v6.1/holybro__kakute__f7_8h_source.html

#ifndef CONFIG_HOLYBRO_KAKUTE_F7_H

#define CONFIG_HOLYBRO_KAKUTE_F7_H


#define BOARD_HOLYBRO_KAKUTE_F7


#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

 */

/* blue, 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


/*

 * ADCs

 */

// RSSI

#if USE_ADC_1

#define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, RSSI_ADC_IN)

#define ADC_1 AD1_1

#define ADC_1_GPIO_PORT PAL_PORT(LINE_RSSI)

#define ADC_1_GPIO_PIN PAL_PAD(LINE_RSSI)

#endif


// VBAT enabled by default

#ifndef USE_ADC_2

#define USE_ADC_2 1

#endif

#if USE_ADC_2

#define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, VBAT_MEAS_ADC_IN)

#define ADC_2 AD1_2

#define ADC_2_GPIO_PORT PAL_PORT(LINE_VBAT_MEAS)

#define ADC_2_GPIO_PIN PAL_PAD(LINE_VBAT_MEAS)

#endif


// CURRENT

#if USE_ADC_3

#define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, CURRENT_MEAS_ADC_IN)

#define ADC_3 AD1_3

#define ADC_3_GPIO_PORT PAL_PORT(LINE_CURRENT_MEAS)

#define ADC_3_GPIO_PIN PAL_PAD(LINE_CURRENT_MEAS)

#endif


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

#ifndef ADC_CHANNEL_VSUPPLY

#define ADC_CHANNEL_VSUPPLY ADC_2

#endif


/*

 * R1 = 1k

 * R2 = 10k

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

 */

#define VBAT_R1 1000.0f

#define VBAT_R2 10000.0f

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


/*

 * current sensor: 132A, 3.3V 12bits ADC -> 40 A/V -> 40000 * 3.3/2^12 mA/ADC

 */

#define DefaultMilliAmpereOfAdc(adc) ((40000.f*3.3f/4096.f)*adc)


/*

 * PWM defines

 */


#ifndef USE_PWM1

#define USE_PWM1 1

#endif

#if USE_PWM1

#define PWM_SERVO_1 1

#define PWM_SERVO_1_GPIO PAL_PORT(LINE_S1)

#define PWM_SERVO_1_PIN PAL_PAD(LINE_S1)

#define PWM_SERVO_1_AF AF_S1

#define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, S1_TIM)

#define PWM_SERVO_1_CHANNEL (S1_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_S2)

#define PWM_SERVO_2_PIN PAL_PAD(LINE_S2)

#define PWM_SERVO_2_AF AF_S2

#define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, S2_TIM)

#define PWM_SERVO_2_CHANNEL (S2_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_S3)

#define PWM_SERVO_3_PIN PAL_PAD(LINE_S3)

#define PWM_SERVO_3_AF AF_S3

#define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, S3_TIM)

#define PWM_SERVO_3_CHANNEL (S3_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_S4)

#define PWM_SERVO_4_PIN PAL_PAD(LINE_S4)

#define PWM_SERVO_4_AF AF_S4

#define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, S4_TIM)

#define PWM_SERVO_4_CHANNEL (S4_TIM_CH-1)

#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_DISABLED

#endif


#ifndef USE_PWM5

#define USE_PWM5 1

#endif

#if USE_PWM5

#define PWM_SERVO_5 5

#define PWM_SERVO_5_GPIO PAL_PORT(LINE_S5)

#define PWM_SERVO_5_PIN PAL_PAD(LINE_S5)

#define PWM_SERVO_5_AF AF_S5

#define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, S5_TIM)

#define PWM_SERVO_5_CHANNEL (S5_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 1

#endif

#if USE_PWM6

#define PWM_SERVO_6 6

#define PWM_SERVO_6_GPIO PAL_PORT(LINE_S6)

#define PWM_SERVO_6_PIN PAL_PAD(LINE_S6)

#define PWM_SERVO_6_AF AF_S6

#define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, S6_TIM)

#define PWM_SERVO_6_CHANNEL (S6_TIM_CH-1)

