Paparazzi UAS
v6.1.0_stable
Paparazzi is a free software Unmanned Aircraft System.
px4fmu.h
Go to the documentation of this file.
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#ifndef CONFIG_PX4FMU_5_00_H
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#define CONFIG_PX4FMU_5_00_H
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#define BOARD_PX4FMU
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#include "
boards/px4fmu/chibios/v5.0/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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* LEDs
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*/
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#if defined(LINE_LED1)
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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_clear
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#define LED_1_GPIO_OFF gpio_set
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#define LED_1_AFIO_REMAP ((void)0)
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#endif
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#if defined(LINE_LED2)
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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_clear
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#define LED_2_GPIO_OFF gpio_set
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#define LED_2_AFIO_REMAP ((void)0)
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#endif
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#if defined(LINE_LED3)
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#ifndef USE_LED_3
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#define USE_LED_3 1
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#endif
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#define LED_3_GPIO PAL_PORT(LINE_LED3)
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#define LED_3_GPIO_PIN PAL_PAD(LINE_LED3)
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#define LED_3_GPIO_ON gpio_clear
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#define LED_3_GPIO_OFF gpio_set
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#define LED_3_AFIO_REMAP ((void)0)
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#endif
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#if defined(LINE_LED4)
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#ifndef USE_LED_4
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#define USE_LED_4 1
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#endif
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#define LED_4_GPIO PAL_PORT(LINE_LED4)
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#define LED_4_GPIO_PIN PAL_PAD(LINE_LED4)
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#define LED_4_GPIO_ON gpio_clear
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#define LED_4_GPIO_OFF gpio_set
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#define LED_4_AFIO_REMAP ((void)0)
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#endif
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/*
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* ADCs
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*/
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#if defined(LINE_ADC1)
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#ifndef USE_ADC_1
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#define USE_ADC_1 1
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#endif
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#if USE_ADC_1
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#define AD1_1_CHANNEL ADC_CHANNEL_IN0
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#define ADC_1 AD1_1
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#define ADC_1_GPIO_PORT PAL_PORT(LINE_ADC1)
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#define ADC_1_GPIO_PIN PAL_PAD(LINE_ADC1)
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#endif
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#endif
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#if defined(LINE_ADC2)
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#ifndef USE_ADC_2
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#define USE_ADC_2 1
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#endif
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#if USE_ADC_2
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#define AD1_2_CHANNEL ADC_CHANNEL_IN1
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#define ADC_2 AD1_2
