Paparazzi UAS
v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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board.h
Go to the documentation of this file.
1
/*
2
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
3
4
Licensed under the Apache License, Version 2.0 (the "License");
5
you may not use this file except in compliance with the License.
6
You may obtain a copy of the License at
7
8
http://www.apache.org/licenses/LICENSE-2.0
9
10
Unless required by applicable law or agreed to in writing, software
11
distributed under the License is distributed on an "AS IS" BASIS,
12
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13
See the License for the specific language governing permissions and
14
limitations under the License.
15
*/
16
17
#pragma once
18
19
/*
20
* Board identifier.
21
*/
22
#define BOARD_PX4FMU
23
#define BOARD_NAME "Pixhawk PX4 FMU v5.0"
24
25
/*
26
* Board oscillators-related settings.
27
*/
28
#if !defined(STM32_LSECLK)
29
#define STM32_LSECLK 32768U
30
#endif
31
32
#define STM32_LSEDRV (3U << 3U)
33
34
#if !defined(STM32_HSECLK)
35
#define STM32_HSECLK 16000000U
36
#endif
37
38
/*
39
* Board voltages.
40
* Required for performance limits calculation.
41
*/
42
#define STM32_VDD 330U
43
44
/*
45
* MCU type as defined in the ST header.
46
*/
47
#define STM32F767xx
48
49
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
50
#ifndef ADC_CHANNEL_VSUPPLY
51
#define ADC_CHANNEL_VSUPPLY ADC_1
52
#endif
53
54
/* allow to define ADC_CHANNEL_CURRENT in the airframe file*/
55
#if !defined(ADC_CHANNEL_CURRENT) && !ADC_CURRENT_DISABLE
56
#define ADC_CHANNEL_CURRENT ADC_2
57
#endif
58
59
/* Default powerbrick values */
60
#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f) * 10.3208191126f * adc)
61
#define MilliAmpereOfAdc(adc) ((3.3f/4096.0f) * 24000.0f * adc)
62
63
/* Battery monitoring for file closing */
64
#define SDLOG_BAT_ADC ADCD1
65
#define SDLOG_BAT_CHAN AD1_1_CHANNEL
66
#define SDLOG_USB_LED 3
67
68
/*
69
* PWM TIM defines
70
* enable TIM 1, 4 and 12 by default
71
*/
72
#ifndef USE_PWM_TIM1
73
#define USE_PWM_TIM1 1
74
#endif
75
76
#ifndef USE_PWM_TIM4
77
#define USE_PWM_TIM4 1
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#endif
79
80
#ifndef USE_PWM_TIM12
81
#define USE_PWM_TIM12 1
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#endif
83
84
/*
85
* IO pins assignments.
86
*/
87
#define PA00_ADC1 0U
88
#define PA01_ADC2 1U
89
#define PA02_ADC3 2U
90
#define PA03_ADC4 3U
91
#define PA04_ADC5 4U
92
#define PA05_FMU_CAP1 5U
93
#define PA06_SPI1_MISO 6U
94
#define PA07_IMU_HEATER 7U
95
#define PA08_CAN3_RX 8U
96
#define PA09_USB_VBUS 9U
97
#define PA10_SERVO2 10U
98
#define PA11_USB_DM 11U
99
#define PA12_USB_DP 12U
100
#define PA13_SWDIO 13U
101
#define PA14_SWCLK 14U
102
#define PA15_CAN3_TX 15U
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#define PB00_RSSI_IN 0U
105
#define PB01_LED1 1U
106
#define PB02 2U
107
#define PB03_FMU_CAP2 3U
108
#define PB04_DRDY1_ICM20689 4U
109
#define PB05_SPI6_MOSI 5U
110
#define PB06_USART1_TX 6U
111
#define PB07_USART1_RX 7U
112
#define PB08_I2C1_SCL 8U
113
#define PB09_I2C1_SDA 9U
114
#define PB10_SPI5_RESET 10U
115
#define PB11_FMU_CAP3 11U
116
#define PB12_CAN2_RX 12U
117
#define PB13_CAN2_TX 13U
118
#define PB14_DRDY2_BMI055_GYRO 14U
119
#define PB15_DRDY2_BMI055_ACC 15U
120
121
#define PC00_SCALED_V5 0U
122
#define PC01_SCALED_3V3_SENSORS 1U
123
#define PC02_HW_VER_SENSE 2U
124
#define PC03_HW_REV_SENSE 3U
125
#define PC04_ADC6 4U
126
#define PC05_DRDY4_ICM20602 5U
127
#define PC06_LED2 6U
128
#define PC07_LED3 7U
129
#define PC08_SDIO_D0 8U
130
#define PC09_SDIO_D1 9U
131
#define PC10_SDIO_D2 10U
132
#define PC11_SDIO_D3 11U
133
#define PC12_SDIO_CK 12U