#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_ACTIVE_HIGH

#else

#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_DISABLED

#endif


// servo index starting at 1 + regular servos

// so NB = 1+6

#define ACTUATORS_PWM_NB 7


#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_2_ACTIVE, NULL }, \

    { PWM_SERVO_3_ACTIVE, NULL }, \

    { PWM_SERVO_1_ACTIVE, NULL }, \

    { PWM_OUTPUT_DISABLED, 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_OUTPUT_DISABLED, NULL }, \

    { PWM_OUTPUT_DISABLED, NULL }, \

    { PWM_SERVO_4_ACTIVE, NULL }, \

    { PWM_SERVO_5_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_OUTPUT_DISABLED, NULL }, \

    { PWM_OUTPUT_DISABLED, NULL }, \

    { PWM_OUTPUT_DISABLED, NULL }, \

    { PWM_SERVO_6_ACTIVE, NULL }, \

  }, \

  0, \

  0 \

}


#ifndef DSHOT_TELEMETRY_DEV

#define DSHOT_TELEMETRY_DEV NULL

#endif


#ifndef USE_DSHOT_TIM

#define USE_DSHOT_TIM 0

#endif


#if USE_DSHOT_TIM


#define DSHOT_SERVO_1 1

#define DSHOT_SERVO_1_GPIO PAL_PORT(LINE_S1)

#define DSHOT_SERVO_1_PIN PAL_PAD(LINE_S1)

#define DSHOT_SERVO_1_AF AF_S1

#define DSHOT_SERVO_1_DRIVER CONCAT_BOARD_PARAM(DSHOTD, S1_TIM)

#define DSHOT_SERVO_1_CHANNEL S1_TIM_CH


#define DSHOT_SERVO_2 2

#define DSHOT_SERVO_2_GPIO PAL_PORT(LINE_S2)

#define DSHOT_SERVO_2_PIN PAL_PAD(LINE_S2)

#define DSHOT_SERVO_2_AF AF_S2

#define DSHOT_SERVO_2_DRIVER CONCAT_BOARD_PARAM(DSHOTD, S2_TIM)

#define DSHOT_SERVO_2_CHANNEL S2_TIM_CH


#define DSHOT_SERVO_3 3

#define DSHOT_SERVO_3_GPIO PAL_PORT(LINE_S3)

#define DSHOT_SERVO_3_PIN PAL_PAD(LINE_S3)

#define DSHOT_SERVO_3_AF AF_S3

#define DSHOT_SERVO_3_DRIVER CONCAT_BOARD_PARAM(DSHOTD, S3_TIM)

#define DSHOT_SERVO_3_CHANNEL S3_TIM_CH


#define DSHOT_SERVO_4 4

#define DSHOT_SERVO_4_GPIO PAL_PORT(LINE_S4)

#define DSHOT_SERVO_4_PIN PAL_PAD(LINE_S4)

#define DSHOT_SERVO_4_AF AF_S4

#define DSHOT_SERVO_4_DRIVER CONCAT_BOARD_PARAM(DSHOTD, S4_TIM)

#define DSHOT_SERVO_4_CHANNEL S4_TIM_CH


#define DSHOT_CONF_TIM1 1

#define DSHOT_CONF4_DEF { \

  .dma_stream = STM32_PWM1_UP_DMA_STREAM,   \

  .dma_channel = STM32_PWM1_UP_DMA_CHANNEL, \

  .pwmp = &PWMD1,                           \

  .tlm_sd = DSHOT_TELEMETRY_DEV,            \

  .dma_buf = &dshot4DmaBuffer,              \

  .dcache_memory_in_use = false             \

}


#define DSHOT_CONF_TIM3 1

#define DSHOT_CONF3_DEF { \

  .dma_stream = STM32_PWM3_UP_DMA_STREAM,   \

  .dma_channel = STM32_PWM3_UP_DMA_CHANNEL, \

  .pwmp = &PWMD3,                           \

  .tlm_sd = DSHOT_TELEMETRY_DEV,            \

  .dma_buf = &dshot4DmaBuffer,              \

  .dcache_memory_in_use = false             \

}


#endif


#define UART1_GPIO_PORT_TX  PAL_PORT(LINE_UART1_TX)

#define UART1_GPIO_TX       PAL_PAD(LINE_UART1_TX)

#define UART1_GPIO_PORT_RX  PAL_PORT(LINE_UART1_RX)

#define UART1_GPIO_RX       PAL_PAD(LINE_UART1_RX)

