Paparazzi UAS v7.0_unstable
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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 Pixhawk PX4FMU_2.4 board
22 * Note the MCU used is STM32F427VIT6
23 */
24
25/*
26 * Board identifier.
27 */
28#define BOARD_PX4FMU_v2
29#define BOARD_NAME "Pixhawk PX4 FMU v 2.4"
30
31/*
32 * Board oscillators-related settings.
33 * NOTE: LSE NOT? fitted.
34 */
35#if !defined(STM32_LSECLK)
36#define STM32_LSECLK 0 // originally was 32000 ?
37#endif
38
39#if !defined(STM32_HSECLK)
40#define STM32_HSECLK 24000000
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 * I/O ports initial setup, this configuration is established soon after reset
57 * in the initialization code.
58 * Please refer to the STM32 Reference Manual for details.
59 */
60#define PIN_MODE_INPUT(n) (0U << ((n) * 2U))
61#define PIN_MODE_OUTPUT(n) (1U << ((n) * 2U))
62#define PIN_MODE_ALTERNATE(n) (2U << ((n) * 2U))
63#define PIN_MODE_ANALOG(n) (3U << ((n) * 2U))
64#define PIN_ODR_LOW(n) (0U << (n))
65#define PIN_ODR_HIGH(n) (1U << (n))
66#define PIN_OTYPE_PUSHPULL(n) (0U << (n))
67#define PIN_OTYPE_OPENDRAIN(n) (1U << (n))
68#define PIN_OSPEED_2M(n) (0U << ((n) * 2U))
69#define PIN_OSPEED_25M(n) (1U << ((n) * 2U))
70#define PIN_OSPEED_50M(n) (2U << ((n) * 2U))
71#define PIN_OSPEED_100M(n) (3U << ((n) * 2U))
72#define PIN_PUPDR_FLOATING(n) (0U << ((n) * 2U))
73#define PIN_PUPDR_PULLUP(n) (1U << ((n) * 2U))
74#define PIN_PUPDR_PULLDOWN(n) (2U << ((n) * 2U))
75#define PIN_AFIO_AF(n, v) ((v) << (((n) % 8U) * 4U))
76
77/*
78 * Port A setup.
79 *
80 * PA0 - Alternate Push Pull output 50MHz (UART4_TX)
81 * PA1 - Alternate Digital input (UART4_RX)
82 * PA2 - Analog input (BATT VOLTAGE SENS - ADC in)
83 * PA3 - Analog input (BATT CURRENT SENS - ADC in)
84 * PA4 - Analog input (VDD 5V SENS - ADC in)
85 * PA5 - Alternate Push Pull output 50MHz (EXTSPI1_SCK)
86 * PA6 - Alternate Digital input. (EXTSPI1_MISO)
87 * PA7 - Alternate Push Pull output 50MHz (EXTSPI1_MOSI)
88 * PA8 - Digital input (!VDD_5V_PERIPH_EN)
89 * PA9 - Digital input. (USB_VBUS)
90 * PA10 - Alternate Digital input (UART1_Rx)
91 * PA11 - Alternate input (USB_DM)
92 * PA12 - Alternate input (USB_DP)
93 * PA13 - Alternate Digital input (SWDIO)
94 * PA14 - Alternate Digital input (SWCLCK)
95 * PA15 - Digital output (ALARM)
96 */
97#define VAL_GPIOA_MODER (PIN_MODE_ALTERNATE(0)| \
98 PIN_MODE_ALTERNATE(1) | \
99 PIN_MODE_ANALOG(2) | \
100 PIN_MODE_ANALOG(3) | \
101 PIN_MODE_ANALOG(4) | \
102 PIN_MODE_ALTERNATE(5) | \
103 PIN_MODE_ALTERNATE(6) | \
104 PIN_MODE_ALTERNATE(7) | \
105 PIN_MODE_INPUT(8) | \
106 PIN_MODE_INPUT(9) | \
107 PIN_MODE_ALTERNATE(10) | \
108 PIN_MODE_ALTERNATE(11) | \
109 PIN_MODE_ALTERNATE(12) | \
110 PIN_MODE_ALTERNATE(13) | \
111 PIN_MODE_ALTERNATE(14) | \
112 PIN_MODE_OUTPUT(15))
113#define VAL_GPIOA_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
114 PIN_OTYPE_PUSHPULL(1) | \
115 PIN_OTYPE_PUSHPULL(2) | \
116 PIN_OTYPE_PUSHPULL(3) | \
117 PIN_OTYPE_PUSHPULL(4) | \
118 PIN_OTYPE_PUSHPULL(5) | \
119 PIN_OTYPE_PUSHPULL(6) | \
120 PIN_OTYPE_PUSHPULL(7) | \
121 PIN_OTYPE_PUSHPULL(8) | \