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#define ADC_2_GPIO_PORT PAL_PORT(LINE_ADC2)
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#define ADC_2_GPIO_PIN PAL_PAD(LINE_ADC2)
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#endif
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#endif
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#if defined(LINE_ADC3)
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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 ADC_CHANNEL_IN2
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#define ADC_3 AD1_3
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#define ADC_3_GPIO_PORT PAL_PORT(LINE_ADC3)
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#define ADC_3_GPIO_PIN PAL_PAD(LINE_ADC3)
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#endif
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#endif
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#if defined(LINE_ADC4)
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#ifndef USE_ADC_4
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#define USE_ADC_4 1
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#endif
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#if USE_ADC_4
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#define AD1_4_CHANNEL ADC_CHANNEL_IN3
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#define ADC_4 AD1_4
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#define ADC_4_GPIO_PORT PAL_PORT(LINE_ADC4)
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#define ADC_4_GPIO_PIN PAL_PAD(LINE_ADC4)
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#endif
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#endif
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#if defined(LINE_ADC5)
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#if USE_ADC_5
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#define AD1_5_CHANNEL ADC_CHANNEL_IN4
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#define ADC_5 AD1_5
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#define ADC_5_GPIO_PORT PAL_PORT(LINE_ADC5)
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#define ADC_5_GPIO_PIN PAL_PAD(LINE_ADC5)
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#endif
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#endif
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#if defined(LINE_ADC6)
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#if USE_ADC_6
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#define AD1_6_CHANNEL ADC_CHANNEL_IN14
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#define ADC_6 AD1_6
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#define ADC_6_GPIO_PORT PAL_PORT(LINE_ADC6)
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#define ADC_6_GPIO_PIN PAL_PAD(LINE_ADC6)
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#endif
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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_1
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#endif
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/* allow to define ADC_CHANNEL_CURRENT in the airframe file*/
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#if !defined(ADC_CHANNEL_CURRENT) && !ADC_CURRENT_DISABLE
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#define ADC_CHANNEL_CURRENT ADC_2
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#endif
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/* Default powerbrick values */
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#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f) * 10.3208191126f * adc)
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#define MilliAmpereOfAdc(adc) ((3.3f/4096.0f) * 24000.0f * adc)
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/*
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* PWM defines (TODO DRIVER and CHANNEL)
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*/
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#if defined(LINE_SERVO1)
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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 0
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#define PWM_SERVO_1_GPIO PAL_PORT(LINE_SERVO1)
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#define PWM_SERVO_1_PIN PAL_PAD(LINE_SERVO1)
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#define PWM_SERVO_1_AF AF_LINE_SERVO1
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#define PWM_SERVO_1_DRIVER PWMD1
