v5.18/tawaki_8h_source.html

#ifndef CONFIG_TAWAKI_1_00_H

#define CONFIG_TAWAKI_1_00_H


#define BOARD_TAWAKI


#include "board.h"


/*

 * AHB_CLK

 */

#define AHB_CLK STM32_HCLK


/*

 * Concat macro

 */

#define _CONCAT_BOARD_PARAM(_s1, _s2) _s1 ## _s2

#define CONCAT_BOARD_PARAM(_s1, _s2) _CONCAT_BOARD_PARAM(_s1, _s2)


/*

 * LEDs

 */

/* red, on PD15, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_1

#define USE_LED_1 1

#endif

#define LED_1_GPIO PAL_PORT(LINE_LED1)

#define LED_1_GPIO_PIN PAL_PAD(LINE_LED1)

#define LED_1_GPIO_ON gpio_set

#define LED_1_GPIO_OFF gpio_clear


/* orange, on PA10, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_2

#define USE_LED_2 1

#endif

#define LED_2_GPIO PAL_PORT(LINE_LED2)

#define LED_2_GPIO_PIN PAL_PAD(LINE_LED2)

#define LED_2_GPIO_ON gpio_set

#define LED_2_GPIO_OFF gpio_clear


/* green, on PC7, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_3

#define USE_LED_3 1

#endif

#define LED_3_GPIO PAL_PORT(LINE_LED3)

#define LED_3_GPIO_PIN PAL_PAD(LINE_LED3)

#define LED_3_GPIO_ON gpio_set

#define LED_3_GPIO_OFF gpio_clear


/* yellow, on PD10, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_4

#define USE_LED_4 1

#endif

#define LED_4_GPIO PAL_PORT(LINE_LED4)

#define LED_4_GPIO_PIN PAL_PAD(LINE_LED4)

#define LED_4_GPIO_ON gpio_set

#define LED_4_GPIO_OFF gpio_clear


/*

 * ADCs

 */

// AUXa1

#if USE_ADC_1

#define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A1_ADC_IN)

#define ADC_1 AD1_1

#define ADC_1_GPIO_PORT PAL_PORT(LINE_AUX_A1)

#define ADC_1_GPIO_PIN PAL_PAD(LINE_AUX_A1)

#endif


// AUXa2

#if USE_ADC_2

#define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A2_ADC_IN)

#define ADC_2 AD1_2

#define ADC_2_GPIO_PORT PAL_PORT(LINE_AUX_A2)

#define ADC_2_GPIO_PIN PAL_PAD(LINE_AUX_A2)

#endif


// AUXa3

#if USE_ADC_3

#define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A3_ADC_IN)

#define ADC_3 AD1_3

#define ADC_3_GPIO_PORT PAL_PORT(LINE_AUX_A3)

#define ADC_3_GPIO_PIN PAL_PAD(LINE_AUX_A3)

#endif


// AUXa4

#if USE_ADC_4

#define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A4_ADC_IN)

#define ADC_4 AD1_4

#define ADC_4_GPIO_PORT PAL_PORT(LINE_AUX_A4)

#define ADC_4_GPIO_PIN PAL_PAD(LINE_AUX_A4)

#endif


// AUXb1

#if USE_ADC_5

#define AD1_5_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B1_ADC_IN)

#define ADC_5 AD1_5

#define ADC_5_GPIO_PORT PAL_PORT(LINE_AUX_B1)

#define ADC_5_GPIO_PIN PAL_PAD(LINE_AUX_B1)

#endif


// AUXb2

#if USE_ADC_6

#define AD1_6_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B2_ADC_IN)

#define ADC_6 AD1_6

#define ADC_6_GPIO_PORT PAL_PORT(LINE_AUX_B2)

#define ADC_6_GPIO_PIN PAL_PAD(LINE_AUX_B2)

#endif


// AUXb3

#if USE_ADC_7

#define AD1_7_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B3_ADC_IN)

#define ADC_7 AD1_7

#define ADC_7_GPIO_PORT PAL_PORT(LINE_AUX_B3)

#define ADC_7_GPIO_PIN PAL_PAD(LINE_AUX_B3)

#endif


// AUXb4

#if USE_ADC_8

#define AD1_8_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B4_ADC_IN)

#define ADC_8 AD1_8

#define ADC_8_GPIO_PORT PAL_PORT(LINE_AUX_B4)