122 PIN_OTYPE_PUSHPULL(9) | \
123 PIN_OTYPE_PUSHPULL(10) | \
124 PIN_OTYPE_PUSHPULL(11) | \
125 PIN_OTYPE_PUSHPULL(12) | \
126 PIN_OTYPE_PUSHPULL(13) | \
127 PIN_OTYPE_PUSHPULL(14) | \
128 PIN_OTYPE_OPENDRAIN(15))
129#define VAL_GPIOA_OSPEEDR (PIN_OSPEED_100M(0) | \
130 PIN_OSPEED_100M(1) | \
131 PIN_OSPEED_100M(2) | \
132 PIN_OSPEED_100M(3) | \
133 PIN_OSPEED_100M(4) | \
134 PIN_OSPEED_50M(5) | \
135 PIN_OSPEED_50M(6) | \
136 PIN_OSPEED_50M(7) | \
137 PIN_OSPEED_100M(8) | \
138 PIN_OSPEED_100M(9) | \
139 PIN_OSPEED_100M(10) | \
140 PIN_OSPEED_100M(11) | \
141 PIN_OSPEED_100M(12) | \
142 PIN_OSPEED_100M(13) | \
143 PIN_OSPEED_100M(14) | \
144 PIN_OSPEED_100M(15))
145#define VAL_GPIOA_PUPDR (PIN_PUPDR_FLOATING(0) | \
146 PIN_PUPDR_FLOATING(1) | \
147 PIN_PUPDR_FLOATING(2) | \
148 PIN_PUPDR_FLOATING(3) | \
149 PIN_PUPDR_FLOATING(4) | \
150 PIN_PUPDR_FLOATING(5) | \
151 PIN_PUPDR_FLOATING(6) | \
152 PIN_PUPDR_FLOATING(7) | \
153 PIN_PUPDR_FLOATING(8) | \
154 PIN_PUPDR_FLOATING(9) | \
155 PIN_PUPDR_FLOATING(10) | \
156 PIN_PUPDR_FLOATING(11) | \
157 PIN_PUPDR_FLOATING(12) | \
158 PIN_PUPDR_FLOATING(13) | \
159 PIN_PUPDR_FLOATING(14) | \
160 PIN_PUPDR_FLOATING(15))
161#define VAL_GPIOA_ODR (PIN_ODR_HIGH(0) | \
162 PIN_ODR_HIGH(1) | \
163 PIN_ODR_HIGH(2) | \
164 PIN_ODR_HIGH(3) | \
165 PIN_ODR_HIGH(4) | \
166 PIN_ODR_HIGH(5) | \
167 PIN_ODR_HIGH(6) | \
168 PIN_ODR_HIGH(7) | \
169 PIN_ODR_HIGH(8) | \
170 PIN_ODR_HIGH(9) | \
171 PIN_ODR_HIGH(10) | \
172 PIN_ODR_HIGH(11) | \
173 PIN_ODR_HIGH(12) | \
174 PIN_ODR_HIGH(13) | \
175 PIN_ODR_HIGH(14) | \
176 PIN_ODR_HIGH(15))
177#define VAL_GPIOA_AFRL (PIN_AFIO_AF(0, 8) | \
178 PIN_AFIO_AF(1, 8) | \
179 PIN_AFIO_AF(2, 0) | \
180 PIN_AFIO_AF(3, 0) | \
181 PIN_AFIO_AF(4, 0) | \
182 PIN_AFIO_AF(5, 5) | \
183 PIN_AFIO_AF(6, 5) | \
184 PIN_AFIO_AF(7, 5))
185#define VAL_GPIOA_AFRH (PIN_AFIO_AF(8, 0) | \
186 PIN_AFIO_AF(9, 0) | \
187 PIN_AFIO_AF(10, 7) | \
188 PIN_AFIO_AF(11, 10) | \
189 PIN_AFIO_AF(12, 10) | \
190 PIN_AFIO_AF(13, 0) | \
191 PIN_AFIO_AF(14, 0) | \
192 PIN_AFIO_AF(15, 0))
193
194/*
195 * Port B setup:
196 * PB0 - Digital input (GYRO_DRDY) #
197 * PB1 - Digital input (MAG_DRDY) #
198 * PB2 - Digital input (BOOT) # ?
199 * PB3 - Digital input (JTAG_TDO/SWD) #
200 * PB4 - Digital input (ACCEL_DRDY) #
201 * PB5 - Digital input (!VDD_BRICK_VALID) #
202 * PB6 - Alternate Push Pull output 50MHz (CAN2_TX)
203 * PB7 - Digital input (!VDD_SERVO_VALID)
204 * PB8 - Alternate Open Drain output 50MHz (I2C1_SCL)
205 * PB9 - Alternate Open Drain output 50MHz (I2C1_SDA)
206 * PB10 - Alternate Open Drain output 50MHz (I2C2_SCL)
207 * PB11 - Alternate Open Drain output 50MHz (I2C2_SDA)
208 * PB12 - Alternate Push Pull output 50MHz (CAN2_RX)
209 * PB13 - Alternate Push Pull output 50MHz (FRAM_SPI2_SCK) #
210 * PB14 - Alternate Digital input (FRAM_SPI2_MISO) #
211 * PB15 - Alternate Push Pull output 50MHz (FRAM_SPI2_MOSI) #
212 */
213#define VAL_GPIOB_MODER (PIN_MODE_INPUT(0) | \
214 PIN_MODE_INPUT(1) | \
215 PIN_MODE_INPUT(2) | \
216 PIN_MODE_ALTERNATE(3) | \
217 PIN_MODE_INPUT(4) | \
218 PIN_MODE_INPUT(5) | \
219 PIN_MODE_ALTERNATE(6) | \