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#define PWM_SERVO_1_CHANNEL 4-1
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#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
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#else
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#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_DISABLED
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#endif
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#endif
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#if defined(LINE_SERVO2)
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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 1
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#define PWM_SERVO_2_GPIO PAL_PORT(LINE_SERVO2)
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#define PWM_SERVO_2_PIN PAL_PAD(LINE_SERVO2)
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#define PWM_SERVO_2_AF AF_LINE_SERVO2
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#define PWM_SERVO_2_DRIVER PWMD1
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#define PWM_SERVO_2_CHANNEL 3-1
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#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
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#else
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#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_DISABLED
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#endif
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#endif
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#if defined(LINE_SERVO3)
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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 2
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#define PWM_SERVO_3_GPIO PAL_PORT(LINE_SERVO3)
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#define PWM_SERVO_3_PIN PAL_PAD(LINE_SERVO3)
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#define PWM_SERVO_3_AF AF_LINE_SERVO3
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#define PWM_SERVO_3_DRIVER PWMD1
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#define PWM_SERVO_3_CHANNEL 2-1
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#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
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#else
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#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_DISABLED
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#endif
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#endif
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#if defined(LINE_SERVO4)
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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 3
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#define PWM_SERVO_4_GPIO PAL_PORT(LINE_SERVO4)
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#define PWM_SERVO_4_PIN PAL_PAD(LINE_SERVO4)
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#define PWM_SERVO_4_AF AF_LINE_SERVO4
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#define PWM_SERVO_4_DRIVER PWMD1
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#define PWM_SERVO_4_CHANNEL 1-1
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#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
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#else
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#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_DISABLED
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#endif
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#endif
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#if defined(LINE_SERVO5)
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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 4
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#define PWM_SERVO_5_GPIO PAL_PORT(LINE_SERVO5)
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#define PWM_SERVO_5_PIN PAL_PAD(LINE_SERVO5)
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#define PWM_SERVO_5_AF AF_LINE_SERVO5
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#define PWM_SERVO_5_DRIVER PWMD4
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#define PWM_SERVO_5_CHANNEL 2-1
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#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
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#else
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#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_DISABLED