#define ADC_8_GPIO_PIN PAL_PAD(LINE_AUX_B4)

#endif


// Internal ADC for battery enabled by default

#ifndef USE_ADC_9

#define USE_ADC_9 1

#endif

#if USE_ADC_9

#define AD1_9_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, VBAT_MEAS_ADC_IN)

#define ADC_9 AD1_9

#define ADC_9_GPIO_PORT PAL_PORT(LINE_VBAT_MEAS)

#define ADC_9_GPIO_PIN PAL_PAD(LINE_VBAT_MEAS)

#endif


/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/

#ifndef ADC_CHANNEL_VSUPPLY

#define ADC_CHANNEL_VSUPPLY ADC_9

#endif


/*

 * R1 = 2.2k

 * R2 = 12k

 * adc * (3.3 / 2^12) * ((R1 + R2) / R1)

 */

#define VBAT_R1 2200.0f

#define VBAT_R2 12000.0f

#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f)*((VBAT_R1+VBAT_R2)/VBAT_R1)*adc)


/*

 * PWM defines

 */


// SRVa connectors, activated in PWM mode by default


#ifndef USE_PWM1

#define USE_PWM1 1

#endif

#if USE_PWM1

#define PWM_SERVO_1 1

#define PWM_SERVO_1_GPIO PAL_PORT(LINE_SRVA1)

#define PWM_SERVO_1_PIN PAL_PAD(LINE_SRVA1)

#define PWM_SERVO_1_AF AF_SRVA1

#define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA1_TIM)

#define PWM_SERVO_1_CHANNEL (SRVA1_TIM_CH-1)

#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM2

#define USE_PWM2 1

#endif

#if USE_PWM2

#define PWM_SERVO_2 2

#define PWM_SERVO_2_GPIO PAL_PORT(LINE_SRVA2)

#define PWM_SERVO_2_PIN PAL_PAD(LINE_SRVA2)

#define PWM_SERVO_2_AF AF_SRVA2

#define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA2_TIM)

#define PWM_SERVO_2_CHANNEL (SRVA2_TIM_CH-1)

#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM3

#define USE_PWM3 1

#endif

#if USE_PWM3

#define PWM_SERVO_3 3

#define PWM_SERVO_3_GPIO PAL_PORT(LINE_SRVA3)

#define PWM_SERVO_3_PIN PAL_PAD(LINE_SRVA3)

#define PWM_SERVO_3_AF AF_SRVA3

#define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA3_TIM)

#define PWM_SERVO_3_CHANNEL (SRVA3_TIM_CH-1)

#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM4

#define USE_PWM4 1

#endif

#if USE_PWM4

#define PWM_SERVO_4 4

#define PWM_SERVO_4_GPIO PAL_PORT(LINE_SRVA4)

#define PWM_SERVO_4_PIN PAL_PAD(LINE_SRVA4)

#define PWM_SERVO_4_AF AF_SRVA4

#define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA4_TIM)

#define PWM_SERVO_4_CHANNEL (SRVA4_TIM_CH-1)

#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_DISABLED

#endif


// SRVb connector, PWM mode disabled by default (DShot is enabled by default)


#ifndef USE_PWM5

#define USE_PWM5 0

#endif

#if USE_PWM5

#define PWM_SERVO_5 5

#define PWM_SERVO_5_GPIO PAL_PORT(LINE_SRVB1)

#define PWM_SERVO_5_PIN PAL_PAD(LINE_SRVB1)

#define PWM_SERVO_5_AF AF_SRVB1

#define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB1_TIM)

#define PWM_SERVO_5_CHANNEL (SRVB1_TIM_CH-1)

#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM6

#define USE_PWM6 0

#endif

#if USE_PWM6

#define PWM_SERVO_6 6

#define PWM_SERVO_6_GPIO PAL_PORT(LINE_SRVB2)

#define PWM_SERVO_6_PIN PAL_PAD(LINE_SRVB2)

#define PWM_SERVO_6_AF AF_SRVB2

#define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB2_TIM)

#define PWM_SERVO_6_CHANNEL (SRVB2_TIM_CH-1)

#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM7

#define USE_PWM7 0

#endif

#if USE_PWM7

#define PWM_SERVO_7 7

#define PWM_SERVO_7_GPIO PAL_PORT(LINE_SRVB3)