134
#define PC13_DRDY5_BMI055_GYRO 13U
135
#define PC14_OSC32_IN 14U
136
#define PC15_OSC32_OUT 15U
137
138
#define PD00_UART4_RX 0U
139
#define PD01_UART4_TX 1U
140
#define PD02_SDIO_CMD 2U
141
#define PD03_UART2_CTS 3U
142
#define PD04_UART2_RTS 4U
143
#define PD05_UART2_TX 5U
144
#define PD06_UART2_RX 6U
145
#define PD07_SPI1_MOSI 7U
146
#define PD08_UART3_TX 8U
147
#define PD09_UART3_RX 9U
148
#define PD10_DRDY6_BMI055_ACC 10U
149
#define PD11_UART3_CTS 11U
150
#define PD12_UART3_RTS 12U
151
#define PD13_SERVO5 13U
152
#define PD14_SERVO6 14U
153
#define PD15_DRDY7_EXTERNAL1 15U
154
155
#define PE00_UART8_RX 0U
156
#define PE01_UART8_TX 1U
157
#define PE02_SPI4_SCK 2U
158
#define PE03_V3V3_SENSORS_EN 3U
159
#define PE04_V3V3_SPEKTRUM_EN 4U
160
#define PE05_BUZZER 5U
161
#define PE06_SPI4_MOSI 6U
162
#define PE07_DRDY8 7U
163
#define PE08_UART7_TX 8U
164
#define PE09_SERVO4 9U
165
#define PE10_SAFETY_SWITCH_IN 10U
166
#define PE11_SERVO3 11U
167
#define PE12_LED4 12U
168
#define PE13_SPI4_MISO 13U
169
#define PE14_SERVO1 14U
170
#define PE15_V5V_PERIPH_OC 15U
171
172
#define PF00_I2C2_SDA 0U
173
#define PF01_I2C2_SCL 1U
174
#define PF02_SPI_SLAVE0 2U
175
#define PF03_SPI_SLAVE1 3U
176
#define PF04_SPI_SLAVE2 4U
177
#define PF05_SPI_SLAVE3 5U
178
#define PF06_UART7_RX 6U
179
#define PF07_SPI5_SCK 7U
180
#define PF08_SPI5_MISO 8U
181
#define PF09_SPI5_MOSI 9U
182
#define PF10_SPI_SLAVE4 10U
183
#define PF11_SPI_SLAVE5 11U
184
#define PF12_V5V_HIPOWER_EN 12U
185
#define PF13_V5V_HIPOWER_OC 13U
186
#define PF14_I2C4_SCL 14U
187
#define PF15_I2C4_SDA 15U
188
189
#define PG00_HW_VER_DRIVE 0U
190
#define PG01_POWER_IN_A 1U
191
#define PG02_POWER_IN_B 2U
192
#define PG03_POWER_IN_C 3U
193
#define PG04_V5V_PERIPH_EN 4U
194
#define PG05_V5V_RC_EN 5U
195
#define PG06_V5V_WIFI_EN 6U
196
#define PG07_V3V3_SD_CARD_EN 7U
197
#define PG08_USART6_RTS 8U
198
#define PG09_USART6_RX 9U
199
#define PG10_SPI_SLAVE6 10U
200
#define PG11_SPI1_SCK 11U
201
#define PG12_SPI6_MISO 12U
202
#define PG13_SPI6_SCK 13U
203
#define PG14_USART6_TX 14U
204
#define PG15_USART6_CTS 15U
205
206
#define PH00_OSC_IN 0U
207
#define PH01_OSC_OUT 1U
208
#define PH02_CAN1_SILENT_S0 2U
209
#define PH03_CAN2_SILENT_S1 3U
210
#define PH04_CAN3_SILENT_S2 4U
211
#define PH05_SPI_SLAVE7 5U
212
#define PH06_SERVO7 6U
213
#define PH07_I2C3_SCL 7U
214
#define PH08_I2C3_SDA 8U
215
#define PH09_SERVO8 9U
216
#define PH10_LED5 10U
217
#define PH11_LED6 11U
218
#define PH12_LED7 12U
219
#define PH13_CAN1_TX 13U
220
#define PH14_HW_REV_DRIVE 14U
221
#define PH15_SPI5_SYNC 15U
222
223
#define PI00_ARMED 0U
224
#define PI01_SPI2_SCK 1U
225
#define PI02_SPI2_MISO 2U
226
#define PI03_SPI2_MOSI 3U
227
#define PI04_SPI_SLAVE8 4U
228
#define PI05_PWM_INPUT1 5U
229
#define PI06_SPI_SLAVE9 6U
230
#define PI07_SPI_SLAVE10 7U
231
#define PI08_SPI_SLAVE11 8U
232
#define PI09_CAN1_RX 9U
233
#define PI10_SPI_SLAVE12 10U
234
#define PI11_SPI_SLAVE13 11U
235
#define PI12 12U
236
#define PI13 13U
237
#define PI14 14U
238
#define PI15 15U
239
240
#define PJ00 0U
241
#define PJ01 1U
242
#define PJ02 2U
243
#define PJ03 3U
244
#define PJ04 4U
245
#define PJ05 5U
246
#define PJ06 6U
247
#define PJ07 7U
248
#define PJ08 8U
249
#define PJ09 9U
250
#define PJ10 10U
251
#define PJ11 11U
252
#define PJ12 12U
253
#define PJ13 13U
254
#define PJ14 14U
255
#define PJ15 15U
256
257
#define PK00 0U
258
#define PK01 1U
259
#define PK02 2U
260
#define PK03 3U
261
#define PK04 4U
262
#define PK05 5U
263
#define PK06 6U
264
#define PK07 7U
265
#define PK08 8U
266
#define PK09 9U
267
#define PK10 10U
268
#define PK11 11U
269
#define PK12 12U
270
#define PK13 13U
271
#define PK14 14U
272
#define PK15 15U
273
274
/*
275
* IO lines assignments.