220 PIN_MODE_INPUT(7) | \
221 PIN_MODE_ALTERNATE(8) | \
222 PIN_MODE_ALTERNATE(9) | \
223 PIN_MODE_ALTERNATE(10) | \
224 PIN_MODE_ALTERNATE(11) | \
225 PIN_MODE_ALTERNATE(12) | \
226 PIN_MODE_ALTERNATE(13) | \
227 PIN_MODE_ALTERNATE(14) | \
228 PIN_MODE_ALTERNATE(15))
229#define VAL_GPIOB_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
230 PIN_OTYPE_PUSHPULL(1) | \
231 PIN_OTYPE_PUSHPULL(2) | \
232 PIN_OTYPE_PUSHPULL(3) | \
233 PIN_OTYPE_PUSHPULL(4) | \
234 PIN_OTYPE_PUSHPULL(5) | \
235 PIN_OTYPE_PUSHPULL(6) | \
236 PIN_OTYPE_PUSHPULL(7) | \
237 PIN_OTYPE_OPENDRAIN(8) | \
238 PIN_OTYPE_OPENDRAIN(9) | \
239 PIN_OTYPE_OPENDRAIN(10) | \
240 PIN_OTYPE_OPENDRAIN(11) | \
241 PIN_OTYPE_PUSHPULL(12) | \
242 PIN_OTYPE_PUSHPULL(13) | \
243 PIN_OTYPE_PUSHPULL(14) | \
244 PIN_OTYPE_PUSHPULL(15))
245#define VAL_GPIOB_OSPEEDR (PIN_OSPEED_50M(0) | \
246 PIN_OSPEED_50M(1) | \
247 PIN_OSPEED_50M(2) | \
248 PIN_OSPEED_100M(3) | \
249 PIN_OSPEED_50M(4) | \
250 PIN_OSPEED_50M(5) | \
251 PIN_OSPEED_50M(6) | \
252 PIN_OSPEED_50M(7) | \
253 PIN_OSPEED_50M(8) | \
254 PIN_OSPEED_50M(9) | \
255 PIN_OSPEED_50M(10) | \
256 PIN_OSPEED_50M(11) | \
257 PIN_OSPEED_50M(12) | \
258 PIN_OSPEED_50M(13) | \
259 PIN_OSPEED_50M(14) | \
260 PIN_OSPEED_50M(15))
261#define VAL_GPIOB_PUPDR (PIN_PUPDR_FLOATING(0) | \
262 PIN_PUPDR_FLOATING(1) | \
263 PIN_PUPDR_FLOATING(2) | \
264 PIN_PUPDR_FLOATING(3) | \
265 PIN_PUPDR_FLOATING(4) | \
266 PIN_PUPDR_FLOATING(5) | \
267 PIN_PUPDR_FLOATING(6) | \
268 PIN_PUPDR_FLOATING(7) | \
269 PIN_PUPDR_FLOATING(8) | \
270 PIN_PUPDR_FLOATING(9) | \
271 PIN_PUPDR_FLOATING(10) | \
272 PIN_PUPDR_FLOATING(11) | \
273 PIN_PUPDR_FLOATING(12) | \
274 PIN_PUPDR_FLOATING(13) | \
275 PIN_PUPDR_FLOATING(14) | \
276 PIN_PUPDR_FLOATING(15))
277#define VAL_GPIOB_ODR (PIN_ODR_HIGH(0) | \
278 PIN_ODR_HIGH(1) | \
279 PIN_ODR_HIGH(2) | \
280 PIN_ODR_HIGH(3) | \
281 PIN_ODR_HIGH(4) | \
282 PIN_ODR_HIGH(5) | \
283 PIN_ODR_HIGH(6) | \
284 PIN_ODR_HIGH(7) | \
285 PIN_ODR_HIGH(8) | \
286 PIN_ODR_HIGH(9) | \
287 PIN_ODR_HIGH(10) | \
288 PIN_ODR_HIGH(11) | \
289 PIN_ODR_HIGH(12) | \
290 PIN_ODR_HIGH(13) | \
291 PIN_ODR_HIGH(14) | \
292 PIN_ODR_HIGH(15))
293#define VAL_GPIOB_AFRL (PIN_AFIO_AF(0, 0) | \
294 PIN_AFIO_AF(1, 0) | \
295 PIN_AFIO_AF(2, 0) | \
296 PIN_AFIO_AF(3, 0) | \
297 PIN_AFIO_AF(4, 0) | \
298 PIN_AFIO_AF(5, 0) | \
299 PIN_AFIO_AF(6, 9) | \
300 PIN_AFIO_AF(7, 0))
301#define VAL_GPIOB_AFRH (PIN_AFIO_AF(8, 4) | \
302 PIN_AFIO_AF(9, 4) | \
303 PIN_AFIO_AF(10, 4) | \
304 PIN_AFIO_AF(11, 4) | \
305 PIN_AFIO_AF(12, 9) | \
306 PIN_AFIO_AF(13, 5) | \
307 PIN_AFIO_AF(14, 5) | \
308 PIN_AFIO_AF(15, 5))
309
310/*
311 * Port C setup:
312 * PC0 - Digital input (!VBUS_VALID) #
313 * PC1 - Analog input (ADC3) #
314 * PC2 - Push Pull output 50MHz. (!MPU_CS) #
315 * PC3 - Analog input (ADC1) #
316 * PC4 - Analog input (ADC2) #
317 * PC5 - Analog input (PRESSURE_SENS - ADC) #
318 * PC6 - Alternate Push Pull output 50MHz (UART6-TX)
319 * PC7 - Alternate Digital intput (UART6_RX)
320 * PC8 - Alternate pullup 100MHz (SDIO_D0)
321 * PC9 - Alternate pullup 100MHz (SDIO_D1)