#define PWM_SERVO_7_PIN PAL_PAD(LINE_SRVB3)

#define PWM_SERVO_7_AF AF_SRVB3

#define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB3_TIM)

#define PWM_SERVO_7_CHANNEL (SRVB3_TIM_CH-1)

#define PWM_SERVO_7_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_7_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM8

#define USE_PWM8 0

#endif

#if USE_PWM8

#define PWM_SERVO_8 8

#define PWM_SERVO_8_GPIO PAL_PORT(LINE_SRVB4)

#define PWM_SERVO_8_PIN PAL_PAD(LINE_SRVB4)

#define PWM_SERVO_8_AF AF_SRVB4

#define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB4_TIM)

#define PWM_SERVO_8_CHANNEL (SRVB4_TIM_CH-1)

#define PWM_SERVO_8_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_8_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM9

#define USE_PWM9 0

#endif

#if USE_PWM9

#define PWM_SERVO_9 9

#define PWM_SERVO_9_GPIO PAL_PORT(LINE_AUX_A1)

#define PWM_SERVO_9_PIN PAL_PAD(LINE_AUX_A1)

#define PWM_SERVO_9_AF GPIO_AF2

#define PWM_SERVO_9_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A1_TIM)

#define PWM_SERVO_9_CHANNEL (AUX_A1_TIM_CH-1)

#define PWM_SERVO_9_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_9_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM10

#define USE_PWM10 0

#endif

#if USE_PWM10

#define PWM_SERVO_10 10

#define PWM_SERVO_10_GPIO PAL_PORT(LINE_AUX_A2)

#define PWM_SERVO_10_PIN PAL_PAD(LINE_AUX_A2)

#define PWM_SERVO_10_AF GPIO_AF2

#define PWM_SERVO_10_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A2_TIM)

#define PWM_SERVO_10_CHANNEL (AUX_A2_TIM_CH-1)

#define PWM_SERVO_10_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_10_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM11

#define USE_PWM11 0

#endif

#if USE_PWM11

#define PWM_SERVO_11 11

#define PWM_SERVO_11_GPIO PAL_PORT(LINE_AUX_A3)

#define PWM_SERVO_11_PIN PAL_PAD(LINE_AUX_A3)

#define PWM_SERVO_11_AF GPIO_AF2

#define PWM_SERVO_11_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A3_TIM)

#define PWM_SERVO_11_CHANNEL (AUX_A3_TIM_CH-1)

#define PWM_SERVO_11_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_11_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM12

#define USE_PWM12 0

#endif

#if USE_PWM12

#define PWM_SERVO_12 12

#define PWM_SERVO_12_GPIO PAL_PORT(LINE_AUX_A4)

#define PWM_SERVO_12_PIN PAL_PAD(LINE_AUX_A4)

#define PWM_SERVO_12_AF GPIO_AF2

#define PWM_SERVO_12_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A4_TIM)

#define PWM_SERVO_12_CHANNEL (AUX_A4_TIM_CH-1)

#define PWM_SERVO_12_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_12_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM13

#define USE_PWM13 0

#endif

#if USE_PWM13

#define PWM_SERVO_13 13

#define PWM_SERVO_13_GPIO PAL_PORT(LINE_AUX_B1)

#define PWM_SERVO_13_PIN PAL_PAD(LINE_AUX_B1)

#define PWM_SERVO_13_AF GPIO_AF2

#define PWM_SERVO_13_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B1_TIM)

#define PWM_SERVO_13_CHANNEL (AUX_B1_TIM_CH-1)

#define PWM_SERVO_13_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_13_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM14

#define USE_PWM14 0

#endif

#if USE_PWM14

#define PWM_SERVO_14 14

#define PWM_SERVO_14_GPIO PAL_PORT(LINE_AUX_B2)

#define PWM_SERVO_14_PIN PAL_PAD(LINE_AUX_B2)

#define PWM_SERVO_14_AF GPIO_AF2

#define PWM_SERVO_14_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B2_TIM)

#define PWM_SERVO_14_CHANNEL (AUX_B2_TIM_CH-1)

#define PWM_SERVO_14_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_14_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM15

#define USE_PWM15 0

#endif

#if USE_PWM15

#define PWM_SERVO_15 15

#define PWM_SERVO_15_GPIO PAL_PORT(LINE_AUX_B3)