276
*/
277
#define LINE_ADC1 PAL_LINE(GPIOA, 0U)
278
#define LINE_ADC2 PAL_LINE(GPIOA, 1U)
279
#define LINE_ADC3 PAL_LINE(GPIOA, 2U)
280
#define LINE_ADC4 PAL_LINE(GPIOA, 3U)
281
#define LINE_ADC5 PAL_LINE(GPIOA, 4U)
282
#define LINE_FMU_CAP1 PAL_LINE(GPIOA, 5U)
283
#define LINE_SPI1_MISO PAL_LINE(GPIOA, 6U)
284
#define LINE_IMU_HEATER PAL_LINE(GPIOA, 7U)
285
#define LINE_CAN3_RX PAL_LINE(GPIOA, 8U)
286
#define LINE_USB_VBUS PAL_LINE(GPIOA, 9U)
287
#define LINE_SERVO2 PAL_LINE(GPIOA, 10U)
288
#define LINE_USB_DM PAL_LINE(GPIOA, 11U)
289
#define LINE_USB_DP PAL_LINE(GPIOA, 12U)
290
#define LINE_SWDIO PAL_LINE(GPIOA, 13U)
291
#define LINE_SWCLK PAL_LINE(GPIOA, 14U)
292
#define LINE_CAN3_TX PAL_LINE(GPIOA, 15U)
293
294
#define LINE_RSSI_IN PAL_LINE(GPIOB, 0U)
295
#define LINE_LED1 PAL_LINE(GPIOB, 1U)
296
#define LINE_FMU_CAP2 PAL_LINE(GPIOB, 3U)
297
#define LINE_DRDY1_ICM20689 PAL_LINE(GPIOB, 4U)
298
#define LINE_SPI6_MOSI PAL_LINE(GPIOB, 5U)
299
#define LINE_USART1_TX PAL_LINE(GPIOB, 6U)
300
#define LINE_USART1_RX PAL_LINE(GPIOB, 7U)
301
#define LINE_I2C1_SCL PAL_LINE(GPIOB, 8U)
302
#define LINE_I2C1_SDA PAL_LINE(GPIOB, 9U)
303
#define LINE_SPI5_RESET PAL_LINE(GPIOB, 10U)
304
#define LINE_FMU_CAP3 PAL_LINE(GPIOB, 11U)
305
#define LINE_CAN2_RX PAL_LINE(GPIOB, 12U)
306
#define LINE_CAN2_TX PAL_LINE(GPIOB, 13U)
307
#define LINE_DRDY2_BMI055_GYRO PAL_LINE(GPIOB, 14U)
308
#define LINE_DRDY2_BMI055_ACC PAL_LINE(GPIOB, 15U)
309
310
#define LINE_SCALED_V5 PAL_LINE(GPIOC, 0U)
311
#define LINE_SCALED_3V3_SENSORS PAL_LINE(GPIOC, 1U)
312
#define LINE_HW_VER_SENSE PAL_LINE(GPIOC, 2U)
313
#define LINE_HW_REV_SENSE PAL_LINE(GPIOC, 3U)
314
#define LINE_ADC6 PAL_LINE(GPIOC, 4U)
315
#define LINE_DRDY4_ICM20602 PAL_LINE(GPIOC, 5U)
316
#define LINE_LED2 PAL_LINE(GPIOC, 6U)
317
#define LINE_LED3 PAL_LINE(GPIOC, 7U)
318
#define LINE_SDIO_D0 PAL_LINE(GPIOC, 8U)
319
#define LINE_SDIO_D1 PAL_LINE(GPIOC, 9U)
320
#define LINE_SDIO_D2 PAL_LINE(GPIOC, 10U)
321
#define LINE_SDIO_D3 PAL_LINE(GPIOC, 11U)
322
#define LINE_SDIO_CK PAL_LINE(GPIOC, 12U)
323
#define LINE_DRDY5_BMI055_GYRO PAL_LINE(GPIOC, 13U)
324
#define LINE_OSC32_IN PAL_LINE(GPIOC, 14U)
325
#define LINE_OSC32_OUT PAL_LINE(GPIOC, 15U)
326
327
#define LINE_UART4_RX PAL_LINE(GPIOD, 0U)
328
#define LINE_UART4_TX PAL_LINE(GPIOD, 1U)
329
#define LINE_SDIO_CMD PAL_LINE(GPIOD, 2U)
330
#define LINE_UART2_CTS PAL_LINE(GPIOD, 3U)
331
#define LINE_UART2_RTS PAL_LINE(GPIOD, 4U)
332
#define LINE_UART2_TX PAL_LINE(GPIOD, 5U)
333
#define LINE_UART2_RX PAL_LINE(GPIOD, 6U)
334
#define LINE_SPI1_MOSI PAL_LINE(GPIOD, 7U)
335
#define LINE_UART3_TX PAL_LINE(GPIOD, 8U)
336
#define LINE_UART3_RX PAL_LINE(GPIOD, 9U)
337
#define LINE_DRDY6_BMI055_ACC PAL_LINE(GPIOD, 10U)
338
#define LINE_UART3_CTS PAL_LINE(GPIOD, 11U)
339
#define LINE_UART3_RTS PAL_LINE(GPIOD, 12U)
340
#define LINE_SERVO5 PAL_LINE(GPIOD, 13U)
341
#define LINE_SERVO6 PAL_LINE(GPIOD, 14U)
342
#define LINE_DRDY7_EXTERNAL1 PAL_LINE(GPIOD, 15U)
343
344
#define LINE_UART8_RX PAL_LINE(GPIOE, 0U)
345
#define LINE_UART8_TX PAL_LINE(GPIOE, 1U)
346
#define LINE_SPI4_SCK PAL_LINE(GPIOE, 2U)
347
#define LINE_V3V3_SENSORS_EN PAL_LINE(GPIOE, 3U)
348
#define LINE_V3V3_SPEKTRUM_EN PAL_LINE(GPIOE, 4U)
349
#define LINE_BUZZER PAL_LINE(GPIOE, 5U)
350
#define LINE_SPI4_MOSI PAL_LINE(GPIOE, 6U)
351
#define LINE_DRDY8 PAL_LINE(GPIOE, 7U)
352
