Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
nucleo144_f767zi.h
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1 #ifndef CONFIG_NUCLEO144_F767ZI_1_00_H
2 #define CONFIG_NUCLEO144_F767ZI_1_00_H
3 
4 #define BOARD_NUCLEO144_F767ZI
5 
14 
19 /*
20  * AHB_CLK
21  */
22 #define AHB_CLK STM32_HCLK
23 
24 /*
25  * Concat macro
26  */
27 #define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2
28 #define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)
29 
30 /*
31  * LEDs
32  */
33 /* green, on PB0, 1 on LED_ON, 0 on LED_OFF */
34 #ifndef USE_LED_1
35 #define USE_LED_1 1
36 #endif
37 #define LED_1_GPIO PAL_PORT(LINE_LED1)
38 #define LED_1_GPIO_PIN PAL_PAD(LINE_LED1)
39 #define LED_1_GPIO_ON gpio_set
40 #define LED_1_GPIO_OFF gpio_clear
41 
42 /* blue, on PB7, 1 on LED_ON, 0 on LED_OFF */
43 #ifndef USE_LED_2
44 #define USE_LED_2 1
45 #endif
46 #define LED_2_GPIO PAL_PORT(LINE_LED2)
47 #define LED_2_GPIO_PIN PAL_PAD(LINE_LED2)
48 #define LED_2_GPIO_ON gpio_set
49 #define LED_2_GPIO_OFF gpio_clear
50 
51 /* red, on PB14, 1 on LED_ON, 0 on LED_OFF (disabled by default as shared with SPI2) */
52 #ifndef USE_LED_3
53 #define USE_LED_3 0
54 #endif
55 #define LED_3_GPIO PAL_PORT(LINE_LED3)
56 #define LED_3_GPIO_PIN PAL_PAD(LINE_LED3)
57 #define LED_3_GPIO_ON gpio_set
58 #define LED_3_GPIO_OFF gpio_clear
59 
60 /*
61  * ADCs
62  */
63 // AUXa1
64 #if USE_ADC_1
65 #define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A1_ADC_IN)
66 #define ADC_1 AD1_1
67 #define ADC_1_GPIO_PORT PAL_PORT(LINE_AUX_A1)
68 #define ADC_1_GPIO_PIN PAL_PAD(LINE_AUX_A1)
69 #endif
70 
71 // AUXa2
72 #if USE_ADC_2
73 #define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A2_ADC_IN)
74 #define ADC_2 AD1_2
75 #define ADC_2_GPIO_PORT PAL_PORT(LINE_AUX_A2)
76 #define ADC_2_GPIO_PIN PAL_PAD(LINE_AUX_A2)
77 #endif
78 
79 // AUXa3
80 #if USE_ADC_3
81 #define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A3_ADC_IN)
82 #define ADC_3 AD1_3
83 #define ADC_3_GPIO_PORT PAL_PORT(LINE_AUX_A3)
84 #define ADC_3_GPIO_PIN PAL_PAD(LINE_AUX_A3)
85 #endif
86 
87 // AUXa4
88 #if USE_ADC_4
89 #define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A4_ADC_IN)
90 #define ADC_4 AD1_4
91 #define ADC_4_GPIO_PORT PAL_PORT(LINE_AUX_A4)
92 #define ADC_4_GPIO_PIN PAL_PAD(LINE_AUX_A4)
93 #endif
94 
95 // AUXb1
96 #if USE_ADC_5
97 #define AD1_5_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B1_ADC_IN)
98 #define ADC_5 AD1_5
99 #define ADC_5_GPIO_PORT PAL_PORT(LINE_AUX_B1)
100 #define ADC_5_GPIO_PIN PAL_PAD(LINE_AUX_B1)
101 #endif
102 
103 // AUXb2
104 #if USE_ADC_6
105 #define AD1_6_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B2_ADC_IN)
106 #define ADC_6 AD1_6
107 #define ADC_6_GPIO_PORT PAL_PORT(LINE_AUX_B2)
108 #define ADC_6_GPIO_PIN PAL_PAD(LINE_AUX_B2)
109 #endif
110 
111 // AUXb3
112 //#if USE_ADC_7
113 //#define AD1_7_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B3_ADC_IN)
114 //#define ADC_7 AD1_7