#define PWM_SERVO_15_PIN PAL_PAD(LINE_AUX_B3)

#define PWM_SERVO_15_AF GPIO_AF2

#define PWM_SERVO_15_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B3_TIM)

#define PWM_SERVO_15_CHANNEL (AUX_B3_TIM_CH-1)

#define PWM_SERVO_15_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_15_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM16

#define USE_PWM16 0

#endif

#if USE_PWM16

#define PWM_SERVO_16 16

#define PWM_SERVO_16_GPIO PAL_PORT(LINE_AUX_B4)

#define PWM_SERVO_16_PIN PAL_PAD(LINE_AUX_B4)

#define PWM_SERVO_16_AF GPIO_AF2

#define PWM_SERVO_16_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B4_TIM)

#define PWM_SERVO_16_CHANNEL (AUX_B4_TIM_CH-1)

#define PWM_SERVO_16_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_16_ACTIVE PWM_OUTPUT_DISABLED

#endif


// servo index starting at 1 + regular servos + aux servos

// so NB = 1+8+8

#define ACTUATORS_PWM_NB 17


#ifdef STM32_PWM_USE_TIM1

#define PWM_CONF_TIM1 STM32_PWM_USE_TIM1

#else

#define PWM_CONF_TIM1 1

#endif

#define PWM_CONF1_DEF { \

  PWM_FREQUENCY, \

  PWM_FREQUENCY/TIM1_SERVO_HZ, \

  NULL, \

  { \

    { PWM_SERVO_1_ACTIVE, NULL }, \

    { PWM_SERVO_2_ACTIVE, NULL }, \

    { PWM_SERVO_3_ACTIVE, NULL }, \

    { PWM_SERVO_4_ACTIVE, NULL }, \

  }, \

  0, \

  0 \

}


#ifdef STM32_PWM_USE_TIM3

#define PWM_CONF_TIM3 STM32_PWM_USE_TIM3

#else

#define PWM_CONF_TIM3 1

#endif

#define PWM_CONF3_DEF { \

  PWM_FREQUENCY, \

  PWM_FREQUENCY/TIM3_SERVO_HZ, \

  NULL, \

  { \

    { PWM_SERVO_12_ACTIVE, NULL }, \

    { PWM_SERVO_14_ACTIVE, NULL }, \

    { PWM_SERVO_15_ACTIVE, NULL }, \

    { PWM_SERVO_16_ACTIVE, NULL }, \

  }, \

  0, \

  0 \

}


#ifdef STM32_PWM_USE_TIM4

#define PWM_CONF_TIM4 STM32_PWM_USE_TIM4

#else

#define PWM_CONF_TIM4 1

#endif

#define PWM_CONF4_DEF { \

  PWM_FREQUENCY, \

  PWM_FREQUENCY/TIM4_SERVO_HZ, \

  NULL, \

  { \

    { PWM_SERVO_5_ACTIVE, NULL }, \

    { PWM_SERVO_6_ACTIVE, NULL }, \

    { PWM_SERVO_7_ACTIVE, NULL }, \

    { PWM_SERVO_8_ACTIVE, NULL }, \

  }, \

  0, \

  0 \

}


#ifdef STM32_PWM_USE_TIM5

#define PWM_CONF_TIM5 STM32_PWM_USE_TIM5

#else

#define PWM_CONF_TIM5 1

#endif

#define PWM_CONF5_DEF { \

  PWM_FREQUENCY, \

  PWM_FREQUENCY/TIM5_SERVO_HZ, \

  NULL, \

  { \

    { PWM_SERVO_9_ACTIVE, NULL }, \

    { PWM_SERVO_10_ACTIVE, NULL }, \

    { PWM_SERVO_11_ACTIVE, NULL }, \

    { PWM_SERVO_13_ACTIVE, NULL }, \

  }, \

  0, \

  0 \

}


#ifndef DSHOT_TELEMETRY_DEV

#define DSHOT_TELEMETRY_DEV NULL

#endif


#ifndef USE_DSHOT_TIM4

#define USE_DSHOT_TIM4 1 // use SRVb for DShot by default

#endif


#if USE_DSHOT_TIM4 // Servo B1, B2, B3, B4 on TIM4


// Servo B1, B2, B3, B4 on TM4 are primary DSHOT connector

#define DSHOT_SERVO_1 1

#define DSHOT_SERVO_1_GPIO PAL_PORT(LINE_SRVB1)

