latest/chimera_8h_source.html

#ifndef CONFIG_CHIMERA_1_00_H

#define CONFIG_CHIMERA_1_00_H


#define BOARD_CHIMERA


#include "boards/chimera/chibios/v1.0/board.h"


/*

 * Concat macro

 */

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

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


/*

 * LEDs

 */

/* red, on PB12, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_1

#define USE_LED_1 1

#endif

#define LED_1_GPIO GPIOB

#define LED_1_GPIO_PIN GPIO12

#define LED_1_GPIO_ON gpio_set

#define LED_1_GPIO_OFF gpio_clear


/* orange, on PB13, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_2

#define USE_LED_2 1

#endif

#define LED_2_GPIO GPIOB

#define LED_2_GPIO_PIN GPIO13

#define LED_2_GPIO_ON gpio_set

#define LED_2_GPIO_OFF gpio_clear


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

#ifndef USE_LED_3

#define USE_LED_3 1

#endif

#define LED_3_GPIO GPIOD

#define LED_3_GPIO_PIN GPIO10

#define LED_3_GPIO_ON gpio_set

#define LED_3_GPIO_OFF gpio_clear


/* yellow, on PD11, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_4

#define USE_LED_4 1

#endif

#define LED_4_GPIO GPIOD

#define LED_4_GPIO_PIN GPIO11

#define LED_4_GPIO_ON gpio_set

#define LED_4_GPIO_OFF gpio_clear


/* AUX0, on PA5, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_5

#define USE_LED_5 0

#endif

#define LED_5_GPIO GPIOA

#define LED_5_GPIO_PIN GPIO5

#define LED_5_GPIO_ON gpio_set

#define LED_5_GPIO_OFF gpio_clear


/* AUX1, on PA3, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_6

#define USE_LED_6 0

#endif

#define LED_6_GPIO GPIOA

#define LED_6_GPIO_PIN GPIO3

#define LED_6_GPIO_ON gpio_set

#define LED_6_GPIO_OFF gpio_clear


/* AUX2, on PA2, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_7

#define USE_LED_7 0

#endif

#define LED_7_GPIO GPIOA

#define LED_7_GPIO_PIN GPIO2

#define LED_7_GPIO_ON gpio_set

#define LED_7_GPIO_OFF gpio_clear


/* AUX3, on PA0, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_8

#define USE_LED_8 0

#endif

#define LED_8_GPIO GPIOA

#define LED_8_GPIO_PIN GPIO0

#define LED_8_GPIO_ON gpio_set

#define LED_8_GPIO_OFF gpio_clear


/* AUX4, on PC3, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_9

#define USE_LED_9 0

#endif

#define LED_9_GPIO GPIOC

#define LED_9_GPIO_PIN GPIO3

#define LED_9_GPIO_ON gpio_set

#define LED_9_GPIO_OFF gpio_clear


/* AUX5, on PC2, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_10

#define USE_LED_10 0

#endif

#define LED_10_GPIO GPIOC

#define LED_10_GPIO_PIN GPIO2

#define LED_10_GPIO_ON gpio_set

#define LED_10_GPIO_OFF gpio_clear


/* AUX6, on PC6, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_11

#define USE_LED_11 0

#endif

#define LED_11_GPIO GPIOC

#define LED_11_GPIO_PIN GPIO6

#define LED_11_GPIO_ON gpio_set

#define LED_11_GPIO_OFF gpio_clear


/* AUX7, on PC7, 1 on LED_ON, 0 on LED_OFF */

#ifndef USE_LED_12

#define USE_LED_12 0

#endif

#define LED_12_GPIO GPIOC

#define LED_12_GPIO_PIN GPIO7

#define LED_12_GPIO_ON gpio_set

#define LED_12_GPIO_OFF gpio_clear


/*

 * ADCs

 */

// AUX0

#if USE_ADC_1

#define AD1_1_CHANNEL ADC_CHANNEL_IN5

#define ADC_1 AD1_1

#define ADC_1_GPIO_PORT GPIOA

#define ADC_1_GPIO_PIN GPIO5

#endif


// AUX1

#if USE_ADC_2

#define AD1_2_CHANNEL ADC_CHANNEL_IN3

#define ADC_2 AD1_2

#define ADC_2_GPIO_PORT GPIOA

#define ADC_2_GPIO_PIN GPIO3