115 //#define ADC_7_GPIO_PORT PAL_PORT(LINE_AUX_B3)
116 //#define ADC_7_GPIO_PIN PAL_PAD(LINE_AUX_B3)
117 //#endif
118 
119 // AUXb4
120 #if USE_ADC_8
121 #define AD1_8_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B4_ADC_IN)
122 #define ADC_8 AD1_8
123 #define ADC_8_GPIO_PORT PAL_PORT(LINE_AUX_B4)
124 #define ADC_8_GPIO_PIN PAL_PAD(LINE_AUX_B4)
125 #endif
126 
127 // Internal ADC for battery enabled by default
128 #ifndef USE_ADC_9
129 #define USE_ADC_9 1
130 #endif
131 #if USE_ADC_9
132 #define AD1_9_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, VBAT_MEAS_ADC_IN)
133 #define ADC_9 AD1_9
134 #define ADC_9_GPIO_PORT PAL_PORT(LINE_VBAT_MEAS)
135 #define ADC_9_GPIO_PIN PAL_PAD(LINE_VBAT_MEAS)
136 #endif
137 
138 /* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
139 #ifndef ADC_CHANNEL_VSUPPLY
140 #define ADC_CHANNEL_VSUPPLY ADC_9
141 #endif
142 
143 /*
144  * R1 = 2.2k
145  * R2 = 12k
146  * adc * (3.3 / 2^12) * ((R1 + R2) / R1)
147  */
148 #define VBAT_R1 2200.0f
149 #define VBAT_R2 12000.0f
150 #define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f)*((VBAT_R1+VBAT_R2)/VBAT_R1)*adc)
151 
152 /*
153  * PWM TIM defines
154  * enable TIM1 and TIM4 by default
155  */
156 #ifndef USE_PWM_TIM1
157 #define USE_PWM_TIM1 1
158 #endif
159 
160 #ifndef USE_PWM_TIM4
161 #define USE_PWM_TIM4 1
162 #endif
163 
164 /*
165  * PWM defines
166  */
167 
168 // SRVa connectors, activated in PWM mode by default
169 
170 #ifndef USE_PWM1
171 #define USE_PWM1 1
172 #endif
173 #if USE_PWM1
174 #define PWM_SERVO_1 1
175 #define PWM_SERVO_1_GPIO PAL_PORT(LINE_SRVA1)
176 #define PWM_SERVO_1_PIN PAL_PAD(LINE_SRVA1)
177 #define PWM_SERVO_1_AF AF_SRVA1
178 #define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA1_TIM)
179 #define PWM_SERVO_1_CHANNEL (SRVA1_TIM_CH-1)
180 #define PWM_SERVO_1_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVA1_TIM)
181 #endif
182 
183 #ifndef USE_PWM2
184 #define USE_PWM2 1
185 #endif
186 #if USE_PWM2
187 #define PWM_SERVO_2 2
188 #define PWM_SERVO_2_GPIO PAL_PORT(LINE_SRVA2)
189 #define PWM_SERVO_2_PIN PAL_PAD(LINE_SRVA2)
190 #define PWM_SERVO_2_AF AF_SRVA2
191 #define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA2_TIM)
192 #define PWM_SERVO_2_CHANNEL (SRVA2_TIM_CH-1)
193 #define PWM_SERVO_2_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVA2_TIM)
194 #endif
195 
196 #ifndef USE_PWM3
197 #define USE_PWM3 1
198 #endif
199 #if USE_PWM3
200 #define PWM_SERVO_3 3
201 #define PWM_SERVO_3_GPIO PAL_PORT(LINE_SRVA3)
202 #define PWM_SERVO_3_PIN PAL_PAD(LINE_SRVA3)
203 #define PWM_SERVO_3_AF AF_SRVA3
204 #define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA3_TIM)
205 #define PWM_SERVO_3_CHANNEL (SRVA3_TIM_CH-1)
206 #define PWM_SERVO_3_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVA3_TIM)
207 #endif
208 
209 #ifndef USE_PWM4
210 #define USE_PWM4 1
211 #endif
212 #if USE_PWM4
213 #define PWM_SERVO_4 4
214 #define PWM_SERVO_4_GPIO PAL_PORT(LINE_SRVA4)