#define LINE_UART7_TX PAL_LINE(GPIOE, 8U)
353
#define LINE_SERVO4 PAL_LINE(GPIOE, 9U)
354
#define LINE_SAFETY_SWITCH_IN PAL_LINE(GPIOE, 10U)
355
#define LINE_SERVO3 PAL_LINE(GPIOE, 11U)
356
#define LINE_LED4 PAL_LINE(GPIOE, 12U)
357
#define LINE_SPI4_MISO PAL_LINE(GPIOE, 13U)
358
#define LINE_SERVO1 PAL_LINE(GPIOE, 14U)
359
#define LINE_V5V_PERIPH_OC PAL_LINE(GPIOE, 15U)
360
361
#define LINE_I2C2_SDA PAL_LINE(GPIOF, 0U)
362
#define LINE_I2C2_SCL PAL_LINE(GPIOF, 1U)
363
#define LINE_SPI_SLAVE0 PAL_LINE(GPIOF, 2U)
364
#define LINE_SPI_SLAVE1 PAL_LINE(GPIOF, 3U)
365
#define LINE_SPI_SLAVE2 PAL_LINE(GPIOF, 4U)
366
#define LINE_SPI_SLAVE3 PAL_LINE(GPIOF, 5U)
367
#define LINE_UART7_RX PAL_LINE(GPIOF, 6U)
368
#define LINE_SPI5_SCK PAL_LINE(GPIOF, 7U)
369
#define LINE_SPI5_MISO PAL_LINE(GPIOF, 8U)
370
#define LINE_SPI5_MOSI PAL_LINE(GPIOF, 9U)
371
#define LINE_SPI_SLAVE4 PAL_LINE(GPIOF, 10U)
372
#define LINE_SPI_SLAVE5 PAL_LINE(GPIOF, 11U)
373
#define LINE_V5V_HIPOWER_EN PAL_LINE(GPIOF, 12U)
374
#define LINE_V5V_HIPOWER_OC PAL_LINE(GPIOF, 13U)
375
#define LINE_I2C4_SCL PAL_LINE(GPIOF, 14U)
376
#define LINE_I2C4_SDA PAL_LINE(GPIOF, 15U)
377
378
#define LINE_HW_VER_DRIVE PAL_LINE(GPIOG, 0U)
379
#define LINE_POWER_IN_A PAL_LINE(GPIOG, 1U)
380
#define LINE_POWER_IN_B PAL_LINE(GPIOG, 2U)
381
#define LINE_POWER_IN_C PAL_LINE(GPIOG, 3U)
382
#define LINE_V5V_PERIPH_EN PAL_LINE(GPIOG, 4U)
383
#define LINE_V5V_RC_EN PAL_LINE(GPIOG, 5U)
384
#define LINE_V5V_WIFI_EN PAL_LINE(GPIOG, 6U)
385
#define LINE_V3V3_SD_CARD_EN PAL_LINE(GPIOG, 7U)
386
#define LINE_USART6_RTS PAL_LINE(GPIOG, 8U)
387
#define LINE_USART6_RX PAL_LINE(GPIOG, 9U)
388
#define LINE_SPI_SLAVE6 PAL_LINE(GPIOG, 10U)
389
#define LINE_SPI1_SCK PAL_LINE(GPIOG, 11U)
390
#define LINE_SPI6_MISO PAL_LINE(GPIOG, 12U)
391
#define LINE_SPI6_SCK PAL_LINE(GPIOG, 13U)
392
#define LINE_USART6_TX PAL_LINE(GPIOG, 14U)
393
#define LINE_USART6_CTS PAL_LINE(GPIOG, 15U)
394
395
#define LINE_OSC_IN PAL_LINE(GPIOH, 0U)
396
#define LINE_OSC_OUT PAL_LINE(GPIOH, 1U)
397
#define LINE_CAN1_SILENT_S0 PAL_LINE(GPIOH, 2U)
398
#define LINE_CAN2_SILENT_S1 PAL_LINE(GPIOH, 3U)
399
#define LINE_CAN3_SILENT_S2 PAL_LINE(GPIOH, 4U)
400
#define LINE_SPI_SLAVE7 PAL_LINE(GPIOH, 5U)
401
#define LINE_SERVO7 PAL_LINE(GPIOH, 6U)
402
#define LINE_I2C3_SCL PAL_LINE(GPIOH, 7U)
403
#define LINE_I2C3_SDA PAL_LINE(GPIOH, 8U)
404
#define LINE_SERVO8 PAL_LINE(GPIOH, 9U)
405
#define LINE_LED5 PAL_LINE(GPIOH, 10U)
406
#define LINE_LED6 PAL_LINE(GPIOH, 11U)
407
#define LINE_LED7 PAL_LINE(GPIOH, 12U)
408
#define LINE_CAN1_TX PAL_LINE(GPIOH, 13U)
409
#define LINE_HW_REV_DRIVE PAL_LINE(GPIOH, 14U)
410
#define LINE_SPI5_SYNC PAL_LINE(GPIOH, 15U)
411
412
#define LINE_ARMED PAL_LINE(GPIOI, 0U)
413
#define LINE_SPI2_SCK PAL_LINE(GPIOI, 1U)
414
#define LINE_SPI2_MISO PAL_LINE(GPIOI, 2U)
415
#define LINE_SPI2_MOSI PAL_LINE(GPIOI, 3U)
416
#define LINE_SPI_SLAVE8 PAL_LINE(GPIOI, 4U)
417
#define LINE_PWM_INPUT1 PAL_LINE(GPIOI, 5U)
418
#define LINE_SPI_SLAVE9 PAL_LINE(GPIOI, 6U)
419
#define LINE_SPI_SLAVE10 PAL_LINE(GPIOI, 7U)
420
#define LINE_SPI_SLAVE11 PAL_LINE(GPIOI, 8U)
421
#define LINE_CAN1_RX PAL_LINE(GPIOI, 9U)
422
#define LINE_SPI_SLAVE12 PAL_LINE(GPIOI, 10U)
423
#define LINE_SPI_SLAVE13 PAL_LINE(GPIOI, 11U)
424
425
426
/*
427
* I/O ports initial setup, this configuration is established soon after reset
428
* in the initialization code.