322 * PC10 - Alternate pullup 100MHz (SDIO_D2)
323 * PC11 - Alternate pullup 100MHz (SDIO_D3)
324 * PC12 - Alternate floating 100MHz (SDIO_CK)
325 * PC13 - Push Pull output 50MHz. (!GYRO_SS) #
326 * PC14 - Digital input (GPIO_EXT_1)
327 * PC15 - Push Pull output 50MHz. (!ACCEL_MAG_SS)
328 */
329#define VAL_GPIOC_MODER (PIN_MODE_INPUT(0) |\
330 PIN_MODE_INPUT(1) | \
331 PIN_MODE_OUTPUT(2) | \
332 PIN_MODE_INPUT(3) | \
333 PIN_MODE_INPUT(4) | \
334 PIN_MODE_INPUT(5) | \
335 PIN_MODE_ALTERNATE(6) | \
336 PIN_MODE_ALTERNATE(7) | \
337 PIN_MODE_ALTERNATE(8) | \
338 PIN_MODE_ALTERNATE(9) | \
339 PIN_MODE_ALTERNATE(10) | \
340 PIN_MODE_ALTERNATE(11) | \
341 PIN_MODE_ALTERNATE(12) | \
342 PIN_MODE_OUTPUT(13) | \
343 PIN_MODE_INPUT(14) | \
344 PIN_MODE_OUTPUT(15))
345#define VAL_GPIOC_OTYPER (PIN_OTYPE_PUSHPULL(0) |\
346 PIN_OTYPE_PUSHPULL(1) | \
347 PIN_OTYPE_PUSHPULL(2) | \
348 PIN_OTYPE_PUSHPULL(3) | \
349 PIN_OTYPE_PUSHPULL(4) | \
350 PIN_OTYPE_PUSHPULL(5) | \
351 PIN_OTYPE_PUSHPULL(6) | \
352 PIN_OTYPE_PUSHPULL(7) | \
353 PIN_OTYPE_PUSHPULL(8) | \
354 PIN_OTYPE_PUSHPULL(9) | \
355 PIN_OTYPE_PUSHPULL(10) | \
356 PIN_OTYPE_PUSHPULL(11) | \
357 PIN_OTYPE_PUSHPULL(12) | \
358 PIN_OTYPE_PUSHPULL(13) | \
359 PIN_OTYPE_PUSHPULL(14) | \
360 PIN_OTYPE_PUSHPULL(15))
361#define VAL_GPIOC_OSPEEDR (PIN_OSPEED_50M(0) |\
362 PIN_OSPEED_50M(1) | \
363 PIN_OSPEED_50M(2) | \
364 PIN_OSPEED_50M(3) | \
365 PIN_OSPEED_50M(4) | \
366 PIN_OSPEED_50M(5) | \
367 PIN_OSPEED_50M(6) | \
368 PIN_OSPEED_50M(7) | \
369 PIN_OSPEED_50M(8) | \
370 PIN_OSPEED_50M(9) | \
371 PIN_OSPEED_50M(10) | \
372 PIN_OSPEED_50M(11) | \
373 PIN_OSPEED_50M(12) | \
374 PIN_OSPEED_2M(13) | \
375 PIN_OSPEED_50M(14) | \
376 PIN_OSPEED_2M(15))
377#define VAL_GPIOC_PUPDR (PIN_PUPDR_FLOATING(0) |\
378 PIN_PUPDR_FLOATING(1) | \
379 PIN_PUPDR_FLOATING(2) | \
380 PIN_PUPDR_FLOATING(3) | \
381 PIN_PUPDR_FLOATING(4) | \
382 PIN_PUPDR_FLOATING(5) | \
383 PIN_PUPDR_FLOATING(6) | \
384 PIN_PUPDR_FLOATING(7) | \
385 PIN_PUPDR_PULLUP(8) | \
386 PIN_PUPDR_PULLUP(9) | \
387 PIN_PUPDR_PULLUP(10) | \
388 PIN_PUPDR_PULLUP(11) | \
389 PIN_PUPDR_FLOATING(12) | \
390 PIN_PUPDR_FLOATING(13) | \
391 PIN_PUPDR_FLOATING(14) | \
392 PIN_PUPDR_FLOATING(15))
393#define VAL_GPIOC_ODR (PIN_ODR_HIGH(0) | \
394 PIN_ODR_HIGH(1) | \
395 PIN_ODR_HIGH(2) | \
396 PIN_ODR_HIGH(3) | \
397 PIN_ODR_HIGH(4) | \
398 PIN_ODR_HIGH(5) | \
399 PIN_ODR_HIGH(6) | \
400 PIN_ODR_HIGH(7) | \
401 PIN_ODR_HIGH(8) | \
402 PIN_ODR_HIGH(9) | \
403 PIN_ODR_HIGH(10) | \
404 PIN_ODR_HIGH(11) | \
405 PIN_ODR_HIGH(12) | \
406 PIN_ODR_HIGH(13) | \
407 PIN_ODR_HIGH(14) | \
408 PIN_ODR_HIGH(15))
409#define VAL_GPIOC_AFRL (PIN_AFIO_AF(0, 0) |\
410 PIN_AFIO_AF(1, 0) | \
411 PIN_AFIO_AF(2, 0) | \
412 PIN_AFIO_AF(3, 0) | \
413 PIN_AFIO_AF(4, 0) | \
414 PIN_AFIO_AF(5, 0) | \
415 PIN_AFIO_AF(6, 8) | \
416 PIN_AFIO_AF(7, 8))
417#define VAL_GPIOC_AFRH (PIN_AFIO_AF(8, 12) | \
418 PIN_AFIO_AF(9, 12) | \
419 PIN_AFIO_AF(10, 12) | \
420 PIN_AFIO_AF(11, 12) | \
421 PIN_AFIO_AF(12, 12) | \
422 PIN_AFIO_AF(13, 0) | \
423 PIN_AFIO_AF(14, 0) | \
424 PIN_AFIO_AF(15, 0))
425
426/*
427 * Port D setup:
428 * PD0 - CAN1_RX.