#define DSHOT_SERVO_1_PIN PAL_PAD(LINE_SRVB1)

#define DSHOT_SERVO_1_AF AF_SRVB1

#define DSHOT_SERVO_1_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB1_TIM)

#define DSHOT_SERVO_1_CHANNEL SRVB1_TIM_CH


#define DSHOT_SERVO_2 2

#define DSHOT_SERVO_2_GPIO PAL_PORT(LINE_SRVB2)

#define DSHOT_SERVO_2_PIN PAL_PAD(LINE_SRVB2)

#define DSHOT_SERVO_2_AF AF_SRVB2

#define DSHOT_SERVO_2_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB2_TIM)

#define DSHOT_SERVO_2_CHANNEL SRVB2_TIM_CH


#define DSHOT_SERVO_3 3

#define DSHOT_SERVO_3_GPIO PAL_PORT(LINE_SRVB3)

#define DSHOT_SERVO_3_PIN PAL_PAD(LINE_SRVB3)

#define DSHOT_SERVO_3_AF AF_SRVB3

#define DSHOT_SERVO_3_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB3_TIM)

#define DSHOT_SERVO_3_CHANNEL SRVB3_TIM_CH


#define DSHOT_SERVO_4 4

#define DSHOT_SERVO_4_GPIO PAL_PORT(LINE_SRVB4)

#define DSHOT_SERVO_4_PIN PAL_PAD(LINE_SRVB4)

#define DSHOT_SERVO_4_AF AF_SRVB4

#define DSHOT_SERVO_4_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB4_TIM)

#define DSHOT_SERVO_4_CHANNEL SRVB4_TIM_CH


#define DSHOT_CONF_TIM4 1

#define DSHOT_CONF4_DEF { \

  .dma_stream = STM32_PWM4_UP_DMA_STREAM,   \

  .dma_channel = STM32_PWM4_UP_DMA_CHANNEL, \

  .pwmp = &PWMD4,                           \

  .tlm_sd = DSHOT_TELEMETRY_DEV,            \

  .dma_buf = &dshot4DmaBuffer,              \

  .dcache_memory_in_use = false             \

}


#endif


#if USE_DSHOT_TIM1 // Servo A1, A2, A3, A4 on TIM1 only activated if needed


#define DSHOT_SERVO_5 5

#define DSHOT_SERVO_5_GPIO PAL_PORT(LINE_SRVA1)

#define DSHOT_SERVO_5_PIN PAL_PAD(LINE_SRVA1)

#define DSHOT_SERVO_5_AF AF_SRVA1

#define DSHOT_SERVO_5_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA1_TIM)

#define DSHOT_SERVO_5_CHANNEL SRVA1_TIM_CH


#define DSHOT_SERVO_6 6

#define DSHOT_SERVO_6_GPIO PAL_PORT(LINE_SRVA2)

#define DSHOT_SERVO_6_PIN PAL_PAD(LINE_SRVA2)

#define DSHOT_SERVO_6_AF AF_SRVA2

#define DSHOT_SERVO_6_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA2_TIM)

#define DSHOT_SERVO_6_CHANNEL SRVA2_TIM_CH


#define DSHOT_SERVO_7 7

#define DSHOT_SERVO_7_GPIO PAL_PORT(LINE_SRVA3)

#define DSHOT_SERVO_7_PIN PAL_PAD(LINE_SRVA3)

#define DSHOT_SERVO_7_AF AF_SRVA3

#define DSHOT_SERVO_7_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA3_TIM)

#define DSHOT_SERVO_7_CHANNEL SRVA3_TIM_CH


#define DSHOT_SERVO_8 8

#define DSHOT_SERVO_8_GPIO PAL_PORT(LINE_SRVA4)

#define DSHOT_SERVO_8_PIN PAL_PAD(LINE_SRVA4)

#define DSHOT_SERVO_8_AF AF_SRVA4

#define DSHOT_SERVO_8_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA4_TIM)

#define DSHOT_SERVO_8_CHANNEL SRVA4_TIM_CH


#define DSHOT_CONF_TIM1 1

#define DSHOT_CONF1_DEF { \

  .dma_stream = STM32_PWM1_UP_DMA_STREAM,   \

  .dma_channel = STM32_PWM1_UP_DMA_CHANNEL, \

  .pwmp = &PWMD1,                           \

  .tlm_sd = DSHOT_TELEMETRY_DEV,            \

  .dma_buf = &dshot1DmaBuffer,              \

  .dcache_memory_in_use = false             \

}


#endif


#define UART2_GPIO_PORT_TX  PAL_PORT(LINE_UART2_TX)