429
* Please refer to the STM32 Reference Manual for details.
430
*/
431
#define PIN_MODE_INPUT(n) (0U << ((n) * 2U))
432
#define PIN_MODE_OUTPUT(n) (1U << ((n) * 2U))
433
#define PIN_MODE_ALTERNATE(n) (2U << ((n) * 2U))
434
#define PIN_MODE_ANALOG(n) (3U << ((n) * 2U))
435
#define PIN_ODR_LEVEL_LOW(n) (0U << (n))
436
#define PIN_ODR_LEVEL_HIGH(n) (1U << (n))
437
#define PIN_OTYPE_PUSHPULL(n) (0U << (n))
438
#define PIN_OTYPE_OPENDRAIN(n) (1U << (n))
439
#define PIN_OSPEED_SPEED_VERYLOW(n) (0U << ((n) * 2U))
440
#define PIN_OSPEED_SPEED_LOW(n) (1U << ((n) * 2U))
441
#define PIN_OSPEED_SPEED_MEDIUM(n) (2U << ((n) * 2U))
442
#define PIN_OSPEED_SPEED_HIGH(n) (3U << ((n) * 2U))
443
#define PIN_PUPDR_FLOATING(n) (0U << ((n) * 2U))
444
#define PIN_PUPDR_PULLUP(n) (1U << ((n) * 2U))
445
#define PIN_PUPDR_PULLDOWN(n) (2U << ((n) * 2U))
446
#define PIN_AFIO_AF(n, v) ((v) << (((n) % 8U) * 4U))
447
448
#define VAL_GPIOA_MODER (PIN_MODE_ANALOG(PA00_ADC1) | \
449
PIN_MODE_ANALOG(PA01_ADC2) | \
450
PIN_MODE_ANALOG(PA02_ADC3) | \
451
PIN_MODE_ANALOG(PA03_ADC4) | \
452
PIN_MODE_ANALOG(PA04_ADC5) | \
453
PIN_MODE_INPUT(PA05_FMU_CAP1) | \
454
PIN_MODE_ALTERNATE(PA06_SPI1_MISO) | \
455
PIN_MODE_OUTPUT(PA07_IMU_HEATER) | \
456
PIN_MODE_ALTERNATE(PA08_CAN3_RX) | \
457
PIN_MODE_INPUT(PA09_USB_VBUS) | \
458
PIN_MODE_ALTERNATE(PA10_SERVO2) | \
459
PIN_MODE_ALTERNATE(PA11_USB_DM) | \
460
PIN_MODE_ALTERNATE(PA12_USB_DP) | \
461
PIN_MODE_ALTERNATE(PA13_SWDIO) | \
462
PIN_MODE_ALTERNATE(PA14_SWCLK) | \
463
PIN_MODE_ALTERNATE(PA15_CAN3_TX))
448
#define VAL_GPIOA_MODER (PIN_MODE_ANALOG(PA00_ADC1) | \
…
464
465
#define VAL_GPIOA_OTYPER (PIN_OTYPE_PUSHPULL(PA00_ADC1) | \
466
PIN_OTYPE_PUSHPULL(PA01_ADC2) | \
467
PIN_OTYPE_PUSHPULL(PA02_ADC3) | \
468
PIN_OTYPE_PUSHPULL(PA03_ADC4) | \
469
PIN_OTYPE_PUSHPULL(PA04_ADC5) | \
470
PIN_OTYPE_OPENDRAIN(PA05_FMU_CAP1) | \
471
PIN_OTYPE_PUSHPULL(PA06_SPI1_MISO) | \
472
PIN_OTYPE_PUSHPULL(PA07_IMU_HEATER) | \
473
PIN_OTYPE_PUSHPULL(PA08_CAN3_RX) | \
474
PIN_OTYPE_OPENDRAIN(PA09_USB_VBUS) | \
475
PIN_OTYPE_PUSHPULL(PA10_SERVO2) | \
476
PIN_OTYPE_PUSHPULL(PA11_USB_DM) | \
477
PIN_OTYPE_PUSHPULL(PA12_USB_DP) | \
478
PIN_OTYPE_PUSHPULL(PA13_SWDIO) | \
479
PIN_OTYPE_PUSHPULL(PA14_SWCLK) | \
480
PIN_OTYPE_PUSHPULL(PA15_CAN3_TX))
465
#define VAL_GPIOA_OTYPER (PIN_OTYPE_PUSHPULL(PA00_ADC1) | \
…
481
482
#define VAL_GPIOA_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PA00_ADC1) | \
483
PIN_OSPEED_SPEED_VERYLOW(PA01_ADC2) | \
484
PIN_OSPEED_SPEED_VERYLOW(PA02_ADC3) | \
485
PIN_OSPEED_SPEED_VERYLOW(PA03_ADC4) | \
486
PIN_OSPEED_SPEED_VERYLOW(PA04_ADC5) | \
487
PIN_OSPEED_SPEED_VERYLOW(PA05_FMU_CAP1) | \
488
PIN_OSPEED_SPEED_HIGH(PA06_SPI1_MISO) | \
489
PIN_OSPEED_SPEED_HIGH(PA07_IMU_HEATER) | \
490
PIN_OSPEED_SPEED_HIGH(PA08_CAN3_RX) | \
491
PIN_OSPEED_SPEED_VERYLOW(PA09_USB_VBUS) | \
492
PIN_OSPEED_SPEED_HIGH(PA10_SERVO2) | \