215 #define PWM_SERVO_4_PIN PAL_PAD(LINE_SRVA4)
216 #define PWM_SERVO_4_AF AF_SRVA4
217 #define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA4_TIM)
218 #define PWM_SERVO_4_CHANNEL (SRVA4_TIM_CH-1)
219 #define PWM_SERVO_4_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVA4_TIM)
220 #endif
221 
222 // SRVb connector, PWM mode disabled by default (DShot is enabled by default)
223 
224 #ifndef USE_PWM5
225 #define USE_PWM5 0
226 #endif
227 #if USE_PWM5
228 #define PWM_SERVO_5 5
229 #define PWM_SERVO_5_GPIO PAL_PORT(LINE_SRVB1)
230 #define PWM_SERVO_5_PIN PAL_PAD(LINE_SRVB1)
231 #define PWM_SERVO_5_AF AF_SRVB1
232 #define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB1_TIM)
233 #define PWM_SERVO_5_CHANNEL (SRVB1_TIM_CH-1)
234 #define PWM_SERVO_5_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVB1_TIM)
235 #endif
236 
237 #ifndef USE_PWM6
238 #define USE_PWM6 0
239 #endif
240 #if USE_PWM6
241 #define PWM_SERVO_6 6
242 #define PWM_SERVO_6_GPIO PAL_PORT(LINE_SRVB2)
243 #define PWM_SERVO_6_PIN PAL_PAD(LINE_SRVB2)
244 #define PWM_SERVO_6_AF AF_SRVB2
245 #define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB2_TIM)
246 #define PWM_SERVO_6_CHANNEL (SRVB2_TIM_CH-1)
247 #define PWM_SERVO_6_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVB2_TIM)
248 #endif
249 
250 #ifndef USE_PWM7
251 #define USE_PWM7 0
252 #endif
253 #if USE_PWM7
254 #define PWM_SERVO_7 7
255 #define PWM_SERVO_7_GPIO PAL_PORT(LINE_SRVB3)
256 #define PWM_SERVO_7_PIN PAL_PAD(LINE_SRVB3)
257 #define PWM_SERVO_7_AF AF_SRVB3
258 #define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB3_TIM)
259 #define PWM_SERVO_7_CHANNEL (SRVB3_TIM_CH-1)
260 #define PWM_SERVO_7_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVB3_TIM)
261 #endif
262 
263 #ifndef USE_PWM8
264 #define USE_PWM8 0
265 #endif
266 #if USE_PWM8
267 #define PWM_SERVO_8 8
268 #define PWM_SERVO_8_GPIO PAL_PORT(LINE_SRVB4)
269 #define PWM_SERVO_8_PIN PAL_PAD(LINE_SRVB4)
270 #define PWM_SERVO_8_AF AF_SRVB4
271 #define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB4_TIM)
272 #define PWM_SERVO_8_CHANNEL (SRVB4_TIM_CH-1)
273 #define PWM_SERVO_8_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVB4_TIM)
274 #endif
275 
276 #ifndef USE_PWM9
277 #define USE_PWM9 0
278 #endif
279 #if USE_PWM9
280 #define PWM_SERVO_9 9
281 #define PWM_SERVO_9_GPIO PAL_PORT(LINE_AUX_A1)
282 #define PWM_SERVO_9_PIN PAL_PAD(LINE_AUX_A1)
283 #define PWM_SERVO_9_AF GPIO_AF2
284 #define PWM_SERVO_9_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A1_TIM)
285 #define PWM_SERVO_9_CHANNEL (AUX_A1_TIM_CH-1)
286 #define PWM_SERVO_9_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A1_TIM)
287 #endif
288 
289 #ifndef USE_PWM10
290 #define USE_PWM10 0
291 #endif
292 #if USE_PWM10
293 #define PWM_SERVO_10 10
294 #define PWM_SERVO_10_GPIO PAL_PORT(LINE_AUX_A2)
295 #define PWM_SERVO_10_PIN PAL_PAD(LINE_AUX_A2)
296 #define PWM_SERVO_10_AF GPIO_AF2