429 * PD1 - CAN1_TX
430 * PD2 - SDIO_CMD
431 * PD3 - UART2_CTS
432 * PD4 - UART2_RTS
433 * PD5 - UART2_TX
434 * PD6 - UART2_RX
435 * PD7 - !BARO_CS
436 * PD8 - UART3_TX
437 * PD9 - UART3_RX
438 * PD10 - !FRAM_CS
439 * PD11 - UART3_CTS
440 * PD12 - UART3_RTS
441 * PD13 - SERVO_5
442 * PD14 - SERVO_6
443 * PD15 - MPU_DRDY
444 */
445#define VAL_GPIOD_MODER (PIN_MODE_ALTERNATE(0) | \
446 PIN_MODE_ALTERNATE(1) | \
447 PIN_MODE_ALTERNATE(2) | \
448 PIN_MODE_ALTERNATE(3) | \
449 PIN_MODE_ALTERNATE(4) | \
450 PIN_MODE_ALTERNATE(5) | \
451 PIN_MODE_ALTERNATE(6) | \
452 PIN_MODE_OUTPUT(7) | \
453 PIN_MODE_ALTERNATE(8) | \
454 PIN_MODE_ALTERNATE(9) | \
455 PIN_MODE_OUTPUT(10) | \
456 PIN_MODE_ALTERNATE(11) | \
457 PIN_MODE_ALTERNATE(12) | \
458 PIN_MODE_INPUT(13) | \
459 PIN_MODE_INPUT(14) | \
460 PIN_MODE_INPUT(15))
461#define VAL_GPIOD_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
462 PIN_OTYPE_PUSHPULL(1) | \
463 PIN_OTYPE_PUSHPULL(2) | \
464 PIN_OTYPE_PUSHPULL(3) | \
465 PIN_OTYPE_PUSHPULL(4) | \
466 PIN_OTYPE_PUSHPULL(5) |\
467 PIN_OTYPE_PUSHPULL(6) | \
468 PIN_OTYPE_PUSHPULL(7) | \
469 PIN_OTYPE_PUSHPULL(8) | \
470 PIN_OTYPE_PUSHPULL(9) | \
471 PIN_OTYPE_PUSHPULL(10) | \
472 PIN_OTYPE_PUSHPULL(11) | \
473 PIN_OTYPE_PUSHPULL(12) | \
474 PIN_OTYPE_PUSHPULL(13) | \
475 PIN_OTYPE_PUSHPULL(14) | \
476 PIN_OTYPE_PUSHPULL(15))
477#define VAL_GPIOD_OSPEEDR (PIN_OSPEED_100M(0) | \
478 PIN_OSPEED_100M(1) | \
479 PIN_OSPEED_100M(2) | \
480 PIN_OSPEED_100M(3) | \
481 PIN_OSPEED_100M(4) | \
482 PIN_OSPEED_100M(5) | \
483 PIN_OSPEED_100M(6) | \
484 PIN_OSPEED_2M(7) | \
485 PIN_OSPEED_100M(8) | \
486 PIN_OSPEED_100M(9) | \
487 PIN_OSPEED_100M(10) | \
488 PIN_OSPEED_100M(11) | \
489 PIN_OSPEED_100M(12) | \
490 PIN_OSPEED_100M(13) | \
491 PIN_OSPEED_100M(14) | \
492 PIN_OSPEED_100M(15))
493#define VAL_GPIOD_PUPDR (PIN_PUPDR_FLOATING(0) | \
494 PIN_PUPDR_FLOATING(1) | \
495 PIN_PUPDR_FLOATING(2) | \
496 PIN_PUPDR_FLOATING(3) | \
497 PIN_PUPDR_FLOATING(4) | \
498 PIN_PUPDR_FLOATING(5) |\
499 PIN_PUPDR_FLOATING(6) | \
500 PIN_PUPDR_FLOATING(7) | \
501 PIN_PUPDR_FLOATING(8) | \
502 PIN_PUPDR_FLOATING(9) | \
503 PIN_PUPDR_FLOATING(10) | \
504 PIN_PUPDR_FLOATING(11) | \
505 PIN_PUPDR_FLOATING(12) | \
506 PIN_PUPDR_FLOATING(13) | \
507 PIN_PUPDR_FLOATING(14) | \
508 PIN_PUPDR_FLOATING(15))
509#define VAL_GPIOD_ODR (PIN_ODR_HIGH(0) | \
510 PIN_ODR_HIGH(1) | \
511 PIN_ODR_HIGH(2) | \
512 PIN_ODR_HIGH(3) | \
513 PIN_ODR_HIGH(4) | \
514 PIN_ODR_HIGH(5) | \
515 PIN_ODR_HIGH(6) | \
516 PIN_ODR_HIGH(7) | \
517 PIN_ODR_HIGH(8) | \
518 PIN_ODR_HIGH(9) | \
519 PIN_ODR_HIGH(10) | \
520 PIN_ODR_HIGH(11) | \
521 PIN_ODR_HIGH(12) | \
522 PIN_ODR_HIGH(13) | \
523 PIN_ODR_HIGH(14) | \
524 PIN_ODR_HIGH(15))
525#define VAL_GPIOD_AFRL (PIN_AFIO_AF(0, 9) | \
526 PIN_AFIO_AF(1, 9) | \
527 PIN_AFIO_AF(2, 12) | \
528 PIN_AFIO_AF(3, 7) | \
529 PIN_AFIO_AF(4, 7) | \
530 PIN_AFIO_AF(5, 7) | \
531 PIN_AFIO_AF(6, 7) | \
532 PIN_AFIO_AF(7, 0))
533#define VAL_GPIOD_AFRH (PIN_AFIO_AF(8, 7) | \
534 PIN_AFIO_AF(9, 7) | \
535 PIN_AFIO_AF(10, 0) | \
536 PIN_AFIO_AF(11, 7) | \
537 PIN_AFIO_AF(12, 7) | \
538 PIN_AFIO_AF(13, 0) | \
539 PIN_AFIO_AF(14, 0) | \
540 PIN_AFIO_AF(15, 0))
541
542/*
543 * Port E setup:
544 * PE0 - UART8_RX
545 * PE1 - UART8_TX
546 * PE2 - SPI4_EXT_SCK
547 * PE3 - VDD_3V3_SENSOR_EN
548 * PE4 - !SPI4_EXT_NSS
549 * PE5 - SPI4_EXT_MISO
550 * PE6 - SPI4_EXT_MOSI
551 * PE7 - UART7_RX
552 * PE8 - UART7_TX
553 * PE9 - SERVO_CH4
554 * PE10 - !VDD_HIPOWER_OC
555 * PE11 - SERVO_CH3
556 * PE12 - LED_AMBER
557 * PE13 - SERVO_CH2
558 * PE14 - SERVO_CH1
559 * PE15 - !VDD_5V_PERIPH_OC
560 */