493
PIN_OSPEED_SPEED_HIGH(PA11_USB_DM) | \
494
PIN_OSPEED_SPEED_HIGH(PA12_USB_DP) | \
495
PIN_OSPEED_SPEED_HIGH(PA13_SWDIO) | \
496
PIN_OSPEED_SPEED_HIGH(PA14_SWCLK) | \
497
PIN_OSPEED_SPEED_HIGH(PA15_CAN3_TX))
482
#define VAL_GPIOA_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PA00_ADC1) | \
…
498
499
#define VAL_GPIOA_PUPDR (PIN_PUPDR_FLOATING(PA00_ADC1) | \
500
PIN_PUPDR_FLOATING(PA01_ADC2) | \
501
PIN_PUPDR_FLOATING(PA02_ADC3) | \
502
PIN_PUPDR_FLOATING(PA03_ADC4) | \
503
PIN_PUPDR_FLOATING(PA04_ADC5) | \
504
PIN_PUPDR_PULLDOWN(PA05_FMU_CAP1) | \
505
PIN_PUPDR_FLOATING(PA06_SPI1_MISO) | \
506
PIN_PUPDR_FLOATING(PA07_IMU_HEATER) | \
507
PIN_PUPDR_FLOATING(PA08_CAN3_RX) | \
508
PIN_PUPDR_PULLDOWN(PA09_USB_VBUS) | \
509
PIN_PUPDR_FLOATING(PA10_SERVO2) | \
510
PIN_PUPDR_FLOATING(PA11_USB_DM) | \
511
PIN_PUPDR_FLOATING(PA12_USB_DP) | \
512
PIN_PUPDR_FLOATING(PA13_SWDIO) | \
513
PIN_PUPDR_FLOATING(PA14_SWCLK) | \
514
PIN_PUPDR_FLOATING(PA15_CAN3_TX))
499
#define VAL_GPIOA_PUPDR (PIN_PUPDR_FLOATING(PA00_ADC1) | \
…
515
516
#define VAL_GPIOA_ODR (PIN_ODR_LEVEL_LOW(PA00_ADC1) | \
517
PIN_ODR_LEVEL_LOW(PA01_ADC2) | \
518
PIN_ODR_LEVEL_LOW(PA02_ADC3) | \
519
PIN_ODR_LEVEL_LOW(PA03_ADC4) | \
520
PIN_ODR_LEVEL_LOW(PA04_ADC5) | \
521
PIN_ODR_LEVEL_HIGH(PA05_FMU_CAP1) | \
522
PIN_ODR_LEVEL_HIGH(PA06_SPI1_MISO) | \
523
PIN_ODR_LEVEL_LOW(PA07_IMU_HEATER) | \
524
PIN_ODR_LEVEL_HIGH(PA08_CAN3_RX) | \
525
PIN_ODR_LEVEL_LOW(PA09_USB_VBUS) | \
526
PIN_ODR_LEVEL_LOW(PA10_SERVO2) | \
527
PIN_ODR_LEVEL_HIGH(PA11_USB_DM) | \
528
PIN_ODR_LEVEL_HIGH(PA12_USB_DP) | \
529
PIN_ODR_LEVEL_HIGH(PA13_SWDIO) | \
530
PIN_ODR_LEVEL_HIGH(PA14_SWCLK) | \
531
PIN_ODR_LEVEL_HIGH(PA15_CAN3_TX))
516
#define VAL_GPIOA_ODR (PIN_ODR_LEVEL_LOW(PA00_ADC1) | \
…
532
533
#define VAL_GPIOA_AFRL (PIN_AFIO_AF(PA00_ADC1, 0) | \
534
PIN_AFIO_AF(PA01_ADC2, 0) | \
535
PIN_AFIO_AF(PA02_ADC3, 0) | \
536
PIN_AFIO_AF(PA03_ADC4, 0) | \
537
PIN_AFIO_AF(PA04_ADC5, 0) | \
538
PIN_AFIO_AF(PA05_FMU_CAP1, 0) | \
539
PIN_AFIO_AF(PA06_SPI1_MISO, 5) | \
540
PIN_AFIO_AF(PA07_IMU_HEATER, 0))
533
#define VAL_GPIOA_AFRL (PIN_AFIO_AF(PA00_ADC1, 0) | \
…
541
542
#define VAL_GPIOA_AFRH (PIN_AFIO_AF(PA08_CAN3_RX, 11) | \
543
PIN_AFIO_AF(PA09_USB_VBUS, 0) | \
544
PIN_AFIO_AF(PA10_SERVO2, 1) | \
545
PIN_AFIO_AF(PA11_USB_DM, 10) | \
546
PIN_AFIO_AF(PA12_USB_DP, 10) | \
547
PIN_AFIO_AF(PA13_SWDIO, 0) | \
548
PIN_AFIO_AF(PA14_SWCLK, 0) | \
549
PIN_AFIO_AF(PA15_CAN3_TX, 11))
542
#define VAL_GPIOA_AFRH (PIN_AFIO_AF(PA08_CAN3_RX, 11) | \
…
550
551
#define VAL_GPIOB_MODER (PIN_MODE_ANALOG(PB00_RSSI_IN) | \
552
PIN_MODE_OUTPUT(PB01_LED1) | \
553
PIN_MODE_INPUT(PB02) | \
554
PIN_MODE_INPUT(PB03_FMU_CAP2) | \
555
PIN_MODE_INPUT(PB04_DRDY1_ICM20689) | \
556
PIN_MODE_ALTERNATE(PB05_SPI6_MOSI) | \
557
PIN_MODE_ALTERNATE(PB06_USART1_TX) | \
558
PIN_MODE_ALTERNATE(PB07_USART1_RX) | \