297 #define PWM_SERVO_10_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A2_TIM)
298 #define PWM_SERVO_10_CHANNEL (AUX_A2_TIM_CH-1)
299 #define PWM_SERVO_10_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A2_TIM)
300 #endif
301 
302 #ifndef USE_PWM11
303 #define USE_PWM11 0
304 #endif
305 #if USE_PWM11
306 #define PWM_SERVO_11 11
307 #define PWM_SERVO_11_GPIO PAL_PORT(LINE_AUX_A3)
308 #define PWM_SERVO_11_PIN PAL_PAD(LINE_AUX_A3)
309 #define PWM_SERVO_11_AF GPIO_AF2
310 #define PWM_SERVO_11_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A3_TIM)
311 #define PWM_SERVO_11_CHANNEL (AUX_A3_TIM_CH-1)
312 #define PWM_SERVO_11_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A3_TIM)
313 #endif
314 
315 #ifndef USE_PWM12
316 #define USE_PWM12 0
317 #endif
318 #if USE_PWM12
319 #define PWM_SERVO_12 12
320 #define PWM_SERVO_12_GPIO PAL_PORT(LINE_AUX_A4)
321 #define PWM_SERVO_12_PIN PAL_PAD(LINE_AUX_A4)
322 #define PWM_SERVO_12_AF GPIO_AF2
323 #define PWM_SERVO_12_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A4_TIM)
324 #define PWM_SERVO_12_CHANNEL (AUX_A4_TIM_CH-1)
325 #define PWM_SERVO_12_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A4_TIM)
326 #endif
327 
328 #ifndef USE_PWM13
329 #define USE_PWM13 0
330 #endif
331 #if USE_PWM13
332 #define PWM_SERVO_13 13
333 #define PWM_SERVO_13_GPIO PAL_PORT(LINE_AUX_B1)
334 #define PWM_SERVO_13_PIN PAL_PAD(LINE_AUX_B1)
335 #define PWM_SERVO_13_AF GPIO_AF2
336 #define PWM_SERVO_13_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B1_TIM)
337 #define PWM_SERVO_13_CHANNEL (AUX_B1_TIM_CH-1)
338 #define PWM_SERVO_13_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B1_TIM)
339 #endif
340 
341 #ifndef USE_PWM14
342 #define USE_PWM14 0
343 #endif
344 #if USE_PWM14
345 #define PWM_SERVO_14 14
346 #define PWM_SERVO_14_GPIO PAL_PORT(LINE_AUX_B2)
347 #define PWM_SERVO_14_PIN PAL_PAD(LINE_AUX_B2)
348 #define PWM_SERVO_14_AF GPIO_AF2
349 #define PWM_SERVO_14_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B2_TIM)
350 #define PWM_SERVO_14_CHANNEL (AUX_B2_TIM_CH-1)
351 #define PWM_SERVO_14_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B2_TIM)
352 #endif
353 
354 //#ifndef USE_PWM15
355 //#define USE_PWM15 0
356 //#endif
357 //#if USE_PWM15
358 //#define PWM_SERVO_15 15
359 //#define PWM_SERVO_15_GPIO PAL_PORT(LINE_AUX_B3)
360 //#define PWM_SERVO_15_PIN PAL_PAD(LINE_AUX_B3)
361 //#define PWM_SERVO_15_AF GPIO_AF2
362 //#define PWM_SERVO_15_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B3_TIM)
363 //#define PWM_SERVO_15_CHANNEL (AUX_B3_TIM_CH-1)
364 //#define PWM_SERVO_15_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B3_TIM)
365 //#endif
366 
367 #ifndef USE_PWM16
368 #define USE_PWM16 0
369 #endif
370 #if USE_PWM16
371 #define PWM_SERVO_16 16
372 #define PWM_SERVO_16_GPIO PAL_PORT(LINE_AUX_B4)
373 #define PWM_SERVO_16_PIN PAL_PAD(LINE_AUX_B4)
374 #define PWM_SERVO_16_AF GPIO_AF2