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#endif
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#endif
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#if defined(LINE_SERVO6)
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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 5
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#define PWM_SERVO_6_GPIO PAL_PORT(LINE_SERVO6)
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#define PWM_SERVO_6_PIN PAL_PAD(LINE_SERVO6)
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#define PWM_SERVO_6_AF AF_LINE_SERVO6
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#define PWM_SERVO_6_DRIVER PWMD4
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#define PWM_SERVO_6_CHANNEL 3-1
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#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
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#else
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#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_DISABLED
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#endif
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#endif
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#if defined(LINE_SERVO7)
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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 6
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#define PWM_SERVO_7_GPIO PAL_PORT(LINE_SERVO7)
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#define PWM_SERVO_7_PIN PAL_PAD(LINE_SERVO7)
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#define PWM_SERVO_7_AF AF_LINE_SERVO7
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#define PWM_SERVO_7_DRIVER PWMD12
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#define PWM_SERVO_7_CHANNEL 1-1
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#define PWM_SERVO_7_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
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#else
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#define PWM_SERVO_7_ACTIVE PWM_OUTPUT_DISABLED
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#endif
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#endif
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#if defined(LINE_SERVO8)
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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 7
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#define PWM_SERVO_8_GPIO PAL_PORT(LINE_SERVO8)
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#define PWM_SERVO_8_PIN PAL_PAD(LINE_SERVO8)
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#define PWM_SERVO_8_AF AF_LINE_SERVO8
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#define PWM_SERVO_8_DRIVER PWMD12
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#define PWM_SERVO_8_CHANNEL 2-1
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#define PWM_SERVO_8_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
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#else
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#define PWM_SERVO_8_ACTIVE PWM_OUTPUT_DISABLED
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#endif
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#endif
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#ifdef STM32_PWM_USE_TIM1
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#define PWM_CONF_TIM1 STM32_PWM_USE_TIM1
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#else
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#define PWM_CONF_TIM1 1
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#endif
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#define PWM_CONF1_DEF { \
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PWM_FREQUENCY, \
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PWM_FREQUENCY/TIM1_SERVO_HZ, \
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NULL, \
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{ \
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{ PWM_SERVO_4_ACTIVE, NULL }, \
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{ PWM_SERVO_3_ACTIVE, NULL }, \
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{ PWM_SERVO_2_ACTIVE, NULL }, \
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{ PWM_SERVO_1_ACTIVE, NULL }, \
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}, \
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0, \
