Paparazzi UAS v7.0_unstable
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Macros
crazyflie.h File Reference
#include "boards/crazyflie/chibios/v2.1/board.h"
+ Include dependency graph for crazyflie.h:

Go to the source code of this file.

Macros

#define BOARD_CRAZYFLIE
 
#define AHB_CLK   STM32_HCLK
 ChibiOS board file.
 
#define USE_LED_1   1
 
#define LED_1_GPIO   PAL_PORT(LINE_LED_RED_R)
 
#define LED_1_GPIO_PIN   PAL_PAD(LINE_LED_RED_R)
 
#define LED_1_GPIO_ON   gpio_clear
 
#define LED_1_GPIO_OFF   gpio_set
 
#define USE_LED_2   1
 
#define LED_2_GPIO   PAL_PORT(LINE_LED_RED_L)
 
#define LED_2_GPIO_PIN   PAL_PAD(LINE_LED_RED_L)
 
#define LED_2_GPIO_ON   gpio_clear
 
#define LED_2_GPIO_OFF   gpio_set
 
#define USE_LED_3   1
 
#define LED_3_GPIO   PAL_PORT(LINE_LED_GREEN_R)
 
#define LED_3_GPIO_PIN   PAL_PAD(LINE_LED_GREEN_R)
 
#define LED_3_GPIO_ON   gpio_clear
 
#define LED_3_GPIO_OFF   gpio_set
 
#define USE_LED_4   1
 
#define LED_4_GPIO   PAL_PORT(LINE_LED_GREEN_L)
 
#define LED_4_GPIO_PIN   PAL_PAD(LINE_LED_GREEN_L)
 
#define LED_4_GPIO_ON   gpio_clear
 
#define LED_4_GPIO_OFF   gpio_set
 
#define USE_LED_5   1
 
#define LED_5_GPIO   PAL_PORT(LINE_LED_BLUE_L)
 
#define LED_5_GPIO_PIN   PAL_PAD(LINE_LED_BLUE_L)
 
#define LED_5_GPIO_ON   gpio_set
 
#define LED_5_GPIO_OFF   gpio_clear
 
#define USE_PWM_TIM2   1
 
#define USE_PWM_TIM4   1
 
#define USE_PWM1   1
 
#define USE_PWM2   1
 
#define USE_PWM3   1
 
#define USE_PWM4   1
 
#define ACTUATORS_PWM_NB   5
 
#define PWM_CMD_TO_US(_t)   (_t)
 
#define PWM_FREQUENCY   84000000
 
#define SERVO_HZ   (PWM_FREQUENCY / 256)
 
#define UART2_GPIO_PORT_TX   PAL_PORT(LINE_E_TX2)
 UART2 E_TX2.
 
#define UART2_GPIO_TX   PAL_PAD(LINE_E_TX2)
 
#define UART2_GPIO_PORT_RX   PAL_PORT(LINE_E_RX2)
 
#define UART2_GPIO_RX   PAL_PAD(LINE_E_RX2)
 
#define UART2_GPIO_AF   AF_E_RX2
 
#define UART2_HW_FLOW_CONTROL   FALSE
 
#define UART3_GPIO_PORT_TX   PAL_PORT(LINE_E_TX1)
 UART3 E_TX1.
 
#define UART3_GPIO_TX   PAL_PAD(LINE_E_TX1)
 
#define UART3_GPIO_PORT_RX   PAL_PORT(LINE_E_RX1)
 
#define UART3_GPIO_RX   PAL_PAD(LINE_E_RX1)
 
#define UART3_GPIO_AF   AF_E_RX1
 
#define UART6_GPIO_PORT_TX   PAL_PORT(LINE_NRF_TX)
 UART6 NRF.
 
#define UART6_GPIO_TX   PAL_PAD(LINE_NRF_TX)
 
#define UART6_GPIO_PORT_RX   PAL_PORT(LINE_NRF_RX)
 
#define UART6_GPIO_RX   PAL_PAD(LINE_NRF_RX)
 
#define UART6_GPIO_AF   AF_NRF_RX
 
#define UART6_GPIO_PORT_CTS   PAL_PORT(LINE_NRF_FLOW_CTRL)
 
#define UART6_GPIO_CTS   NRF_FLOW_CTRL
 
#define STM32_CR1_DNF(n)   ((n & 0x0f) << 8)
 I2C defines.
 