375 #define PWM_SERVO_16_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B4_TIM)
376 #define PWM_SERVO_16_CHANNEL (AUX_B4_TIM_CH-1)
377 #define PWM_SERVO_16_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B4_TIM)
378 #endif
379 
380 // servo index starting at 1 + regular servos + aux servos
381 // so NB = 1+8+8
382 #define ACTUATORS_PWM_NB 17
383 
384 
388 #ifndef DSHOT_TELEMETRY_DEV
389 #define DSHOT_TELEMETRY_DEV NULL
390 #endif
391 
392 #ifndef USE_DSHOT_TIM4
393 #define USE_DSHOT_TIM4 1 // use SRVb for DShot by default
394 #endif
395 
396 #if USE_DSHOT_TIM4 // Servo B1, B2, B3, B4 on TIM4
397 
398 // Servo B1, B2, B3, B4 on TM4 are primary DSHOT connector
399 #define DSHOT_SERVO_1 1
400 #define DSHOT_SERVO_1_GPIO PAL_PORT(LINE_SRVB1)
401 #define DSHOT_SERVO_1_PIN PAL_PAD(LINE_SRVB1)
402 #define DSHOT_SERVO_1_AF AF_SRVB1
403 #define DSHOT_SERVO_1_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB1_TIM)
404 #define DSHOT_SERVO_1_CHANNEL SRVB1_TIM_CH
405 
406 #define DSHOT_SERVO_2 2
407 #define DSHOT_SERVO_2_GPIO PAL_PORT(LINE_SRVB2)
408 #define DSHOT_SERVO_2_PIN PAL_PAD(LINE_SRVB2)
409 #define DSHOT_SERVO_2_AF AF_SRVB2
410 #define DSHOT_SERVO_2_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB2_TIM)
411 #define DSHOT_SERVO_2_CHANNEL SRVB2_TIM_CH
412 
413 #define DSHOT_SERVO_3 3
414 #define DSHOT_SERVO_3_GPIO PAL_PORT(LINE_SRVB3)
415 #define DSHOT_SERVO_3_PIN PAL_PAD(LINE_SRVB3)
416 #define DSHOT_SERVO_3_AF AF_SRVB3
417 #define DSHOT_SERVO_3_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB3_TIM)
418 #define DSHOT_SERVO_3_CHANNEL SRVB3_TIM_CH
419 
420 #define DSHOT_SERVO_4 4
421 #define DSHOT_SERVO_4_GPIO PAL_PORT(LINE_SRVB4)
422 #define DSHOT_SERVO_4_PIN PAL_PAD(LINE_SRVB4)
423 #define DSHOT_SERVO_4_AF AF_SRVB4
424 #define DSHOT_SERVO_4_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB4_TIM)
425 #define DSHOT_SERVO_4_CHANNEL SRVB4_TIM_CH
426 
427 #define DSHOT_CONF_TIM4 1
428 #define DSHOT_CONF4_DEF { \
429  .dma_stream = STM32_PWM4_UP_DMA_STREAM, \
430  .dma_channel = STM32_PWM4_UP_DMA_CHANNEL, \
431  .pwmp = &PWMD4, \
432  .tlm_sd = DSHOT_TELEMETRY_DEV, \
433  .dma_buf = &dshot4DmaBuffer, \
434  .dcache_memory_in_use = false \
435 }
436 
437 #endif
438 
439 #if USE_DSHOT_TIM1 // Servo A1, A2, A3, A4 on TIM1 only activated if needed
440 
441 #define DSHOT_SERVO_5 5
442 #define DSHOT_SERVO_5_GPIO PAL_PORT(LINE_SRVA1)
443 #define DSHOT_SERVO_5_PIN PAL_PAD(LINE_SRVA1)
444 #define DSHOT_SERVO_5_AF AF_SRVA1
445 #define DSHOT_SERVO_5_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA1_TIM)
446 #define DSHOT_SERVO_5_CHANNEL SRVA1_TIM_CH
447 
448 #define DSHOT_SERVO_6 6
449 #define DSHOT_SERVO_6_GPIO PAL_PORT(LINE_SRVA2)
450 #define DSHOT_SERVO_6_PIN PAL_PAD(LINE_SRVA2)
451 #define DSHOT_SERVO_6_AF AF_SRVA2
452 #define DSHOT_SERVO_6_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA2_TIM)
453 #define DSHOT_SERVO_6_CHANNEL SRVA2_TIM_CH
454 
455 #define DSHOT_SERVO_7 7