#endif


// AUX2

#if USE_ADC_3

#define AD1_3_CHANNEL ADC_CHANNEL_IN2

#define ADC_3 AD1_3

#define ADC_3_GPIO_PORT GPIOA

#define ADC_3_GPIO_PIN GPIO2

#endif


// AUX3

#if USE_ADC_4

#define AD1_4_CHANNEL ADC_CHANNEL_IN0

#define ADC_4 AD1_4

#define ADC_4_GPIO_PORT GPIOA

#define ADC_4_GPIO_PIN GPIO0

#endif


// AUX4

#if USE_ADC_5

#define AD1_5_CHANNEL ADC_CHANNEL_IN13

#define ADC_5 AD1_5

#define ADC_5_GPIO_PORT GPIOC

#define ADC_5_GPIO_PIN GPIO3

#endif


// AUX5

#if USE_ADC_6

#define AD1_6_CHANNEL ADC_CHANNEL_IN12

#define ADC_6 AD1_6

#define ADC_6_GPIO_PORT GPIOC

#define ADC_6_GPIO_PIN GPIO2

#endif


// Internal ADC for battery enabled by default

#ifndef USE_ADC_7

#define USE_ADC_7 1

#endif

#if USE_ADC_7

#define AD1_7_CHANNEL ADC_CHANNEL_IN4

#define ADC_7 AD1_7

#define ADC_7_GPIO_PORT GPIOA

#define ADC_7_GPIO_PIN GPIO4

#endif


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

#ifndef ADC_CHANNEL_VSUPPLY

#define ADC_CHANNEL_VSUPPLY ADC_7

#endif


/*

 * R1 = 3.3k

 * R2 = 22k

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

 */

#define VBAT_R1 3300.0f

#define VBAT_R2 22000.0f

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


//TODO configure DAC (ADC_1)


/*

 * PWM TIM defines

 * enable TIM3 and TIM4 by default

 */

#ifndef USE_PWM_TIM3

#define USE_PWM_TIM3 1

#endif


#ifndef USE_PWM_TIM4

#define USE_PWM_TIM4 1

#endif


/*

 * PWM defines

 */

#if defined(LINE_SERVO0)

#ifndef USE_PWM0

#define USE_PWM0 1

#endif

#if USE_PWM0

#define PWM_SERVO_0 0

#define PWM_SERVO_0_GPIO    PAL_PORT(LINE_SERVO0)

#define PWM_SERVO_0_PIN     PAL_PAD(LINE_SERVO0)

#define PWM_SERVO_0_AF      AF_LINE_SERVO0

#define PWM_SERVO_0_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO0_TIM)

#define PWM_SERVO_0_CHANNEL (SERVO0_TIM_CH-1)

#define PWM_SERVO_0_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO0_TIM)

#endif

#endif


#if defined(LINE_SERVO1)

#ifndef USE_PWM1

#define USE_PWM1 1

#endif

#if USE_PWM1

#define PWM_SERVO_1 1

#define PWM_SERVO_1_GPIO    PAL_PORT(LINE_SERVO1)

#define PWM_SERVO_1_PIN     PAL_PAD(LINE_SERVO1)

#define PWM_SERVO_1_AF      AF_LINE_SERVO1

#define PWM_SERVO_1_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO1_TIM)

#define PWM_SERVO_1_CHANNEL (SERVO1_TIM_CH-1)

#define PWM_SERVO_1_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO1_TIM)

#endif

#endif


#if defined(LINE_SERVO2)

#ifndef USE_PWM2

#define USE_PWM2 1

#endif

#if USE_PWM2

#define PWM_SERVO_2 2

#define PWM_SERVO_2_GPIO    PAL_PORT(LINE_SERVO2)

#define PWM_SERVO_2_PIN     PAL_PAD(LINE_SERVO2)

#define PWM_SERVO_2_AF      AF_LINE_SERVO2

#define PWM_SERVO_2_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO2_TIM)

#define PWM_SERVO_2_CHANNEL (SERVO2_TIM_CH-1)

#define PWM_SERVO_2_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO2_TIM)

#endif

#endif


#if defined(LINE_SERVO3)

#ifndef USE_PWM3

#define USE_PWM3 1

#endif

#if USE_PWM3

#define PWM_SERVO_3 3

#define PWM_SERVO_3_GPIO    PAL_PORT(LINE_SERVO3)

#define PWM_SERVO_3_PIN     PAL_PAD(LINE_SERVO3)

#define PWM_SERVO_3_AF      AF_LINE_SERVO3

#define PWM_SERVO_3_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO3_TIM)

#define PWM_SERVO_3_CHANNEL (SERVO3_TIM_CH-1)

#define PWM_SERVO_3_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO3_TIM)

#endif

#endif


#if defined(LINE_SERVO4)