#define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR
 
#define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR
 
#define I2C3_CLOCK_SPEED   400000
 
#define I2C3_CFG_DEF
 
#define I2C1_CLOCK_SPEED   400000
 
#define I2C1_CFG_DEF
 
#define SPI1_GPIO_AF   AF_E_SCK
 SPI Config.
 
#define SPI1_GPIO_PORT_MISO   PAL_PORT(LINE_E_MISO)
 
#define SPI1_GPIO_MISO   PAL_PAD(LINE_E_MISO)
 
#define SPI1_GPIO_PORT_MOSI   PAL_PORT(LINE_E_MOSI)
 
#define SPI1_GPIO_MOSI   PAL_PAD(LINE_E_MOSI)
 
#define SPI1_GPIO_PORT_SCK   PAL_PORT(LINE_E_SCK)
 
#define SPI1_GPIO_SCK   PAL_PAD(LINE_E_SCK)
 
#define SPI_SELECT_SLAVE0_PORT   PAL_PORT(LINE_E_CS0)
 
#define SPI_SELECT_SLAVE0_PIN   PAL_PAD(LINE_E_CS0)
 
#define SPI_SELECT_SLAVE1_PORT   PAL_PORT(LINE_E_CS1)
 
#define SPI_SELECT_SLAVE1_PIN   PAL_PAD(LINE_E_CS1)
 
#define SPI_SELECT_SLAVE2_PORT   PAL_PORT(LINE_E_CS2)
 
#define SPI_SELECT_SLAVE2_PIN   PAL_PAD(LINE_E_CS2)
 
#define SPI_SELECT_SLAVE3_PORT   PAL_PORT(LINE_E_CS3)
 
#define SPI_SELECT_SLAVE3_PIN   PAL_PAD(LINE_E_CS3)
 
#define USE_BARO_BOARD   0
 ) Baro
 
#define DEFAULT_ACTUATORS   "modules/actuators/actuators_pwm.h"
 
#define ActuatorDefaultSet(_x, _y)   ActuatorPwmSet(_x,_y)
 
#define ActuatorsDefaultInit()   ActuatorsPwmInit()
 
#define ActuatorsDefaultCommit()   ActuatorsPwmCommit()
 

Macro Definition Documentation

◆ ActuatorDefaultSet

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

Definition at line 319 of file crazyflie.h.

◆ ACTUATORS_PWM_NB

#define ACTUATORS_PWM_NB   5

Definition at line 141 of file crazyflie.h.

◆ ActuatorsDefaultCommit

#define ActuatorsDefaultCommit ( )    ActuatorsPwmCommit()

Definition at line 321 of file crazyflie.h.

◆ ActuatorsDefaultInit

#define ActuatorsDefaultInit ( )    ActuatorsPwmInit()

Definition at line 320 of file crazyflie.h.

◆ AHB_CLK

#define AHB_CLK   STM32_HCLK

ChibiOS board file.

PPRZ definitions

Definition at line 18 of file crazyflie.h.

◆ BOARD_CRAZYFLIE

#define BOARD_CRAZYFLIE

Definition at line 4 of file crazyflie.h.

◆ DEFAULT_ACTUATORS

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

Definition at line 318 of file crazyflie.h.

◆ I2C1_CFG_DEF

#define I2C1_CFG_DEF
Value:
{ \
OPMODE_I2C, \
I2C1_CLOCK_SPEED, \
I2C1_DUTY_CYCLE, \
}
I2C1_CLOCK_SPEED
#define I2C1_CLOCK_SPEED
Definition crazyflie.h:223
foo
uint16_t foo
Definition main_demo5.c:58

Definition at line 232 of file crazyflie.h.

◆ I2C1_CLOCK_SPEED

#define I2C1_CLOCK_SPEED   400000

Definition at line 223 of file crazyflie.h.