456 #define DSHOT_SERVO_7_GPIO PAL_PORT(LINE_SRVA3)
457 #define DSHOT_SERVO_7_PIN PAL_PAD(LINE_SRVA3)
458 #define DSHOT_SERVO_7_AF AF_SRVA3
459 #define DSHOT_SERVO_7_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA3_TIM)
460 #define DSHOT_SERVO_7_CHANNEL SRVA3_TIM_CH
461 
462 #define DSHOT_SERVO_8 8
463 #define DSHOT_SERVO_8_GPIO PAL_PORT(LINE_SRVA4)
464 #define DSHOT_SERVO_8_PIN PAL_PAD(LINE_SRVA4)
465 #define DSHOT_SERVO_8_AF AF_SRVA4
466 #define DSHOT_SERVO_8_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA4_TIM)
467 #define DSHOT_SERVO_8_CHANNEL SRVA4_TIM_CH
468 
469 #define DSHOT_CONF_TIM1 1
470 #define DSHOT_CONF1_DEF { \
471  .dma_stream = STM32_PWM1_UP_DMA_STREAM, \
472  .dma_channel = STM32_PWM1_UP_DMA_CHANNEL, \
473  .pwmp = &PWMD1, \
474  .tlm_sd = DSHOT_TELEMETRY_DEV, \
475  .dma_buf = &dshot1DmaBuffer, \
476  .dcache_memory_in_use = false \
477 }
478 
479 #endif
480 
484 #define UART2_GPIO_PORT_TX PAL_PORT(LINE_UART2_TX)
485 #define UART2_GPIO_TX PAL_PAD(LINE_UART2_TX)
486 #define UART2_GPIO_PORT_RX PAL_PORT(LINE_UART2_RX)
487 #define UART2_GPIO_RX PAL_PAD(LINE_UART2_RX)
488 #define UART2_GPIO_AF AF_UART2_TX
489 #ifndef UART2_HW_FLOW_CONTROL
490 #define UART2_HW_FLOW_CONTROL FALSE
491 #endif
492 
498 #define UART3_GPIO_PORT_TX PAL_PORT(LINE_UART3_TX)
499 #define UART3_GPIO_TX PAL_PAD(LINE_UART3_TX)
500 #define UART3_GPIO_PORT_RX PAL_PORT(LINE_UART3_RX)
501 #define UART3_GPIO_RX PAL_PAD(LINE_UART3_RX)
502 #define UART3_GPIO_AF AF_UART3_TX
503 
504 #define UART7_GPIO_PORT_TX PAL_PORT(LINE_UART7_TX)
505 #define UART7_GPIO_TX PAL_PAD(LINE_UART7_TX)
506 #define UART7_GPIO_PORT_RX PAL_PORT(LINE_UART7_RX)
507 #define UART7_GPIO_RX PAL_PAD(LINE_UART7_RX)
508 #define UART7_GPIO_AF AF_UART7_TX
509 
514 #define UART4_GPIO_PORT_TX PAL_PORT(LINE_AUX_A1)
515 #define UART4_GPIO_TX PAL_PAD(LINE_AUX_A1)
516 #define UART4_GPIO_PORT_RX PAL_PORT(LINE_AUX_A2)
517 #define UART4_GPIO_RX PAL_PAD(LINE_AUX_A2)
518 #define UART4_GPIO_AF AUX_A1_UART_AF
519 
532 // In case, do dynamic config of UARTs
533 #define USE_UART8_RX TRUE
534 #ifndef USE_UART8_TX // may be used in half duplex mode
535 #define USE_UART8_TX FALSE
536 #endif
537 #define UART8_GPIO_PORT_RX PAL_PORT(LINE_RC1)
538 #define UART8_GPIO_RX PAL_PAD(LINE_RC1)
539 #define UART8_GPIO_AF RC1_UART_AF
540 
541 // FIXME when RC2 is used for FrSky telemetry
542 #define USE_UART6_RX TRUE
543 #define USE_UART6_TX FALSE
544 #define UART6_GPIO_PORT_RX PAL_PORT(LINE_RC2)
545 #define UART6_GPIO_RX PAL_PAD(LINE_RC2)
546 #define UART6_GPIO_AF RC2_USART_AF
547 
548 /* The line that is pulled low at power up to initiate the bind process
549  * PB1: AUXb4
550  */
551 #define SPEKTRUM_BIND_PIN PAL_PORT(LINE_AUX_B4)
552 #define SPEKTRUM_BIND_PIN_PORT PAL_PAD(LINE_AUX_B4)
553 
554 // no wait with chibios as the RTC oscillator takes longer to stabilize
555 #define SPEKTRUM_BIND_WAIT 30000
556 
562 #define RC_PPM_TICKS_PER_USEC 6
563 #define PPM_TIMER_FREQUENCY 6000000