#ifndef USE_PWM4

#define USE_PWM4 1

#endif

#if USE_PWM4

#define PWM_SERVO_4 4

#define PWM_SERVO_4_GPIO    PAL_PORT(LINE_SERVO4)

#define PWM_SERVO_4_PIN     PAL_PAD(LINE_SERVO4)

#define PWM_SERVO_4_AF      AF_LINE_SERVO4

#define PWM_SERVO_4_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO4_TIM)

#define PWM_SERVO_4_CHANNEL (SERVO4_TIM_CH-1)

#define PWM_SERVO_4_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO4_TIM)

#endif

#endif


#if defined(LINE_SERVO5)

#ifndef USE_PWM5

#define USE_PWM5 1

#endif

#if USE_PWM5

#define PWM_SERVO_5 5

#define PWM_SERVO_5_GPIO    PAL_PORT(LINE_SERVO5)

#define PWM_SERVO_5_PIN     PAL_PAD(LINE_SERVO5)

#define PWM_SERVO_5_AF      AF_LINE_SERVO5

#define PWM_SERVO_5_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO5_TIM)

#define PWM_SERVO_5_CHANNEL (SERVO5_TIM_CH-1)

#define PWM_SERVO_5_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO5_TIM)

#endif

#endif


#if defined(LINE_SERVO6)

#ifndef USE_PWM6

#define USE_PWM6 1

#endif

#if USE_PWM6

#define PWM_SERVO_6 6

#define PWM_SERVO_6_GPIO    PAL_PORT(LINE_SERVO6)

#define PWM_SERVO_6_PIN     PAL_PAD(LINE_SERVO6)

#define PWM_SERVO_6_AF      AF_LINE_SERVO6

#define PWM_SERVO_6_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO6_TIM)

#define PWM_SERVO_6_CHANNEL (SERVO6_TIM_CH-1)

#define PWM_SERVO_6_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO6_TIM)

#endif

#endif


#if defined(LINE_SERVO7)

#ifndef USE_PWM7

#define USE_PWM7 1

#endif

#if USE_PWM7

#define PWM_SERVO_7 7

#define PWM_SERVO_7_GPIO    PAL_PORT(LINE_SERVO7)

#define PWM_SERVO_7_PIN     PAL_PAD(LINE_SERVO7)

#define PWM_SERVO_7_AF      AF_LINE_SERVO7

#define PWM_SERVO_7_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO7_TIM)

#define PWM_SERVO_7_CHANNEL (SERVO7_TIM_CH-1)

#define PWM_SERVO_7_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO7_TIM)

#endif

#endif


#if defined(LINE_SERVO8)

#ifndef USE_PWM8

#define USE_PWM8 1

#endif

#if USE_PWM8

#define PWM_SERVO_8 8

#define PWM_SERVO_8_GPIO    PAL_PORT(LINE_SERVO8)

#define PWM_SERVO_8_PIN     PAL_PAD(LINE_SERVO8)

#define PWM_SERVO_8_AF      AF_LINE_SERVO8

#define PWM_SERVO_8_DRIVER  CONCAT_BOARD_PARAM(PWMD, SERVO8_TIM)

#define PWM_SERVO_8_CHANNEL (SERVO8_TIM_CH-1)

#define PWM_SERVO_8_CONF    CONCAT_BOARD_PARAM(pwmcfg, SERVO8_TIM)

