE4_PORT PAL_PORT(LINE_IMU2_CS)
533
#define SPI_SELECT_SLAVE4_PIN PAL_PAD(LINE_IMU2_CS)
534
// SLAVE5 on OSD
535
#define SPI_SELECT_SLAVE5_PORT PAL_PORT(LINE_OSD_CS)
536
#define SPI_SELECT_SLAVE5_PIN PAL_PAD(LINE_OSD_CS)
537
544
#ifndef USE_BARO_BOARD
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#define USE_BARO_BOARD 0
546
#endif
547
551
#define SDIO_D0_PORT PAL_PORT(LINE_SDMMC1_D0)
552
#define SDIO_D0_PIN PAL_PAD(LINE_SDMMC1_D0)
553
#define SDIO_D1_PORT PAL_PORT(LINE_SDMMC1_D1)
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#define SDIO_D1_PIN PAL_PAD(LINE_SDMMC1_D1)
555
#define SDIO_D2_PORT PAL_PORT(LINE_SDMMC1_D2)
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#define SDIO_D2_PIN PAL_PAD(LINE_SDMMC1_D2)
557
#define SDIO_D3_PORT PAL_PORT(LINE_SDMMC1_D3)
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#define SDIO_D3_PIN PAL_PAD(LINE_SDMMC1_D3)
559
#define SDIO_CK_PORT PAL_PORT(LINE_SDMMC1_CK)
560
#define SDIO_CK_PIN PAL_PAD(LINE_SDMMC1_CK)
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#define SDIO_CMD_PORT PAL_PORT(LINE_SDMMC1_CMD)
562
#define SDIO_CMD_PIN PAL_PAD(LINE_SDMMC1_CMD)
563
#define SDIO_AF AF_SDMMC1_CK
564
// bat monitoring for file closing
565
#define SDLOG_BAT_ADC CONCAT_BOARD_PARAM(ADCD, VBAT_MEAS_ADC)
566
#define SDLOG_BAT_CHAN CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, VBAT_MEAS_ADC_IN)
567
// usb led status
568
#define SDLOG_USB_LED 2
569
//#define SDLOG_USB_VBUS_PORT PAL_PORT(LINE_USB_VBUS) // FIXME
570
//#define SDLOG_USB_VBUS_PIN PAL_PAD(LINE_USB_VBUS)
571
572
573
/*
574
* Actuators for fixedwing
575
*/
576
/* Default actuators driver */
577
#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
578
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
579
#define ActuatorsDefaultInit() ActuatorsPwmInit()
580
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
581
585
#define WS2812D1_GPIO PAL_PORT(LINE_LED_WS2812)
586
#define WS2812D1_PIN PAL_PAD(LINE_LED_WS2812)
587
#define WS2812D1_AF AF_LED_WS2812
588
#define WS2812D1_CFG_DEF { \
589
.dma_stream = STM32_PWM1_UP_DMA_STREAM, \
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.dma_channel = STM32_PWM1_UP_DMA_CHANNEL, \
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.dma_priority = STM32_PWM1_UP_DMA_PRIORITY, \
592
.pwm_channel = 0, \
593
.pwmp = &PWMD1 \
594
}
595
596
#endif
/* CONFIG_MATEK_F765_WING_H */
597
board.h
sw
airborne
boards
mateksys
F765-WING
matekF765-WING.h
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