559
PIN_MODE_ALTERNATE(PB08_I2C1_SCL) | \
560
PIN_MODE_ALTERNATE(PB09_I2C1_SDA) | \
561
PIN_MODE_INPUT(PB10_SPI5_RESET) | \
562
PIN_MODE_INPUT(PB11_FMU_CAP3) | \
563
PIN_MODE_ALTERNATE(PB12_CAN2_RX) | \
564
PIN_MODE_ALTERNATE(PB13_CAN2_TX) | \
565
PIN_MODE_INPUT(PB14_DRDY2_BMI055_GYRO) | \
566
PIN_MODE_INPUT(PB15_DRDY2_BMI055_ACC))
551
#define VAL_GPIOB_MODER (PIN_MODE_ANALOG(PB00_RSSI_IN) | \
…
567
568
#define VAL_GPIOB_OTYPER (PIN_OTYPE_PUSHPULL(PB00_RSSI_IN) | \
569
PIN_OTYPE_PUSHPULL(PB01_LED1) | \
570
PIN_OTYPE_PUSHPULL(PB02) | \
571
PIN_OTYPE_OPENDRAIN(PB03_FMU_CAP2) | \
572
PIN_OTYPE_OPENDRAIN(PB04_DRDY1_ICM20689) | \
573
PIN_OTYPE_PUSHPULL(PB05_SPI6_MOSI) | \
574
PIN_OTYPE_PUSHPULL(PB06_USART1_TX) | \
575
PIN_OTYPE_PUSHPULL(PB07_USART1_RX) | \
576
PIN_OTYPE_OPENDRAIN(PB08_I2C1_SCL) | \
577
PIN_OTYPE_OPENDRAIN(PB09_I2C1_SDA) | \
578
PIN_OTYPE_OPENDRAIN(PB10_SPI5_RESET) | \
579
PIN_OTYPE_OPENDRAIN(PB11_FMU_CAP3) | \
580
PIN_OTYPE_PUSHPULL(PB12_CAN2_RX) | \
581
PIN_OTYPE_PUSHPULL(PB13_CAN2_TX) | \
582
PIN_OTYPE_OPENDRAIN(PB14_DRDY2_BMI055_GYRO) | \
583
PIN_OTYPE_OPENDRAIN(PB15_DRDY2_BMI055_ACC))
568
#define VAL_GPIOB_OTYPER (PIN_OTYPE_PUSHPULL(PB00_RSSI_IN) | \
…
584
585
#define VAL_GPIOB_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PB00_RSSI_IN) | \
586
PIN_OSPEED_SPEED_VERYLOW(PB01_LED1) | \
587
PIN_OSPEED_SPEED_VERYLOW(PB02) | \
588
PIN_OSPEED_SPEED_VERYLOW(PB03_FMU_CAP2) | \
589
PIN_OSPEED_SPEED_VERYLOW(PB04_DRDY1_ICM20689) | \
590
PIN_OSPEED_SPEED_HIGH(PB05_SPI6_MOSI) | \
591
PIN_OSPEED_SPEED_HIGH(PB06_USART1_TX) | \
592
PIN_OSPEED_SPEED_HIGH(PB07_USART1_RX) | \
593
PIN_OSPEED_SPEED_HIGH(PB08_I2C1_SCL) | \
594
PIN_OSPEED_SPEED_HIGH(PB09_I2C1_SDA) | \
595
PIN_OSPEED_SPEED_VERYLOW(PB10_SPI5_RESET) | \
596
PIN_OSPEED_SPEED_VERYLOW(PB11_FMU_CAP3) | \
597
PIN_OSPEED_SPEED_HIGH(PB12_CAN2_RX) | \
598
PIN_OSPEED_SPEED_HIGH(PB13_CAN2_TX) | \
599
PIN_OSPEED_SPEED_VERYLOW(PB14_DRDY2_BMI055_GYRO) | \
600
PIN_OSPEED_SPEED_VERYLOW(PB15_DRDY2_BMI055_ACC))
585
#define VAL_GPIOB_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PB00_RSSI_IN) | \
…
601
602
#define VAL_GPIOB_PUPDR (PIN_PUPDR_FLOATING(PB00_RSSI_IN) | \
603
PIN_PUPDR_FLOATING(PB01_LED1) | \
604
PIN_PUPDR_PULLDOWN(PB02) | \
605
PIN_PUPDR_PULLDOWN(PB03_FMU_CAP2) | \
606
PIN_PUPDR_PULLDOWN(PB04_DRDY1_ICM20689) | \
607
PIN_PUPDR_FLOATING(PB05_SPI6_MOSI) | \
608
PIN_PUPDR_FLOATING(PB06_USART1_TX) | \
609
PIN_PUPDR_FLOATING(PB07_USART1_RX) | \
610
PIN_PUPDR_PULLUP(PB08_I2C1_SCL) | \
611
PIN_PUPDR_PULLUP(PB09_I2C1_SDA) | \
612
PIN_PUPDR_PULLDOWN(PB10_SPI5_RESET) | \
613
PIN_PUPDR_PULLDOWN(PB11_FMU_CAP3) | \
614
PIN_PUPDR_FLOATING(PB12_CAN2_RX) | \
615
PIN_PUPDR_FLOATING(PB13_CAN2_TX) | \
616
PIN_PUPDR_PULLDOWN(PB14_DRDY2_BMI055_GYRO) | \
617
PIN_PUPDR_PULLDOWN(PB15_DRDY2_BMI055_ACC))
602
#define VAL_GPIOB_PUPDR (PIN_PUPDR_FLOATING(PB00_RSSI_IN) | \
…