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0 \
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}
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#ifdef STM32_PWM_USE_TIM4
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#define PWM_CONF_TIM4 STM32_PWM_USE_TIM4
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#else
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#define PWM_CONF_TIM4 1
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#endif
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#define PWM_CONF4_DEF { \
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PWM_FREQUENCY, \
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PWM_FREQUENCY/TIM4_SERVO_HZ, \
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NULL, \
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{ \
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{ PWM_OUTPUT_DISABLED, NULL }, \
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{ PWM_SERVO_5_ACTIVE, NULL }, \
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{ PWM_SERVO_6_ACTIVE, NULL }, \
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{ PWM_OUTPUT_DISABLED, NULL }, \
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}, \
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0, \
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0 \
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}
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#ifdef STM32_PWM_USE_TIM12
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#define PWM_CONF_TIM12 STM32_PWM_USE_TIM12
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#else
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#define PWM_CONF_TIM12 1
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#endif
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#define PWM_CONF12_DEF { \
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PWM_FREQUENCY, \
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PWM_FREQUENCY/TIM12_SERVO_HZ, \
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NULL, \
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{ \
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{ PWM_SERVO_7_ACTIVE, NULL }, \
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{ PWM_SERVO_8_ACTIVE, NULL }, \
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{ PWM_OUTPUT_DISABLED, NULL }, \
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{ PWM_OUTPUT_DISABLED, NULL }, \
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}, \
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0, \
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0 \
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}
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#define RC_PPM_TICKS_PER_USEC 2
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#define PPM_TIMER_FREQUENCY 2000000
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#define PPM_CHANNEL ICU_CHANNEL_1
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#define PPM_TIMER ICUD8
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#if defined(LINE_UART1_TX)
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#define UART1_GPIO_PORT_TX PAL_PORT(LINE_UART1_TX)
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#define UART1_GPIO_TX PAL_PAD(LINE_UART1_TX)
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#endif
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#if defined(LINE_UART1_RX)
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#define UART1_GPIO_PORT_RX PAL_PORT(LINE_UART1_RX)
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#define UART1_GPIO_RX PAL_PAD(LINE_UART1_RX)
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#endif
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#if defined(AF_LINE_UART1_TX)
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#define UART1_GPIO_AF AF_LINE_UART1_TX
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#elif defined(AF_LINE_UART1_RX)
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#define UART1_GPIO_AF AF_LINE_UART1_RX
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#else
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#define UART1_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART2_TX)
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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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#endif
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#if defined(LINE_UART2_RX)