◆ I2C3_CFG_DEF

#define I2C3_CFG_DEF
Value:
{ \
OPMODE_I2C, \
I2C3_CLOCK_SPEED, \
I2C3_DUTY_CYCLE, \
}
I2C3_CLOCK_SPEED
#define I2C3_CLOCK_SPEED
Definition crazyflie.h:205

Definition at line 214 of file crazyflie.h.

◆ I2C3_CLOCK_SPEED

#define I2C3_CLOCK_SPEED   400000

Definition at line 205 of file crazyflie.h.

◆ I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR

#define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR
Value:
(STM32_TIMINGR_PRESC(0U) | \
STM32_TIMINGR_SCLDEL(10U) | STM32_TIMINGR_SDADEL(0U) | \
STM32_TIMINGR_SCLH(34U) | STM32_TIMINGR_SCLL(86U))

Definition at line 194 of file crazyflie.h.

◆ I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR

#define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR
Value:
(STM32_TIMINGR_PRESC(1U) | \
STM32_TIMINGR_SCLDEL(9U) | STM32_TIMINGR_SDADEL(0U) | \
STM32_TIMINGR_SCLH(105U) | STM32_TIMINGR_SCLL(153U))

Definition at line 197 of file crazyflie.h.

◆ LED_1_GPIO

#define LED_1_GPIO   PAL_PORT(LINE_LED_RED_R)

Definition at line 26 of file crazyflie.h.

◆ LED_1_GPIO_OFF

#define LED_1_GPIO_OFF   gpio_set

Definition at line 29 of file crazyflie.h.

◆ LED_1_GPIO_ON

#define LED_1_GPIO_ON   gpio_clear

Definition at line 28 of file crazyflie.h.

◆ LED_1_GPIO_PIN

#define LED_1_GPIO_PIN   PAL_PAD(LINE_LED_RED_R)

Definition at line 27 of file crazyflie.h.

◆ LED_2_GPIO

#define LED_2_GPIO   PAL_PORT(LINE_LED_RED_L)

Definition at line 34 of file crazyflie.h.

◆ LED_2_GPIO_OFF

#define LED_2_GPIO_OFF   gpio_set

Definition at line 37 of file crazyflie.h.

◆ LED_2_GPIO_ON

#define LED_2_GPIO_ON   gpio_clear

Definition at line 36 of file crazyflie.h.

◆ LED_2_GPIO_PIN

#define LED_2_GPIO_PIN   PAL_PAD(LINE_LED_RED_L)

Definition at line 35 of file crazyflie.h.

◆ LED_3_GPIO

#define LED_3_GPIO   PAL_PORT(LINE_LED_GREEN_R)

Definition at line 42 of file crazyflie.h.

◆ LED_3_GPIO_OFF

#define LED_3_GPIO_OFF   gpio_set

Definition at line 45 of file crazyflie.h.

◆ LED_3_GPIO_ON

#define LED_3_GPIO_ON   gpio_clear

Definition at line 44 of file crazyflie.h.

◆ LED_3_GPIO_PIN

#define LED_3_GPIO_PIN   PAL_PAD(LINE_LED_GREEN_R)

Definition at line 43 of file crazyflie.h.

◆ LED_4_GPIO

#define LED_4_GPIO   PAL_PORT(LINE_LED_GREEN_L)

Definition at line 50 of file crazyflie.h.

◆ LED_4_GPIO_OFF

#define LED_4_GPIO_OFF   gpio_set

Definition at line 53 of file crazyflie.h.

◆ LED_4_GPIO_ON

#define LED_4_GPIO_ON   gpio_clear

Definition at line 52 of file crazyflie.h.

◆ LED_4_GPIO_PIN

#define LED_4_GPIO_PIN   PAL_PAD(LINE_LED_GREEN_L)

Definition at line 51 of file crazyflie.h.

◆ LED_5_GPIO

#define LED_5_GPIO   PAL_PORT(LINE_LED_BLUE_L)

Definition at line 58 of file crazyflie.h.

◆ LED_5_GPIO_OFF

#define LED_5_GPIO_OFF   gpio_clear

Definition at line 61 of file crazyflie.h.

◆ LED_5_GPIO_ON

#define LED_5_GPIO_ON   gpio_set

Definition at line 60 of file crazyflie.h.