#define UART2_GPIO_TX       PAL_PAD(LINE_UART2_TX)

#define UART2_GPIO_PORT_RX  PAL_PORT(LINE_UART2_RX)

#define UART2_GPIO_RX       PAL_PAD(LINE_UART2_RX)

#define UART2_GPIO_AF       AF_UART2_TX

#ifndef UART2_HW_FLOW_CONTROL

#define UART2_HW_FLOW_CONTROL FALSE

#endif


#define UART3_GPIO_PORT_TX  PAL_PORT(LINE_UART3_TX)

#define UART3_GPIO_TX       PAL_PAD(LINE_UART3_TX)

#define UART3_GPIO_PORT_RX  PAL_PORT(LINE_UART3_RX)

#define UART3_GPIO_RX       PAL_PAD(LINE_UART3_RX)

#define UART3_GPIO_AF       AF_UART3_TX


#define UART7_GPIO_PORT_TX  PAL_PORT(LINE_UART7_TX)

#define UART7_GPIO_TX       PAL_PAD(LINE_UART7_TX)

#define UART7_GPIO_PORT_RX  PAL_PORT(LINE_UART7_RX)

#define UART7_GPIO_RX       PAL_PAD(LINE_UART7_RX)

#define UART7_GPIO_AF       AF_UART7_TX


#define UART4_GPIO_PORT_TX  PAL_PORT(LINE_AUX_A1)

#define UART4_GPIO_TX       PAL_PAD(LINE_AUX_A1)

#define UART4_GPIO_PORT_RX  PAL_PORT(LINE_AUX_A2)

#define UART4_GPIO_RX       PAL_PAD(LINE_AUX_A2)

#define UART4_GPIO_AF       AUX_A1_UART_AF


// In case, do dynamic config of UARTs

#ifndef USE_UART8_RX

#define USE_UART8_RX TRUE

#endif

#ifndef USE_UART8_TX // may be used in half duplex mode

#define USE_UART8_TX FALSE

#endif

// Tx and Rx are configured on the same pin, only one of them should be used

#define UART8_GPIO_PORT_TX  PAL_PORT(LINE_RC1)

#define UART8_GPIO_TX       PAL_PAD(LINE_RC1)

#define UART8_GPIO_PORT_RX  PAL_PORT(LINE_RC1)

#define UART8_GPIO_RX       PAL_PAD(LINE_RC1)

#define UART8_GPIO_AF       RC1_UART_AF


#ifndef USE_UART6_RX

#define USE_UART6_RX FALSE

#endif

#ifndef USE_UART6_TX

#define USE_UART6_TX TRUE

#endif

// Tx and Rx are configured on the same pin, only one of them should be used

#define UART6_GPIO_PORT_TX  PAL_PORT(LINE_RC2)

#define UART6_GPIO_TX       PAL_PAD(LINE_RC2)

#define UART6_GPIO_PORT_RX  PAL_PORT(LINE_RC2)

#define UART6_GPIO_RX       PAL_PAD(LINE_RC2)

#define UART6_GPIO_AF       RC2_USART_AF


/* The line that is pulled low at power up to initiate the bind process

 * PB1: AUXb4

 */

#define SPEKTRUM_BIND_PIN       PAL_PORT(LINE_AUX_B4)

#define SPEKTRUM_BIND_PIN_PORT  PAL_PAD(LINE_AUX_B4)


// no wait with chibios as the RTC oscillator takes longer to stabilize

#define SPEKTRUM_BIND_WAIT 30000


#define RC_PPM_TICKS_PER_USEC 6

#define PPM_TIMER_FREQUENCY 6000000

#define PPM_CHANNEL CONCAT_BOARD_PARAM(ICU_CHANNEL_, RC2_TIM_CH)

#define PPM_TIMER CONCAT_BOARD_PARAM(ICUD, RC2_TIM)


/*

 * PWM input

 */

// PWM_INPUT 1 on PA0 (AUXa1)