564 #define PPM_CHANNEL CONCAT_BOARD_PARAM(ICU_CHANNEL_, RC2_TIM_CH)
565 #define PPM_TIMER CONCAT_BOARD_PARAM(ICUD, RC2_TIM)
566 
567 /*
568  * PWM input
569  */
570 // PWM_INPUT 1 on PA0 (AUXa1)
571 #define PWM_INPUT1_ICU ICUD2
572 #define PWM_INPUT1_CHANNEL ICU_CHANNEL_1
573 #define PWM_INPUT1_GPIO_PORT PAL_PORT(LINE_AUX_A1)
574 #define PWM_INPUT1_GPIO_PIN PAL_PAD(LINE_AUX_A1)
575 #define PWM_INPUT1_GPIO_AF GPIO_AF1
576 
577 // PWM_INPUT 2 on PA1 (AUXa2)
578 #define PWM_INPUT2_ICU ICUD5
579 #define PWM_INPUT2_CHANNEL ICU_CHANNEL_2
580 #define PWM_INPUT2_GPIO_PORT PAL_PORT(LINE_AUX_A2)
581 #define PWM_INPUT2_GPIO_PIN PAL_PAD(LINE_AUX_A2)
582 #define PWM_INPUT2_GPIO_AF GPIO_AF2
583 
587 // Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK
588 #define STM32_CR1_DNF(n) ((n & 0x0f) << 8)
589 // Timing register
590 #define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(0U) | \
591  STM32_TIMINGR_SCLDEL(10U) | STM32_TIMINGR_SDADEL(0U) | \
592  STM32_TIMINGR_SCLH(34U) | STM32_TIMINGR_SCLL(86U))
593 #define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(1U) | \
594  STM32_TIMINGR_SCLDEL(9U) | STM32_TIMINGR_SDADEL(0U) | \
595  STM32_TIMINGR_SCLH(105U) | STM32_TIMINGR_SCLL(153U))
596 
597 
598 // Internal I2C (baro, magneto)
599 
600 #ifndef I2C4_CLOCK_SPEED
601 #define I2C4_CLOCK_SPEED 400000
602 #endif
603 
604 #if I2C4_CLOCK_SPEED == 400000
605 #define I2C4_CFG_DEF { \
606  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
607  .cr1 = STM32_CR1_DNF(0), \
608  .cr2 = 0 \
609 }
610 #elif I2C4_CLOCK_SPEED == 100000
611 #define I2C4_CFG_DEF { \
612  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
613  .cr1 = STM32_CR1_DNF(0), \
614  .cr2 = 0 \
615 }
616 #else
617 #error "Unknown I2C4 clock speed"
618 #endif
619 
620 // External I2C
621 
622 #ifndef I2C2_CLOCK_SPEED
623 #define I2C2_CLOCK_SPEED 400000
624 #endif
625 
626 #if I2C2_CLOCK_SPEED == 400000
627 #define I2C2_CFG_DEF { \
628  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
629  .cr1 = STM32_CR1_DNF(0), \
630  .cr2 = 0 \
631 }
632 #elif I2C2_CLOCK_SPEED == 100000
633 #define I2C2_CFG_DEF { \
634  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
635  .cr1 = STM32_CR1_DNF(0), \
636  .cr2 = 0 \
637 }
638 #else
639 #error "Unknown I2C2 clock speed"
640 #endif
641 
646 // Internal SPI (IMU)
647 #define SPI4_GPIO_AF AF_SPI4_INTERNAL_CLK
648 #define SPI4_GPIO_PORT_MISO PAL_PORT(LINE_SPI4_INTERNAL_MISO)
649 #define SPI4_GPIO_MISO PAL_PAD(LINE_SPI4_INTERNAL_MISO)
650 #define SPI4_GPIO_PORT_MOSI PAL_PORT(LINE_SPI4_INTERNAL_MOSI)
651 #define SPI4_GPIO_MOSI PAL_PAD(LINE_SPI4_INTERNAL_MOSI)
652 #define SPI4_GPIO_PORT_SCK PAL_PORT(LINE_SPI4_INTERNAL_CLK)
653 #define SPI4_GPIO_SCK PAL_PAD(LINE_SPI4_INTERNAL_CLK)
654 
655 // External SPI
656 #define SPI2_GPIO_AF AF_SPI2_EXTERNAL_CLK
657 #define SPI2_GPIO_PORT_MISO PAL_PORT(LINE_SPI2_EXTERNAL_MISO)
658 #define SPI2_GPIO_MISO PAL_PAD(LINE_SPI2_EXTERNAL_MISO)
