v6.2/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_CONF CONCAT_BOARD_PARAM(pwmcfg, S1_TIM)

 #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_CONF CONCAT_BOARD_PARAM(pwmcfg, S2_TIM)

 #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_CONF CONCAT_BOARD_PARAM(pwmcfg, S3_TIM)

 #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_CONF CONCAT_BOARD_PARAM(pwmcfg, S4_TIM)

 #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_CONF CONCAT_BOARD_PARAM(pwmcfg, S5_TIM)

 #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_CONF CONCAT_BOARD_PARAM(pwmcfg, S6_TIM)

 #endif


 // servo index starting at 1 + regular servos

 // so NB = 1+6

 #define ACTUATORS_PWM_NB 7


 #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 */


board.h