#define PWM_INPUT1_ICU            ICUD2

#define PWM_INPUT1_CHANNEL        ICU_CHANNEL_1

#define PWM_INPUT1_GPIO_PORT      PAL_PORT(LINE_AUX_A1)

#define PWM_INPUT1_GPIO_PIN       PAL_PAD(LINE_AUX_A1)

#define PWM_INPUT1_GPIO_AF        GPIO_AF1


// PWM_INPUT 2 on PA1 (AUXa2)

#define PWM_INPUT2_ICU            ICUD5

#define PWM_INPUT2_CHANNEL        ICU_CHANNEL_2

#define PWM_INPUT2_GPIO_PORT      PAL_PORT(LINE_AUX_A2)

#define PWM_INPUT2_GPIO_PIN       PAL_PAD(LINE_AUX_A2)

#define PWM_INPUT2_GPIO_AF        GPIO_AF2


// Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK

#define STM32_CR1_DNF(n)          ((n & 0x0f) << 8)

// Timing register

#define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR  (STM32_TIMINGR_PRESC(0U) | \

    STM32_TIMINGR_SCLDEL(10U) | STM32_TIMINGR_SDADEL(0U) | \

    STM32_TIMINGR_SCLH(34U)  | STM32_TIMINGR_SCLL(86U))

#define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR  (STM32_TIMINGR_PRESC(1U) | \

    STM32_TIMINGR_SCLDEL(9U) | STM32_TIMINGR_SDADEL(0U) | \

    STM32_TIMINGR_SCLH(105U)  | STM32_TIMINGR_SCLL(153U))


// Internal I2C (baro, magneto)


#ifndef I2C4_CLOCK_SPEED

#define I2C4_CLOCK_SPEED 400000

#endif


#if I2C4_CLOCK_SPEED == 400000

#define I2C4_CFG_DEF { \

  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \

  .cr1 = STM32_CR1_DNF(0), \

  .cr2 = 0 \

}

#elif I2C4_CLOCK_SPEED == 100000

#define I2C4_CFG_DEF { \

  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \

  .cr1 = STM32_CR1_DNF(0), \

  .cr2 = 0 \

}

#else

#error "Unknown I2C4 clock speed"

#endif


// External I2C


#ifndef I2C2_CLOCK_SPEED

#define I2C2_CLOCK_SPEED 400000

#endif


#if I2C2_CLOCK_SPEED == 400000

#define I2C2_CFG_DEF { \

  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \

  .cr1 = STM32_CR1_DNF(0), \

  .cr2 = 0 \

}

#elif I2C2_CLOCK_SPEED == 100000

#define I2C2_CFG_DEF { \

  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \

  .cr1 = STM32_CR1_DNF(0), \

  .cr2 = 0 \

}

#else

#error "Unknown I2C2 clock speed"

#endif


// Internal SPI (IMU)

#define SPI4_GPIO_AF          AF_SPI4_INTERNAL_CLK

#define SPI4_GPIO_PORT_MISO   PAL_PORT(LINE_SPI4_INTERNAL_MISO)

#define SPI4_GPIO_MISO        PAL_PAD(LINE_SPI4_INTERNAL_MISO)

#define SPI4_GPIO_PORT_MOSI   PAL_PORT(LINE_SPI4_INTERNAL_MOSI)

#define SPI4_GPIO_MOSI        PAL_PAD(LINE_SPI4_INTERNAL_MOSI)

#define SPI4_GPIO_PORT_SCK    PAL_PORT(LINE_SPI4_INTERNAL_CLK)

#define SPI4_GPIO_SCK         PAL_PAD(LINE_SPI4_INTERNAL_CLK)


// External SPI

#define SPI2_GPIO_AF          AF_SPI2_EXTERNAL_CLK

#define SPI2_GPIO_PORT_MISO   PAL_PORT(LINE_SPI2_EXTERNAL_MISO)

#define SPI2_GPIO_MISO        PAL_PAD(LINE_SPI2_EXTERNAL_MISO)

#define SPI2_GPIO_PORT_MOSI   PAL_PORT(LINE_SPI2_EXTERNAL_MOSI)

#define SPI2_GPIO_MOSI        PAL_PAD(LINE_SPI2_EXTERNAL_MOSI)

#define SPI2_GPIO_PORT_SCK    PAL_PORT(LINE_SPI2_EXTERNAL_CLK)