561#define VAL_GPIOE_MODER (PIN_MODE_ALTERNATE(0) | \
562 PIN_MODE_ALTERNATE(1) | \
563 PIN_MODE_ALTERNATE(2) | \
564 PIN_MODE_OUTPUT(3) | \
565 PIN_MODE_ALTERNATE(4) | \
566 PIN_MODE_ALTERNATE(5) | \
567 PIN_MODE_ALTERNATE(6) | \
568 PIN_MODE_ALTERNATE(7) | \
569 PIN_MODE_ALTERNATE(8) | \
570 PIN_MODE_INPUT(9) | \
571 PIN_MODE_INPUT(10) | \
572 PIN_MODE_INPUT(11) | \
573 PIN_MODE_OUTPUT(12) | \
574 PIN_MODE_INPUT(13) | \
575 PIN_MODE_INPUT(14) | \
576 PIN_MODE_INPUT(15))
577#define VAL_GPIOE_OTYPER (PIN_OTYPE_PUSHPULL(0) | \
578 PIN_OTYPE_PUSHPULL(1) | \
579 PIN_OTYPE_PUSHPULL(2) | \
580 PIN_OTYPE_PUSHPULL(3) | \
581 PIN_OTYPE_PUSHPULL(4) | \
582 PIN_OTYPE_PUSHPULL(5) | \
583 PIN_OTYPE_PUSHPULL(6) | \
584 PIN_OTYPE_PUSHPULL(7) | \
585 PIN_OTYPE_PUSHPULL(8) | \
586 PIN_OTYPE_PUSHPULL(9) | \
587 PIN_OTYPE_PUSHPULL(10) | \
588 PIN_OTYPE_PUSHPULL(11) | \
589 PIN_OTYPE_OPENDRAIN(12) | \
590 PIN_OTYPE_PUSHPULL(13) | \
591 PIN_OTYPE_PUSHPULL(14) | \
592 PIN_OTYPE_PUSHPULL(15))
593#define VAL_GPIOE_OSPEEDR (PIN_OSPEED_100M(0) | \
594 PIN_OSPEED_100M(1) | \
595 PIN_OSPEED_50M(2) | \
596 PIN_OSPEED_100M(3) | \
597 PIN_OSPEED_50M(4) | \
598 PIN_OSPEED_50M(5) | \
599 PIN_OSPEED_50M(6) | \
600 PIN_OSPEED_100M(7) | \
601 PIN_OSPEED_100M(8) | \
602 PIN_OSPEED_100M(9) | \
603 PIN_OSPEED_100M(10) | \
604 PIN_OSPEED_100M(11) | \
605 PIN_OSPEED_100M(12) | \
606 PIN_OSPEED_100M(13) | \
607 PIN_OSPEED_100M(14) | \
608 PIN_OSPEED_100M(15))
609#define VAL_GPIOE_PUPDR (PIN_PUPDR_FLOATING(0) | \
610 PIN_PUPDR_FLOATING(1) | \
611 PIN_PUPDR_FLOATING(2) | \
612 PIN_PUPDR_FLOATING(3) | \
613 PIN_PUPDR_FLOATING(4) | \
614 PIN_PUPDR_FLOATING(5) | \
615 PIN_PUPDR_FLOATING(6) | \
616 PIN_PUPDR_FLOATING(7) | \
617 PIN_PUPDR_FLOATING(8) | \
618 PIN_PUPDR_FLOATING(9) | \
619 PIN_PUPDR_FLOATING(10) | \
620 PIN_PUPDR_FLOATING(11) | \
621 PIN_PUPDR_FLOATING(12) | \
622 PIN_PUPDR_FLOATING(13) | \
623 PIN_PUPDR_FLOATING(14) | \
624 PIN_PUPDR_FLOATING(15))
625#define VAL_GPIOE_ODR (PIN_ODR_HIGH(0) | \
626 PIN_ODR_HIGH(1) | \
627 PIN_ODR_HIGH(2) | \
628 PIN_ODR_HIGH(3) | \
629 PIN_ODR_HIGH(4) | \
630 PIN_ODR_HIGH(5) | \
631 PIN_ODR_HIGH(6) | \
632 PIN_ODR_HIGH(7) | \
633 PIN_ODR_HIGH(8) | \
634 PIN_ODR_HIGH(9) | \
635 PIN_ODR_HIGH(10) | \
636 PIN_ODR_HIGH(11) | \
637 PIN_ODR_HIGH(12) | \
638 PIN_ODR_HIGH(13) | \
639 PIN_ODR_HIGH(14) | \
640 PIN_ODR_HIGH(15))
641#define VAL_GPIOE_AFRL (PIN_AFIO_AF(0, 8) | \
642 PIN_AFIO_AF(1, 8) | \
643 PIN_AFIO_AF(2, 5) | \
644 PIN_AFIO_AF(3, 0) | \
645 PIN_AFIO_AF(4, 5) | \
646 PIN_AFIO_AF(5, 5) | \
647 PIN_AFIO_AF(6, 5) | \
648 PIN_AFIO_AF(7, 8))
649#define VAL_GPIOE_AFRH (PIN_AFIO_AF(8, 8) | \
650 PIN_AFIO_AF(9, 0) | \
651 PIN_AFIO_AF(10, 0) | \
652 PIN_AFIO_AF(11, 0) | \
653 PIN_AFIO_AF(12, 0) | \
654 PIN_AFIO_AF(13, 0) | \
655 PIN_AFIO_AF(14, 0) | \
656 PIN_AFIO_AF(15, 0))
657
658/*
659 * GPIOF setup:
660 *
661*/
662#define VAL_GPIOF_MODER 0x00000000
663#define VAL_GPIOF_OTYPER 0x00000000
664#define VAL_GPIOF_OSPEEDR 0x00000000
665#define VAL_GPIOF_PUPDR 0x55555555 // all pullup
666#define VAL_GPIOF_ODR 0xFFFFFFFF
667#define VAL_GPIOF_AFRL 0x00000000
668#define VAL_GPIOF_AFRH 0x00000000
669
670/*
671 * GPIOG setup:
672 *
673*/
674#define VAL_GPIOG_MODER 0x00000000
675#define VAL_GPIOG_OTYPER 0x00000000
676#define VAL_GPIOG_OSPEEDR 0x00000000
677#define VAL_GPIOG_PUPDR 0x55555555 // all pullup
678#define VAL_GPIOG_ODR 0xFFFFFFFF
679#define VAL_GPIOG_AFRL 0x00000000
680#define VAL_GPIOG_AFRH 0x00000000
681/*
682 * GPIOH setup:
683 *
684*/
685#define VAL_GPIOH_MODER 0x00000000
686#define VAL_GPIOH_OTYPER 0x00000000
687#define VAL_GPIOH_OSPEEDR 0x00000000