◆ LED_5_GPIO_PIN

#define LED_5_GPIO_PIN   PAL_PAD(LINE_LED_BLUE_L)

Definition at line 59 of file crazyflie.h.

◆ PWM_CMD_TO_US

#define PWM_CMD_TO_US (   _t)    (_t)

Definition at line 151 of file crazyflie.h.

◆ PWM_FREQUENCY

#define PWM_FREQUENCY   84000000

Definition at line 152 of file crazyflie.h.

◆ SERVO_HZ

#define SERVO_HZ   (PWM_FREQUENCY / 256)

Definition at line 153 of file crazyflie.h.

◆ SPI1_GPIO_AF

#define SPI1_GPIO_AF   AF_E_SCK

SPI Config.

Definition at line 287 of file crazyflie.h.

◆ SPI1_GPIO_MISO

#define SPI1_GPIO_MISO   PAL_PAD(LINE_E_MISO)

Definition at line 289 of file crazyflie.h.

◆ SPI1_GPIO_MOSI

#define SPI1_GPIO_MOSI   PAL_PAD(LINE_E_MOSI)

Definition at line 291 of file crazyflie.h.

◆ SPI1_GPIO_PORT_MISO

#define SPI1_GPIO_PORT_MISO   PAL_PORT(LINE_E_MISO)

Definition at line 288 of file crazyflie.h.

◆ SPI1_GPIO_PORT_MOSI

#define SPI1_GPIO_PORT_MOSI   PAL_PORT(LINE_E_MOSI)

Definition at line 290 of file crazyflie.h.

◆ SPI1_GPIO_PORT_SCK

#define SPI1_GPIO_PORT_SCK   PAL_PORT(LINE_E_SCK)

Definition at line 292 of file crazyflie.h.

◆ SPI1_GPIO_SCK

#define SPI1_GPIO_SCK   PAL_PAD(LINE_E_SCK)

Definition at line 293 of file crazyflie.h.

◆ SPI_SELECT_SLAVE0_PIN

#define SPI_SELECT_SLAVE0_PIN   PAL_PAD(LINE_E_CS0)

Definition at line 296 of file crazyflie.h.

◆ SPI_SELECT_SLAVE0_PORT

#define SPI_SELECT_SLAVE0_PORT   PAL_PORT(LINE_E_CS0)

Definition at line 295 of file crazyflie.h.

◆ SPI_SELECT_SLAVE1_PIN

#define SPI_SELECT_SLAVE1_PIN   PAL_PAD(LINE_E_CS1)

Definition at line 298 of file crazyflie.h.

◆ SPI_SELECT_SLAVE1_PORT

#define SPI_SELECT_SLAVE1_PORT   PAL_PORT(LINE_E_CS1)

Definition at line 297 of file crazyflie.h.

◆ SPI_SELECT_SLAVE2_PIN

#define SPI_SELECT_SLAVE2_PIN   PAL_PAD(LINE_E_CS2)

Definition at line 300 of file crazyflie.h.

◆ SPI_SELECT_SLAVE2_PORT

#define SPI_SELECT_SLAVE2_PORT   PAL_PORT(LINE_E_CS2)

Definition at line 299 of file crazyflie.h.

◆ SPI_SELECT_SLAVE3_PIN

#define SPI_SELECT_SLAVE3_PIN   PAL_PAD(LINE_E_CS3)

Definition at line 302 of file crazyflie.h.

◆ SPI_SELECT_SLAVE3_PORT

#define SPI_SELECT_SLAVE3_PORT   PAL_PORT(LINE_E_CS3)

Definition at line 301 of file crazyflie.h.

◆ STM32_CR1_DNF

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

I2C defines.

Definition at line 192 of file crazyflie.h.

◆ UART2_GPIO_AF

#define UART2_GPIO_AF   AF_E_RX2

Definition at line 162 of file crazyflie.h.

◆ UART2_GPIO_PORT_RX

#define UART2_GPIO_PORT_RX   PAL_PORT(LINE_E_RX2)

Definition at line 160 of file crazyflie.h.

◆ UART2_GPIO_PORT_TX

#define UART2_GPIO_PORT_TX   PAL_PORT(LINE_E_TX2)

UART2 E_TX2.