#define SPI2_GPIO_SCK         PAL_PAD(LINE_SPI2_EXTERNAL_CLK)


// SLAVE0 on SPI connector (NSS possible)

#define SPI_SELECT_SLAVE0_PORT  PAL_PORT(LINE_SPI2_EXTERNAL_CS)

#define SPI_SELECT_SLAVE0_PIN   PAL_PAD(LINE_SPI2_EXTERNAL_CS)

// SLAVE1 on AUXb1

#define SPI_SELECT_SLAVE1_PORT  PAL_PORT(LINE_AUX_B1)

#define SPI_SELECT_SLAVE1_PIN   PAL_PAD(LINE_AUX_B1)

// SLAVE2 on AUXb2

#define SPI_SELECT_SLAVE2_PORT  PAL_PORT(LINE_AUX_B2)

#define SPI_SELECT_SLAVE2_PIN   PAL_PAD(LINE_AUX_B2)

// SLAVE3 on AUXb3

#define SPI_SELECT_SLAVE3_PORT  PAL_PORT(LINE_AUX_B3)

#define SPI_SELECT_SLAVE3_PIN   PAL_PAD(LINE_AUX_B3)

// SLAVE4 on AUXb4

#define SPI_SELECT_SLAVE4_PORT  PAL_PORT(LINE_AUX_B4)

#define SPI_SELECT_SLAVE4_PIN   PAL_PAD(LINE_AUX_B4)

// SLAVE5 on PE4 (internal IMU)

#define SPI_SELECT_SLAVE5_PORT  PAL_PORT(LINE_SPI4_INTERNAL_CS)

#define SPI_SELECT_SLAVE5_PIN   PAL_PAD(LINE_SPI4_INTERNAL_CS)


#ifndef USE_BARO_BOARD

#define USE_BARO_BOARD 0

#endif


#define SDIO_D0_PORT  PAL_PORT(LINE_SDMMC1_D0)

#define SDIO_D0_PIN   PAL_PAD(LINE_SDMMC1_D0)

#define SDIO_D1_PORT  PAL_PORT(LINE_SDMMC1_D1)

#define SDIO_D1_PIN   PAL_PAD(LINE_SDMMC1_D1)

#define SDIO_D2_PORT  PAL_PORT(LINE_SDMMC1_D2)

#define SDIO_D2_PIN   PAL_PAD(LINE_SDMMC1_D2)

#define SDIO_D3_PORT  PAL_PORT(LINE_SDMMC1_D3)

#define SDIO_D3_PIN   PAL_PAD(LINE_SDMMC1_D3)

#define SDIO_CK_PORT  PAL_PORT(LINE_SDMMC1_CK)

#define SDIO_CK_PIN   PAL_PAD(LINE_SDMMC1_CK)

#define SDIO_CMD_PORT PAL_PORT(LINE_SDMMC1_CMD)

#define SDIO_CMD_PIN  PAL_PAD(LINE_SDMMC1_CMD)

#define SDIO_AF       AF_SDMMC1_CK

// bat monitoring for file closing

#define SDLOG_BAT_ADC CONCAT_BOARD_PARAM(ADCD, VBAT_MEAS_ADC)

#define SDLOG_BAT_CHAN CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, VBAT_MEAS_ADC_IN)

// usb led status

#define SDLOG_USB_LED 4

#define SDLOG_USB_VBUS_PORT PAL_PORT(LINE_USB_VBUS)

#define SDLOG_USB_VBUS_PIN  PAL_PAD(LINE_USB_VBUS)


/*

 * Actuators for fixedwing

 */

 /* Default actuators driver */

#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"

#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)

#define ActuatorsDefaultInit() ActuatorsPwmInit()

#define ActuatorsDefaultCommit() ActuatorsPwmCommit()


#define WS2812D1_GPIO PAL_PORT(LINE_AUX_A1)

#define WS2812D1_PIN  PAL_PAD(LINE_AUX_A1)

#define WS2812D1_AF 2

#define WS2812D1_CFG_DEF { \

  .dma_stream = STM32_PWM5_UP_DMA_STREAM, \

  .dma_channel = STM32_PWM5_UP_DMA_CHANNEL, \

  .dma_priority = STM32_PWM5_UP_DMA_PRIORITY, \

  .pwm_channel = 0, \

  .pwmp = &PWMD5 \

}


#endif /* CONFIG_TAWAKI_1_00_H */