688#define VAL_GPIOH_PUPDR 0x55555555 // all pullup
689#define VAL_GPIOH_ODR 0xFFFFFFFF
690#define VAL_GPIOH_AFRL 0x00000000
691#define VAL_GPIOH_AFRH 0x00000000
692
693/*
694 * GPIOI setup:
695 *
696*/
697#define VAL_GPIOI_MODER 0x00000000
698#define VAL_GPIOI_OTYPER 0x00000000
699#define VAL_GPIOI_OSPEEDR 0x00000000
700#define VAL_GPIOI_PUPDR 0x55555555 // all pullup
701#define VAL_GPIOI_ODR 0xFFFFFFFF
702#define VAL_GPIOI_AFRL 0x00000000
703#define VAL_GPIOI_AFRH 0x00000000
704
705
706
707/*
708 * Concat macro
709 */
710#define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2
711#define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)
712
713/*
714 * Onboard LEDs
715 */
716/* red, on PE12 */
717#ifndef USE_LED_1
718#define USE_LED_1 1
719#endif
720#define LED_1_GPIO GPIOE
721#define LED_1_GPIO_PIN GPIO12
722#define LED_1_GPIO_ON gpio_clear
723#define LED_1_GPIO_OFF gpio_set
724#define LED_1_AFIO_REMAP ((void)0)
725
726/*
727 * ADCs TODO
728 */
729// AUX 1
730#if USE_ADC_1
731#define AD1_1_CHANNEL ADC_CHANNEL_IN9
732#define ADC_1 AD1_1
733#define ADC_1_GPIO_PORT GPIOB
734#define ADC_1_GPIO_PIN GPIO1
735#endif
736
737// AUX 2
738#if USE_ADC_2
739#define AD1_2_CHANNEL ADC_CHANNEL_IN15
740#define ADC_2 AD1_2
741#define ADC_2_GPIO_PORT GPIOC
742#define ADC_2_GPIO_PIN GPIO5
743#endif
744
745// AUX 3
746#if USE_ADC_3
747#define AD1_3_CHANNEL ADC_CHANNEL_IN14
748#define ADC_3 AD1_3
749#define ADC_3_GPIO_PORT GPIOC
750#define ADC_3_GPIO_PIN GPIO4
751#endif
752
753// Internal ADC for battery enabled by default
754#ifndef USE_ADC_4
755#define USE_ADC_4 1
756#endif
757#if USE_ADC_4
758#define AD1_4_CHANNEL ADC_CHANNEL_IN4
759#define ADC_4 AD1_4
760#define ADC_4_GPIO_PORT GPIOA
761#define ADC_4_GPIO_PIN GPIO4
762#endif
763
764/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
765#ifndef ADC_CHANNEL_VSUPPLY
766#define ADC_CHANNEL_VSUPPLY ADC_4
767#endif
768
769#define DefaultVoltageOfAdc(adc) (0.006185*adc)
770
771/*
772 * PWM TIM defines
773 * enable TIM2 and TIM3 by default
774 */
775#ifndef USE_PWM_TIM2
776#define USE_PWM_TIM2 1
777#endif
778
779#ifndef USE_PWM_TIM3
780#define USE_PWM_TIM3 1
781#endif
782
783/*
784 * PWM defines TODO
785 */
786#ifndef USE_PWM0
787#define USE_PWM0 1
788#endif
789#if USE_PWM0
790#define PWM_SERVO_0 0
791#define PWM_SERVO_0_GPIO GPIOB
792#define PWM_SERVO_0_PIN GPIO0
793#define PWM_SERVO_0_AF GPIO_AF2
794#define PWM_SERVO_0_DRIVER PWMD3
795#define PWM_SERVO_0_CHANNEL 2
796#define PWM_SERVO_0_CONF pwmcfg3
797#endif
798
799#ifndef USE_PWM1
800#define USE_PWM1 1
801#endif
802#if USE_PWM1
803#define PWM_SERVO_1 1
804#define PWM_SERVO_1_GPIO GPIOA
805#define PWM_SERVO_1_PIN GPIO2
806#define PWM_SERVO_1_AF GPIO_AF1
807#define PWM_SERVO_1_DRIVER PWMD2
808#define PWM_SERVO_1_CHANNEL 2
809#define PWM_SERVO_1_CONF pwmcfg2
810#endif
811
812#ifndef USE_PWM2
813#define USE_PWM2 1
814#endif
815#if USE_PWM2
816#define PWM_SERVO_2 2
817#define PWM_SERVO_2_GPIO GPIOB
818#define PWM_SERVO_2_PIN GPIO5
819#define PWM_SERVO_2_AF GPIO_AF2
820#define PWM_SERVO_2_DRIVER PWMD3
821#define PWM_SERVO_2_CHANNEL 1
822#define PWM_SERVO_2_CONF pwmcfg3
823#endif
824
825#ifndef USE_PWM3
826#define USE_PWM3 1
827#endif
828#if USE_PWM3
829#define PWM_SERVO_3 3
830#define PWM_SERVO_3_GPIO GPIOB
831#define PWM_SERVO_3_PIN GPIO4
832#define PWM_SERVO_3_AF GPIO_AF2
833#define PWM_SERVO_3_DRIVER PWMD3
834#define PWM_SERVO_3_CHANNEL 0
835#define PWM_SERVO_3_CONF pwmcfg3
836#endif
837
838#ifndef USE_PWM4
839#define USE_PWM4 1
840#endif
841#if USE_PWM4
842#define PWM_SERVO_4 4
843#define PWM_SERVO_4_GPIO GPIOB
844#define PWM_SERVO_4_PIN GPIO3