659 #define SPI2_GPIO_PORT_MOSI PAL_PORT(LINE_SPI2_EXTERNAL_MOSI)
660 #define SPI2_GPIO_MOSI PAL_PAD(LINE_SPI2_EXTERNAL_MOSI)
661 #define SPI2_GPIO_PORT_SCK PAL_PORT(LINE_SPI2_EXTERNAL_CLK)
662 #define SPI2_GPIO_SCK PAL_PAD(LINE_SPI2_EXTERNAL_CLK)
663 
664 // SLAVE0 on SPI connector (NSS possible)
665 #define SPI_SELECT_SLAVE0_PORT PAL_PORT(LINE_SPI2_EXTERNAL_CS)
666 #define SPI_SELECT_SLAVE0_PIN PAL_PAD(LINE_SPI2_EXTERNAL_CS)
667 // SLAVE1 on AUXb1
668 #define SPI_SELECT_SLAVE1_PORT PAL_PORT(LINE_AUX_B1)
669 #define SPI_SELECT_SLAVE1_PIN PAL_PAD(LINE_AUX_B1)
670 // SLAVE2 on AUXb2
671 #define SPI_SELECT_SLAVE2_PORT PAL_PORT(LINE_AUX_B2)
672 #define SPI_SELECT_SLAVE2_PIN PAL_PAD(LINE_AUX_B2)
673 // SLAVE3 on AUXb3
674 //#define SPI_SELECT_SLAVE3_PORT PAL_PORT(LINE_AUX_B3)
675 //#define SPI_SELECT_SLAVE3_PIN PAL_PAD(LINE_AUX_B3)
676 // SLAVE4 on AUXb4
677 #define SPI_SELECT_SLAVE4_PORT PAL_PORT(LINE_AUX_B4)
678 #define SPI_SELECT_SLAVE4_PIN PAL_PAD(LINE_AUX_B4)
679 // SLAVE5 on PE4 (internal IMU)
680 #define SPI_SELECT_SLAVE5_PORT PAL_PORT(LINE_SPI4_INTERNAL_CS)
681 #define SPI_SELECT_SLAVE5_PIN PAL_PAD(LINE_SPI4_INTERNAL_CS)
682 
689 #ifndef USE_BARO_BOARD
690 #define USE_BARO_BOARD 0
691 #endif
692 
696 #define SDIO_D0_PORT PAL_PORT(LINE_SDMMC1_D0)
697 #define SDIO_D0_PIN PAL_PAD(LINE_SDMMC1_D0)
698 #define SDIO_D1_PORT PAL_PORT(LINE_SDMMC1_D1)
699 #define SDIO_D1_PIN PAL_PAD(LINE_SDMMC1_D1)
700 #define SDIO_D2_PORT PAL_PORT(LINE_SDMMC1_D2)
701 #define SDIO_D2_PIN PAL_PAD(LINE_SDMMC1_D2)
702 #define SDIO_D3_PORT PAL_PORT(LINE_SDMMC1_D3)
703 #define SDIO_D3_PIN PAL_PAD(LINE_SDMMC1_D3)
704 #define SDIO_CK_PORT PAL_PORT(LINE_SDMMC1_CK)
705 #define SDIO_CK_PIN PAL_PAD(LINE_SDMMC1_CK)
706 #define SDIO_CMD_PORT PAL_PORT(LINE_SDMMC1_CMD)
707 #define SDIO_CMD_PIN PAL_PAD(LINE_SDMMC1_CMD)
708 #define SDIO_AF AF_SDMMC1_CK
709 // bat monitoring for file closing
710 #define SDLOG_BAT_ADC CONCAT_BOARD_PARAM(ADCD, VBAT_MEAS_ADC)
711 #define SDLOG_BAT_CHAN CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, VBAT_MEAS_ADC_IN)
712 // usb led status
713 #define SDLOG_USB_LED 4
714 #define SDLOG_USB_VBUS_PORT PAL_PORT(LINE_USB_VBUS)
715 #define SDLOG_USB_VBUS_PIN PAL_PAD(LINE_USB_VBUS)
716 
717 
718 /*
719  * Actuators for fixedwing
720  */
721  /* Default actuators driver */
722 #define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
723 #define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
724 #define ActuatorsDefaultInit() ActuatorsPwmInit()
725 #define ActuatorsDefaultCommit() ActuatorsPwmCommit()
726 
730 #define WS2812D1_GPIO PAL_PORT(LINE_AUX_A1)
731 #define WS2812D1_PIN PAL_PAD(LINE_AUX_A1)
732 #define WS2812D1_AF 2
733 #define WS2812D1_CFG_DEF { \
734  .dma_stream = STM32_PWM5_UP_DMA_STREAM, \
735  .dma_channel = STM32_PWM5_UP_DMA_CHANNEL, \
736  .dma_priority = STM32_PWM5_UP_DMA_PRIORITY, \
737  .pwm_channel = 0, \
738  .pwmp = &PWMD5 \
739 }
740 
741 #endif /* CONFIG_NUCLEO144_F767ZI_1_00_H */
742