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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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#endif
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#if defined(AF_LINE_UART2_TX)
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#define UART2_GPIO_AF AF_LINE_UART2_TX
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#elif defined(AF_LINE_UART2_RX)
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#define UART2_GPIO_AF AF_LINE_UART2_RX
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#else
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#define UART2_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART3_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)
393
#endif
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#if defined(LINE_UART3_RX)
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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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#endif
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#if defined(AF_LINE_UART3_TX)
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#define UART3_GPIO_AF AF_LINE_UART3_TX
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#elif defined(AF_LINE_UART3_RX)
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#define UART3_GPIO_AF AF_LINE_UART3_RX
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#else
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#define UART3_GPIO_AF ((void)0)
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#endif
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#if defined(LINE_UART4_TX)
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#define UART4_GPIO_PORT_TX PAL_PORT(LINE_UART4_TX)
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#define UART4_GPIO_TX PAL_PAD(LINE_UART4_TX)
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#endif
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#if defined(LINE_UART4_RX)
411
#define UART4_GPIO_PORT_RX PAL_PORT(LINE_UART4_RX)
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#define UART4_GPIO_RX PAL_PAD(LINE_UART4_RX)
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#endif
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#if defined(AF_LINE_UART4_TX)
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#define UART4_GPIO_AF AF_LINE_UART4_TX
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#elif defined(AF_LINE_UART4_RX)
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#define UART4_GPIO_AF AF_LINE_UART4_RX
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#else
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#define UART4_GPIO_AF ((void)0)
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#endif
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422
#if defined(LINE_UART5_TX)
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#define UART5_GPIO_PORT_TX PAL_PORT(LINE_UART5_TX)
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#define UART5_GPIO_TX PAL_PAD(LINE_UART5_TX)
425
#endif
426
#if defined(LINE_UART5_RX)
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#define UART5_GPIO_PORT_RX PAL_PORT(LINE_UART5_RX)
428
#define UART5_GPIO_RX PAL_PAD(LINE_UART5_RX)
429
#endif
430
#if defined(AF_LINE_UART5_TX)
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#define UART5_GPIO_AF AF_LINE_UART5_TX
432
#elif defined(AF_LINE_UART5_RX)
433
#define UART5_GPIO_AF AF_LINE_UART5_RX
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#else
435
#define UART5_GPIO_AF ((void)0)
436
#endif
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438
#if defined(LINE_UART6_TX)
439
#define UART6_GPIO_PORT_TX PAL_PORT(LINE_UART6_TX)
440
#define UART6_GPIO_TX PAL_PAD(LINE_UART6_TX)
441
#endif
442
#if defined(LINE_UART6_RX)
443
#define UART6_GPIO_PORT_RX PAL_PORT(LINE_UART6_RX)
444
#define UART6_GPIO_RX PAL_PAD(LINE_UART6_RX)
445
#endif
446
#if defined(AF_LINE_UART6_TX)
447
#define UART6_GPIO_AF AF_LINE_UART6_TX
448
#elif defined(AF_LINE_UART6_RX)
449
#define UART6_GPIO_AF AF_LINE_UART6_RX
450
#else
451
#define UART6_GPIO_AF ((void)0)
452
#endif
453
454
#if defined(LINE_UART7_TX)
455
#define UART7_GPIO_PORT_TX PAL_PORT(LINE_UART7_TX)
456
#define UART7_GPIO_TX PAL_PAD(LINE_UART7_TX)
457
#endif
458
#if defined(LINE_UART7_RX)
459
#define UART7_GPIO_PORT_RX PAL_PORT(LINE_UART7_RX)
460
#define UART7_GPIO_RX PAL_PAD(LINE_UART7_RX)
461
#endif
462
#if defined(AF_LINE_UART7_TX)
463
#define UART7_GPIO_AF AF_LINE_UART7_TX
464
#elif defined(AF_LINE_UART7_RX)
465
#define UART7_GPIO_AF AF_LINE_UART7_RX
466
#else
467