#endif

#endif


#define UART2_GPIO_PORT_TX GPIOD

#define UART2_GPIO_TX GPIO5

#define UART2_GPIO_PORT_RX GPIOD

#define UART2_GPIO_RX GPIO6

#define UART2_GPIO_AF 7

#ifndef UART2_HW_FLOW_CONTROL

#define UART2_HW_FLOW_CONTROL TRUE

#endif


#define UART1_GPIO_PORT_TX GPIOB

#define UART1_GPIO_TX GPIO6

#define UART1_GPIO_PORT_RX GPIOB

#define UART1_GPIO_RX GPIO7

#define UART1_GPIO_AF 7


#define UART3_GPIO_PORT_TX GPIOD

#define UART3_GPIO_TX GPIO8

#define UART3_GPIO_PORT_RX GPIOD

#define UART3_GPIO_RX GPIO9

#define UART3_GPIO_AF 7


#define UART8_GPIO_PORT_TX GPIOE

#define UART8_GPIO_TX GPIO0

#define UART8_GPIO_PORT_RX GPIOE

#define UART8_GPIO_RX GPIO1

#define UART8_GPIO_AF 8


// In case, do dynamic config of UARTs

#define USE_UART7_RX TRUE

#ifndef USE_UART7_TX // may be used in half duplex mode

#define USE_UART7_TX FALSE

#endif

#define UART7_GPIO_PORT_RX GPIOE

#define UART7_GPIO_RX GPIO7

#define UART7_GPIO_AF 8


#define USE_UART4_RX TRUE

#define USE_UART4_TX FALSE

#define UART4_GPIO_PORT_RX GPIOA

#define UART4_GPIO_RX GPIO1

#define UART4_GPIO_AF 8


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

 * PC7: AUX7

 */

#define SPEKTRUM_BIND_PIN GPIO7

#define SPEKTRUM_BIND_PIN_PORT GPIOC


// 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 ICU_CHANNEL_2

#define PPM_TIMER ICUD5


/*

 * PWM input

 */

// PWM_INPUT 1 on PA0 (AUX3)

#define PWM_INPUT1_ICU            ICUD2

#define PWM_INPUT1_CHANNEL        ICU_CHANNEL_1

#define PWM_INPUT1_GPIO_PORT      GPIOA

#define PWM_INPUT1_GPIO_PIN       GPIO0

#define PWM_INPUT1_GPIO_AF        GPIO_AF1


// PWM_INPUT 2 on PC7 (AUX7)

#define PWM_INPUT2_ICU            ICUD8

#define PWM_INPUT2_CHANNEL        ICU_CHANNEL_2

#define PWM_INPUT2_GPIO_PORT      GPIOC

#define PWM_INPUT2_GPIO_PIN       GPIO7

#define PWM_INPUT2_GPIO_AF        GPIO_AF3


// 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


#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


#define SPI1_GPIO_AF GPIO_AF5

#define SPI1_GPIO_PORT_MISO GPIOB

#define SPI1_GPIO_MISO GPIO4

#define SPI1_GPIO_PORT_MOSI GPIOB

#define SPI1_GPIO_MOSI GPIO5

#define SPI1_GPIO_PORT_SCK GPIO3

#define SPI1_GPIO_SCK GPIO3


// SLAVE0 on SPI connector

#define SPI_SELECT_SLAVE0_PORT GPIOA

#define SPI_SELECT_SLAVE0_PIN GPIO15

// SLAVE1 on AUX0

#define SPI_SELECT_SLAVE1_PORT GPIOA

#define SPI_SELECT_SLAVE1_PIN GPIO5

// SLAVE2 on AUX1

#define SPI_SELECT_SLAVE2_PORT GPIOA

#define SPI_SELECT_SLAVE2_PIN GPIO3

// SLAVE3 on AUX2

#define SPI_SELECT_SLAVE3_PORT GPIOA

#define SPI_SELECT_SLAVE3_PIN GPIO2

// SLAVE4 on AUX3

#define SPI_SELECT_SLAVE4_PORT GPIOA

#define SPI_SELECT_SLAVE4_PIN GPIO0

// SLAVE5 on AUX4

#define SPI_SELECT_SLAVE5_PORT GPIOC

#define SPI_SELECT_SLAVE5_PIN GPIO3


#ifndef USE_BARO_BOARD

#define USE_BARO_BOARD 1

#endif


#define SDIO_D0_PORT GPIOC

#define SDIO_D0_PIN GPIO8

#define SDIO_D1_PORT GPIOC

#define SDIO_D1_PIN GPIO9

#define SDIO_D2_PORT GPIOC

#define SDIO_D2_PIN GPIO10

#define SDIO_D3_PORT GPIOC

#define SDIO_D3_PIN GPIO11

#define SDIO_CK_PORT GPIOC

#define SDIO_CK_PIN GPIO12

#define SDIO_CMD_PORT GPIOD

#define SDIO_CMD_PIN GPIO2

#define SDIO_AF 12

// bat monitoring for file closing

#define SDLOG_BAT_ADC ADCD1

#define SDLOG_BAT_CHAN AD1_7_CHANNEL

// usb led status

#define SDLOG_USB_LED 4

#define SDLOG_USB_VBUS_PORT GPIOA

#define SDLOG_USB_VBUS_PIN GPIO9


/*

 * 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()


#define WS2812D1_GPIO GPIOC

#define WS2812D1_PIN  GPIO6

#define WS2812D1_AF 3


#define WS2812D1_CFG_DEF { \

  .dma_stream = STM32_PWM8_UP_DMA_STREAM, \

  .dma_channel = STM32_PWM8_UP_DMA_CHANNEL, \

  .dma_priority = STM32_PWM8_UP_DMA_PRIORITY, \

  .pwm_channel = 0, \

  .pwmp = &PWMD8 \

}


#endif /* CONFIG_CHIMERA_1_00_H */


board.h