Definition at line 158 of file crazyflie.h.

◆ UART2_GPIO_RX

#define UART2_GPIO_RX   PAL_PAD(LINE_E_RX2)

Definition at line 161 of file crazyflie.h.

◆ UART2_GPIO_TX

#define UART2_GPIO_TX   PAL_PAD(LINE_E_TX2)

Definition at line 159 of file crazyflie.h.

◆ UART2_HW_FLOW_CONTROL

#define UART2_HW_FLOW_CONTROL   FALSE

Definition at line 164 of file crazyflie.h.

◆ UART3_GPIO_AF

#define UART3_GPIO_AF   AF_E_RX1

Definition at line 174 of file crazyflie.h.

◆ UART3_GPIO_PORT_RX

#define UART3_GPIO_PORT_RX   PAL_PORT(LINE_E_RX1)

Definition at line 172 of file crazyflie.h.

◆ UART3_GPIO_PORT_TX

#define UART3_GPIO_PORT_TX   PAL_PORT(LINE_E_TX1)

UART3 E_TX1.

Definition at line 170 of file crazyflie.h.

◆ UART3_GPIO_RX

#define UART3_GPIO_RX   PAL_PAD(LINE_E_RX1)

Definition at line 173 of file crazyflie.h.

◆ UART3_GPIO_TX

#define UART3_GPIO_TX   PAL_PAD(LINE_E_TX1)

Definition at line 171 of file crazyflie.h.

◆ UART6_GPIO_AF

#define UART6_GPIO_AF   AF_NRF_RX

Definition at line 183 of file crazyflie.h.

◆ UART6_GPIO_CTS

#define UART6_GPIO_CTS   NRF_FLOW_CTRL

Definition at line 185 of file crazyflie.h.

◆ UART6_GPIO_PORT_CTS

#define UART6_GPIO_PORT_CTS   PAL_PORT(LINE_NRF_FLOW_CTRL)

Definition at line 184 of file crazyflie.h.

◆ UART6_GPIO_PORT_RX

#define UART6_GPIO_PORT_RX   PAL_PORT(LINE_NRF_RX)

Definition at line 181 of file crazyflie.h.

◆ UART6_GPIO_PORT_TX

#define UART6_GPIO_PORT_TX   PAL_PORT(LINE_NRF_TX)

UART6 NRF.

Definition at line 179 of file crazyflie.h.

◆ UART6_GPIO_RX

#define UART6_GPIO_RX   PAL_PAD(LINE_NRF_RX)

Definition at line 182 of file crazyflie.h.

◆ UART6_GPIO_TX

#define UART6_GPIO_TX   PAL_PAD(LINE_NRF_TX)

Definition at line 180 of file crazyflie.h.

◆ USE_BARO_BOARD

#define USE_BARO_BOARD   0

) Baro

Apparently needed for backwards compatibility with the ancient onboard baro boards

Definition at line 311 of file crazyflie.h.

◆ USE_LED_1

#define USE_LED_1   1

Definition at line 24 of file crazyflie.h.

◆ USE_LED_2

#define USE_LED_2   1

Definition at line 32 of file crazyflie.h.

◆ USE_LED_3

#define USE_LED_3   1

Definition at line 40 of file crazyflie.h.

◆ USE_LED_4

#define USE_LED_4   1

Definition at line 48 of file crazyflie.h.

◆ USE_LED_5

#define USE_LED_5   1

Definition at line 56 of file crazyflie.h.

◆ USE_PWM1

#define USE_PWM1   1

Definition at line 88 of file crazyflie.h.

◆ USE_PWM2

#define USE_PWM2   1

Definition at line 101 of file crazyflie.h.

◆ USE_PWM3

#define USE_PWM3   1

Definition at line 114 of file crazyflie.h.

◆ USE_PWM4

#define USE_PWM4   1

Definition at line 127 of file crazyflie.h.

◆ USE_PWM_TIM2

#define USE_PWM_TIM2   1

Definition at line 74 of file crazyflie.h.

◆ USE_PWM_TIM4

#define USE_PWM_TIM4   1

Definition at line 78 of file crazyflie.h.