#define UART7_GPIO_AF ((void)0)
468
#endif
469
470
#if defined(LINE_UART8_TX)
471
#define UART8_GPIO_PORT_TX PAL_PORT(LINE_UART8_TX)
472
#define UART8_GPIO_TX PAL_PAD(LINE_UART8_TX)
473
#endif
474
#if defined(LINE_UART8_RX)
475
#define UART8_GPIO_PORT_RX PAL_PORT(LINE_UART8_RX)
476
#define UART8_GPIO_RX PAL_PAD(LINE_UART8_RX)
477
#endif
478
#if defined(AF_LINE_UART8_TX)
479
#define UART8_GPIO_AF AF_LINE_UART8_TX
480
#elif defined(AF_LINE_UART8_RX)
481
#define UART8_GPIO_AF AF_LINE_UART8_RX
482
#else
483
#define UART8_GPIO_AF ((void)0)
484
#endif
485
492
// Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK
493
#define STM32_CR1_DNF(n) ((n & 0x0f) << 8)
494
// Timing register
495
#define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(0U) | \
496
STM32_TIMINGR_SCLDEL(10U) | STM32_TIMINGR_SDADEL(0U) | \
497
STM32_TIMINGR_SCLH(34U) | STM32_TIMINGR_SCLL(86U))
498
#define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR (STM32_TIMINGR_PRESC(1U) | \
499
STM32_TIMINGR_SCLDEL(9U) | STM32_TIMINGR_SDADEL(0U) | \
500
STM32_TIMINGR_SCLH(105U) | STM32_TIMINGR_SCLL(153U))
501
502
503
#ifndef I2C1_CLOCK_SPEED
504
#define I2C1_CLOCK_SPEED 400000
505
#endif
506
507
#if I2C1_CLOCK_SPEED == 400000
508
#define I2C1_CFG_DEF { \
509
.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
510
.cr1 = STM32_CR1_DNF(0), \
511
.cr2 = 0 \
512
}
513
#elif I2C1_CLOCK_SPEED == 100000
514
#define I2C1_CFG_DEF { \
515
.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
516
.cr1 = STM32_CR1_DNF(0), \
517
.cr2 = 0 \
518
}
519
#else
520
#error "Unknown I2C1 clock speed"
521
#endif
522
523
524
#ifndef I2C2_CLOCK_SPEED
525
#define I2C2_CLOCK_SPEED 400000
526
#endif
527
528
#if I2C2_CLOCK_SPEED == 400000
529
#define I2C2_CFG_DEF { \
530
.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
531
.cr1 = STM32_CR1_DNF(0), \
532
.cr2 = 0 \
533
}
534
#elif I2C2_CLOCK_SPEED == 100000
535
#define I2C2_CFG_DEF { \
536
.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
537
.cr1 = STM32_CR1_DNF(0), \
538
.cr2 = 0 \
539
}
540
#else
541
#error "Unknown I2C2 clock speed"
542
#endif
543
544
#ifndef I2C3_CLOCK_SPEED
545
#define I2C3_CLOCK_SPEED 400000
546
#endif
547
548
#if I2C3_CLOCK_SPEED == 400000
549
#define I2C3_CFG_DEF { \
550
.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
551
.cr1 = STM32_CR1_DNF(0), \
552
.cr2 = 0 \
553
}
554
#elif I2C3_CLOCK_SPEED == 100000
555
#define I2C3_CFG_DEF { \
556
.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
557
.cr1 = STM32_CR1_DNF(0), \
558
.cr2 = 0 \
559
}
560
#else
561
#error "Unknown I2C3 clock speed"
562
#endif
563
564
#ifndef I2C4_CLOCK_SPEED
565
#define I2C4_CLOCK_SPEED 400000
566
#endif
567
568
#if I2C4_CLOCK_SPEED == 400000
569
#define I2C4_CFG_DEF { \
570
.timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
571
.cr1 = STM32_CR1_DNF(0), \
572
.cr2 = 0 \
573
}
574
#elif I2C4_CLOCK_SPEED == 100000
575
#define I2C4_CFG_DEF { \
576
.timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
577
.cr1 = STM32_CR1_DNF(0), \
578
.cr2 = 0 \
579
}
580
#else
581
#error "Unknown I2C4 clock speed"
582
#endif
583
587
#if defined(LINE_SPI1_MISO) && defined(LINE_SPI1_MOSI) && defined(LINE_SPI1_SCK)
588
#define SPI1_GPIO_PORT_MISO PAL_PORT(LINE_SPI1_MISO)
589
#define SPI1_GPIO_MISO PAL_PAD(LINE_SPI1_MISO)
590
#define SPI1_GPIO_PORT_MOSI PAL_PORT(LINE_SPI1_MOSI)
591
#define SPI1_GPIO_MOSI PAL_PAD(LINE_SPI1_MOSI)
592
#define SPI1_GPIO_PORT_SCK PAL_PORT(LINE_SPI1_SCK)
593
#define SPI1_GPIO_SCK PAL_PAD(LINE_SPI1_SCK)
594
595
#if defined(AF_LINE_SPI1_SCK)
596
#define SPI1_GPIO_AF AF_LINE_SPI1_SCK
597
#endif
598
#endif
599
600
#if defined(LINE_SPI2_MISO) && defined(LINE_SPI2_MOSI) && defined(LINE_SPI2_SCK)
601
#define SPI2_GPIO_PORT_MISO PAL_PORT(LINE_SPI2_MISO)
602
#define SPI2_GPIO_MISO PAL_PAD(LINE_SPI2_MISO)
603
#define SPI2_GPIO_PORT_MOSI PAL_PORT(LINE_SPI2_MOSI)
604
#define SPI2_GPIO_MOSI PAL_PAD(LINE_SPI2_MOSI)
605
#define SPI2_GPIO_PORT_SCK PAL_PORT(LINE_SPI2_SCK)
606
#define SPI2_GPIO_SCK PAL_PAD(LINE_SPI2_SCK)
607
608
#if defined(AF_LINE_SPI2_SCK)
609
#define SPI2_GPIO_AF AF_LINE_SPI2_SCK
610
#endif
611
#endif
612
613
#if defined(LINE_SPI3_MISO) && defined(LINE_SPI3_MOSI) && defined(LINE_SPI3_SCK)
614
#define SPI3_GPIO_PORT_MISO PAL_PORT(LINE_SPI3_MISO)
615
#define SPI3_GPIO_MISO PAL_PAD(LINE_SPI3_MISO)
616
#define SPI3_GPIO_PORT_MOSI PAL_PORT(LINE_SPI3_MOSI)
617
#define SPI3_GPIO_MOSI PAL_PAD(LINE_SPI3_MOSI)
618
#define SPI3_GPIO_PORT_SCK PAL_PORT(LINE_SPI3_SCK)
619
#define SPI3_GPIO_SCK PAL_PAD(LINE_SPI3_SCK)
620
621
#if defined(AF_LINE_SPI3_SCK)