845#define PWM_SERVO_4_AF GPIO_AF1
846#define PWM_SERVO_4_DRIVER PWMD2
847#define PWM_SERVO_4_CHANNEL 1
848#define PWM_SERVO_4_CONF pwmcfg2
849#endif
850
851#ifndef USE_PWM5
852#define USE_PWM5 1
853#endif
854#if USE_PWM5
855#define PWM_SERVO_5 5
856#define PWM_SERVO_5_GPIO GPIOA
857#define PWM_SERVO_5_PIN GPIO15
858#define PWM_SERVO_5_AF GPIO_AF1
859#define PWM_SERVO_5_DRIVER PWMD2
860#define PWM_SERVO_5_CHANNEL 0
861#define PWM_SERVO_5_CONF pwmcfg2
862#endif
863
864#if USE_PWM6
865#define PWM_SERVO_6 6
866#define PWM_SERVO_6_GPIO GPIOB
867#define PWM_SERVO_6_PIN GPIO1
868#define PWM_SERVO_6_AF GPIO_AF2
869#define PWM_SERVO_6_DRIVER PWMD3
870#define PWM_SERVO_6_CHANNEL 3
871#define PWM_SERVO_6_CONF pwmcfg3
872#endif
873
877#define RC_PPM_TICKS_PER_USEC 2
878#define PPM_TIMER_FREQUENCY 2000000
879#define PPM_CHANNEL ICU_CHANNEL_1
880#define PPM_TIMER ICUD1
881
882/*
883 * PWM input TODO
884 */
885// PWM_INPUT 1 on PA8 (also PPM IN)
886#define PWM_INPUT1_ICU ICUD1
887#define PWM_INPUT1_CHANNEL ICU_CHANNEL_1
888// PPM in (aka PA8) is used: not compatible with PPM RC receiver
889#define PWM_INPUT1_GPIO_PORT GPIOA
890#define PWM_INPUT1_GPIO_PIN GPIO8
891#define PWM_INPUT1_GPIO_AF GPIO_AF1
892
893// PWM_INPUT 2 on PA3 (also SERVO 1)
894#if (USE_PWM1 && USE_PWM_INPUT2)
895#error "PW1 and PWM_INPUT2 are not compatible"
896#endif
897#define PWM_INPUT2_ICU ICUD2
898#define PWM_INPUT2_CHANNEL ICU_CHANNEL_1
899#define PWM_INPUT2_GPIO_PORT GPIOA
900#define PWM_INPUT2_GPIO_PIN GPIO2
901#define PWM_INPUT2_GPIO_AF GPIO_AF3
902
903
907#ifndef I2C1_CLOCK_SPEED
908#define I2C1_CLOCK_SPEED 400000
909#endif
910#if I2C1_CLOCK_SPEED == 400000
911#define I2C1_DUTY_CYCLE FAST_DUTY_CYCLE_2
912#elif I2C1_CLOCK_SPEED == 100000
913#define I2C1_DUTY_CYCLE STD_DUTY_CYCLE
914#else
915#error Invalid I2C1 clock speed
916#endif
917#define I2C1_CFG_DEF { \
918 OPMODE_I2C, \
919 I2C1_CLOCK_SPEED, \
920 I2C1_DUTY_CYCLE, \
921 }
922
923#ifndef I2C2_CLOCK_SPEED
924#define I2C2_CLOCK_SPEED 400000
925#endif
926#if I2C2_CLOCK_SPEED == 400000
927#define I2C2_DUTY_CYCLE FAST_DUTY_CYCLE_2
928#elif I2C2_CLOCK_SPEED == 100000
929#define I2C2_DUTY_CYCLE STD_DUTY_CYCLE
930#else
931#error Invalid I2C2 clock speed
932#endif
933#define I2C2_CFG_DEF { \
934 OPMODE_I2C, \
935 I2C2_CLOCK_SPEED, \
936 I2C2_DUTY_CYCLE, \
937 }
938
946// SPI1_SLAVE0 -> slave select pin for the L3GD20 (gyro)
947#define SPI_SELECT_SLAVE0_PORT GPIOC
948#define SPI_SELECT_SLAVE0_PIN GPIO13
949// SPI1_SLAVE1 -> slave select pin for the LSM303D (accel/mag)
950#define SPI_SELECT_SLAVE1_PORT GPIOC
951#define SPI_SELECT_SLAVE1_PIN GPIO15
952// SPI1_SLAVE3 -> slave select pin for the MS5611 baro
953#define SPI_SELECT_SLAVE3_PORT GPIOD
954#define SPI_SELECT_SLAVE3_PIN GPIO7
955
962#ifndef USE_BARO_BOARD
963#define USE_BARO_BOARD 1
964#endif
965
970#define GPIOA_OTG_FS_VBUS 9
971
972#define GPIOD_SDIO_CMD 2
973#define GPIOC_SDIO_D0 8
974#define GPIOC_SDIO_D1 9
975#define GPIOC_SDIO_D2 10
976#define GPIOC_SDIO_D3 11
977#define GPIOC_SDIO_CK 12
978
979/*
980 * Actuators for fixedwing
981 */
982 /* Default actuators driver */
983#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
984#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
985#define ActuatorsDefaultInit() ActuatorsPwmInit()
986#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
987
988#if !defined(_FROM_ASM_)
989#ifdef __cplusplus
990extern "C" {
991#endif
992 void boardInit(void);
993#ifdef __cplusplus
994}
995#endif
996#endif /* _FROM_ASM_ */
997
998#endif /* _BOARD_H_ */
boardInit
void boardInit(void)
Board-specific initialization code.
Definition board.c:317