#define UART1_GPIO_AF       AF_UART1_TX


#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


#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 UART4_GPIO_PORT_TX  PAL_PORT(LINE_UART4_TX)

#define UART4_GPIO_TX       PAL_PAD(LINE_UART4_TX)

#define UART4_GPIO_PORT_RX  PAL_PORT(LINE_UART4_RX)

#define UART4_GPIO_RX       PAL_PAD(LINE_UART4_RX)

#define UART4_GPIO_AF       AF_UART4_TX


#define USE_UART6_RX TRUE

#define USE_UART6_TX FALSE

#define UART6_GPIO_PORT_RX  PAL_PORT(LINE_RC1)

#define UART6_GPIO_RX       PAL_PAD(LINE_RC1)

#define UART6_GPIO_AF       RC1_USART_AF


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

 */

#define SPEKTRUM_BIND_PIN       PAL_PORT(LINE_XXX)

#define SPEKTRUM_BIND_PIN_PORT  PAL_PAD(LINE_XXX)


// 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)


// 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))


#ifndef I2C1_CLOCK_SPEED

#define I2C1_CLOCK_SPEED 400000

#endif


#if I2C1_CLOCK_SPEED == 400000

#define I2C1_CFG_DEF { \

  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \

  .cr1 = STM32_CR1_DNF(0), \

  .cr2 = 0 \

}

#elif I2C1_CLOCK_SPEED == 100000

#define I2C1_CFG_DEF { \

  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \

  .cr1 = STM32_CR1_DNF(0), \

  .cr2 = 0 \

}

#else

#error "Unknown I2C1 clock speed"

#endif


// Internal SPI (SDCARD)

#define SPI1_GPIO_AF          AF_SPI1_CLK

#define SPI1_GPIO_PORT_MISO   PAL_PORT(LINE_SPI1_MISO)

#define SPI1_GPIO_MISO        PAL_PAD(LINE_SPI1_MISO)

#define SPI1_GPIO_PORT_MOSI   PAL_PORT(LINE_SPI1_MOSI)

#define SPI1_GPIO_MOSI        PAL_PAD(LINE_SPI1_MOSI)

#define SPI1_GPIO_PORT_SCK    PAL_PORT(LINE_SPI1_CLK)

#define SPI1_GPIO_SCK         PAL_PAD(LINE_SPI1_CLK)


// Internal SPI (OSD)

#define SPI2_GPIO_AF          AF_SPI2_CLK

#define SPI2_GPIO_PORT_MISO   PAL_PORT(LINE_SPI2_MISO)

#define SPI2_GPIO_MISO        PAL_PAD(LINE_SPI2_MISO)

#define SPI2_GPIO_PORT_MOSI   PAL_PORT(LINE_SPI2_MOSI)

#define SPI2_GPIO_MOSI        PAL_PAD(LINE_SPI2_MOSI)

#define SPI2_GPIO_PORT_SCK    PAL_PORT(LINE_SPI2_CLK)

#define SPI2_GPIO_SCK         PAL_PAD(LINE_SPI2_CLK)


// 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)


// SLAVE0 on IMU1 (MPU6000)

#define SPI_SELECT_SLAVE0_PORT  PAL_PORT(LINE_IMU_CS)

#define SPI_SELECT_SLAVE0_PIN   PAL_PAD(LINE_IMU_CS)

// SLAVE1 on SDCARD

#define SPI_SELECT_SLAVE1_PORT  PAL_PORT(LINE_SDCARD_CS)

#define SPI_SELECT_SLAVE1_PIN   PAL_PAD(LINE_SDCARD_CS)

// SLAVE2 on OSD

#define SPI_SELECT_SLAVE2_PORT  PAL_PORT(LINE_OSD_CS)

#define SPI_SELECT_SLAVE2_PIN   PAL_PAD(LINE_OSD_CS)


#ifndef USE_BARO_BOARD

#define USE_BARO_BOARD 0

#endif


/*

 * Actuators for fixedwing

 */

 /* Default actuators driver */

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

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

#define ActuatorsDefaultInit() ActuatorsPwmInit()

#define ActuatorsDefaultCommit() ActuatorsPwmCommit()


#endif /* CONFIG_HOLYBRO_KAKUTE_F7_H */