622
#define SPI3_GPIO_AF AF_LINE_SPI3_SCK
623
#endif
624
#endif
625
626
#if defined(LINE_SPI4_MISO) && defined(LINE_SPI4_MOSI) && defined(LINE_SPI4_SCK)
627
#define SPI4_GPIO_PORT_MISO PAL_PORT(LINE_SPI4_MISO)
628
#define SPI4_GPIO_MISO PAL_PAD(LINE_SPI4_MISO)
629
#define SPI4_GPIO_PORT_MOSI PAL_PORT(LINE_SPI4_MOSI)
630
#define SPI4_GPIO_MOSI PAL_PAD(LINE_SPI4_MOSI)
631
#define SPI4_GPIO_PORT_SCK PAL_PORT(LINE_SPI4_SCK)
632
#define SPI4_GPIO_SCK PAL_PAD(LINE_SPI4_SCK)
633
634
#if defined(AF_LINE_SPI4_SCK)
635
#define SPI4_GPIO_AF AF_LINE_SPI4_SCK
636
#endif
637
#endif
638
639
#if defined(LINE_SPI5_MISO) && defined(LINE_SPI5_MOSI) && defined(LINE_SPI5_SCK)
640
#define SPI5_GPIO_PORT_MISO PAL_PORT(LINE_SPI5_MISO)
641
#define SPI5_GPIO_MISO PAL_PAD(LINE_SPI5_MISO)
642
#define SPI5_GPIO_PORT_MOSI PAL_PORT(LINE_SPI5_MOSI)
643
#define SPI5_GPIO_MOSI PAL_PAD(LINE_SPI5_MOSI)
644
#define SPI5_GPIO_PORT_SCK PAL_PORT(LINE_SPI5_SCK)
645
#define SPI5_GPIO_SCK PAL_PAD(LINE_SPI5_SCK)
646
647
#if defined(AF_LINE_SPI5_SCK)
648
#define SPI5_GPIO_AF AF_LINE_SPI5_SCK
649
#endif
650
#endif
651
652
#if defined(LINE_SPI6_MISO) && defined(LINE_SPI6_MOSI) && defined(LINE_SPI6_SCK)
653
#define SPI6_GPIO_PORT_MISO PAL_PORT(LINE_SPI6_MISO)
654
#define SPI6_GPIO_MISO PAL_PAD(LINE_SPI6_MISO)
655
#define SPI6_GPIO_PORT_MOSI PAL_PORT(LINE_SPI6_MOSI)
656
#define SPI6_GPIO_MOSI PAL_PAD(LINE_SPI6_MOSI)
657
#define SPI6_GPIO_PORT_SCK PAL_PORT(LINE_SPI6_SCK)
658
#define SPI6_GPIO_SCK PAL_PAD(LINE_SPI6_SCK)
659
660
#if defined(AF_LINE_SPI6_SCK)
661
#define SPI6_GPIO_AF AF_LINE_SPI6_SCK
662
#endif
663
#endif
664
668
#if defined(LINE_SPI_SLAVE0)
669
#define SPI_SELECT_SLAVE0_PORT PAL_PORT(LINE_SPI_SLAVE0)
670
#define SPI_SELECT_SLAVE0_PIN PAL_PAD(LINE_SPI_SLAVE0)
671
#endif
672
673
#if defined(LINE_SPI_SLAVE1)
674
#define SPI_SELECT_SLAVE1_PORT PAL_PORT(LINE_SPI_SLAVE1)
675
#define SPI_SELECT_SLAVE1_PIN PAL_PAD(LINE_SPI_SLAVE1)
676
#endif
677
678
#if defined(LINE_SPI_SLAVE2)
679
#define SPI_SELECT_SLAVE2_PORT PAL_PORT(LINE_SPI_SLAVE2)
680
#define SPI_SELECT_SLAVE2_PIN PAL_PAD(LINE_SPI_SLAVE2)
681
#endif
682
683
#if defined(LINE_SPI_SLAVE3)
684
#define SPI_SELECT_SLAVE3_PORT PAL_PORT(LINE_SPI_SLAVE3)
685
#define SPI_SELECT_SLAVE3_PIN PAL_PAD(LINE_SPI_SLAVE3)
686
#endif
687
688
#if defined(LINE_SPI_SLAVE4)
689
#define SPI_SELECT_SLAVE4_PORT PAL_PORT(LINE_SPI_SLAVE4)
690
#define SPI_SELECT_SLAVE4_PIN PAL_PAD(LINE_SPI_SLAVE4)
691
#endif
692
693
#if defined(LINE_SPI_SLAVE5)
694
#define SPI_SELECT_SLAVE5_PORT PAL_PORT(LINE_SPI_SLAVE5)
695
#define SPI_SELECT_SLAVE5_PIN PAL_PAD(LINE_SPI_SLAVE5)
696
#endif
697
698
#if defined(LINE_SPI_SLAVE6)
699
#define SPI_SELECT_SLAVE6_PORT PAL_PORT(LINE_SPI_SLAVE6)
700
#define SPI_SELECT_SLAVE6_PIN PAL_PAD(LINE_SPI_SLAVE6)
701
#endif
702
709
#ifndef USE_BARO_BOARD
710
#define USE_BARO_BOARD 1
711
#endif
712
716
#if defined(LINE_SDIO_D0) && defined(LINE_SDIO_D1) && defined(LINE_SDIO_D2) && defined(LINE_SDIO_D3) && defined(LINE_SDIO_CK) && defined(LINE_SDIO_CMD)
717
#define SDIO_D0_PORT PAL_PORT(LINE_SDIO_D0)
718
#define SDIO_D0_PIN PAL_PAD(LINE_SDIO_D0)
719
#define SDIO_D1_PORT PAL_PORT(LINE_SDIO_D1)
720
#define SDIO_D1_PIN PAL_PAD(LINE_SDIO_D1)
721
#define SDIO_D2_PORT PAL_PORT(LINE_SDIO_D2)
722
#define SDIO_D2_PIN PAL_PAD(LINE_SDIO_D2)
723
#define SDIO_D3_PORT PAL_PORT(LINE_SDIO_D3)
724
#define SDIO_D3_PIN PAL_PAD(LINE_SDIO_D3)
725
#define SDIO_CK_PORT PAL_PORT(LINE_SDIO_CK)
726
#define SDIO_CK_PIN PAL_PAD(LINE_SDIO_CK)
727
#define SDIO_CMD_PORT PAL_PORT(LINE_SDIO_CMD)
728
#define SDIO_CMD_PIN PAL_PAD(LINE_SDIO_CMD)
729
730
#if defined(AF_LINE_SDIO_CMD)
731
#define SDIO_AF AF_LINE_SDIO_CMD
732
#else
733
#define SDIO_AF ((void)0)
734
#endif
735
#endif
736
737
#if defined(LINE_USB_VBUS)
738
#define SDLOG_USB_VBUS_PORT PAL_PORT(LINE_USB_VBUS)
739
#define SDLOG_USB_VBUS_PIN PAL_PAD(LINE_USB_VBUS)
740
#endif
741
742
// bat monitoring for file closing
743
#define SDLOG_BAT_ADC ADCD1
744
#define SDLOG_BAT_CHAN AD1_1_CHANNEL
745
// usb led status
746
#define SDLOG_USB_LED 3
747
748
749
/*
750
* Actuators for fixedwing
751
*/
752
/* Default actuators driver */
753
#define DEFAULT_ACTUATORS "modules/actuators/actuators_pwm.h"
754
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
755
#define ActuatorsDefaultInit() ActuatorsPwmInit()
756
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
757
758
#endif
/* CONFIG_PX4FMU_4_00_H */
759
board.h
sw
airborne
boards
px4fmu
chibios
v5.0
px4fmu.h
Generated on Tue Feb 1 2022 13:08:43 for Paparazzi UAS by
1.8.17
1.8.17