618
619
#define VAL_GPIOB_ODR (PIN_ODR_LEVEL_LOW(PB00_RSSI_IN) | \
620
PIN_ODR_LEVEL_LOW(PB01_LED1) | \
621
PIN_ODR_LEVEL_LOW(PB02) | \
622
PIN_ODR_LEVEL_HIGH(PB03_FMU_CAP2) | \
623
PIN_ODR_LEVEL_HIGH(PB04_DRDY1_ICM20689) | \
624
PIN_ODR_LEVEL_HIGH(PB05_SPI6_MOSI) | \
625
PIN_ODR_LEVEL_HIGH(PB06_USART1_TX) | \
626
PIN_ODR_LEVEL_HIGH(PB07_USART1_RX) | \
627
PIN_ODR_LEVEL_HIGH(PB08_I2C1_SCL) | \
628
PIN_ODR_LEVEL_HIGH(PB09_I2C1_SDA) | \
629
PIN_ODR_LEVEL_HIGH(PB10_SPI5_RESET) | \
630
PIN_ODR_LEVEL_HIGH(PB11_FMU_CAP3) | \
631
PIN_ODR_LEVEL_HIGH(PB12_CAN2_RX) | \
632
PIN_ODR_LEVEL_HIGH(PB13_CAN2_TX) | \
633
PIN_ODR_LEVEL_HIGH(PB14_DRDY2_BMI055_GYRO) | \
634
PIN_ODR_LEVEL_HIGH(PB15_DRDY2_BMI055_ACC))
619
#define VAL_GPIOB_ODR (PIN_ODR_LEVEL_LOW(PB00_RSSI_IN) | \
…
635
636
#define VAL_GPIOB_AFRL (PIN_AFIO_AF(PB00_RSSI_IN, 0) | \
637
PIN_AFIO_AF(PB01_LED1, 0) | \
638
PIN_AFIO_AF(PB02, 0) | \
639
PIN_AFIO_AF(PB03_FMU_CAP2, 0) | \
640
PIN_AFIO_AF(PB04_DRDY1_ICM20689, 0) | \
641
PIN_AFIO_AF(PB05_SPI6_MOSI, 8) | \
642
PIN_AFIO_AF(PB06_USART1_TX, 7) | \
643
PIN_AFIO_AF(PB07_USART1_RX, 7))
636
#define VAL_GPIOB_AFRL (PIN_AFIO_AF(PB00_RSSI_IN, 0) | \
…
644
645
#define VAL_GPIOB_AFRH (PIN_AFIO_AF(PB08_I2C1_SCL, 4) | \
646
PIN_AFIO_AF(PB09_I2C1_SDA, 4) | \
647
PIN_AFIO_AF(PB10_SPI5_RESET, 0) | \
648
PIN_AFIO_AF(PB11_FMU_CAP3, 0) | \
649
PIN_AFIO_AF(PB12_CAN2_RX, 9) | \
650
PIN_AFIO_AF(PB13_CAN2_TX, 9) | \
651
PIN_AFIO_AF(PB14_DRDY2_BMI055_GYRO, 0) | \
652
PIN_AFIO_AF(PB15_DRDY2_BMI055_ACC, 0))
645
#define VAL_GPIOB_AFRH (PIN_AFIO_AF(PB08_I2C1_SCL, 4) | \
…
653
654
#define VAL_GPIOC_MODER (PIN_MODE_ANALOG(PC00_SCALED_V5) | \
655
PIN_MODE_ANALOG(PC01_SCALED_3V3_SENSORS) | \
656
PIN_MODE_ANALOG(PC02_HW_VER_SENSE) | \
657
PIN_MODE_ANALOG(PC03_HW_REV_SENSE) | \
658
PIN_MODE_ANALOG(PC04_ADC6) | \
659
PIN_MODE_INPUT(PC05_DRDY4_ICM20602) | \
660
PIN_MODE_OUTPUT(PC06_LED2) | \
661
PIN_MODE_OUTPUT(PC07_LED3) | \
662
PIN_MODE_ALTERNATE(PC08_SDIO_D0) | \
663
PIN_MODE_ALTERNATE(PC09_SDIO_D1) | \
664
PIN_MODE_ALTERNATE(PC10_SDIO_D2) | \
665
PIN_MODE_ALTERNATE(PC11_SDIO_D3) | \
666
PIN_MODE_ALTERNATE(PC12_SDIO_CK) | \
667
PIN_MODE_INPUT(PC13_DRDY5_BMI055_GYRO) | \
668
PIN_MODE_ALTERNATE(PC14_OSC32_IN) | \
669
PIN_MODE_ALTERNATE(PC15_OSC32_OUT))
654
#define VAL_GPIOC_MODER (PIN_MODE_ANALOG(PC00_SCALED_V5) | \
…
670
671
#define VAL_GPIOC_OTYPER (PIN_OTYPE_PUSHPULL(PC00_SCALED_V5) | \
672
PIN_OTYPE_PUSHPULL(PC01_SCALED_3V3_SENSORS) | \
673
PIN_OTYPE_PUSHPULL(PC02_HW_VER_SENSE) | \
674
PIN_OTYPE_PUSHPULL(PC03_HW_REV_SENSE) | \
675
PIN_OTYPE_PUSHPULL(PC04_ADC6) | \
676
PIN_OTYPE_OPENDRAIN(PC05_DRDY4_ICM20602) | \
677
PIN_OTYPE_PUSHPULL(PC06_LED2) | \
678
PIN_OTYPE_PUSHPULL(PC07_LED3) | \
679
PIN_OTYPE_PUSHPULL(PC08_SDIO_D0) | \
680
PIN_OTYPE_PUSHPULL(PC09_SDIO_D1) | \
681
PIN_OTYPE_PUSHPULL(PC10_SDIO_D2) | \
682
PIN_OTYPE_PUSHPULL(PC11_SDIO_D3) | \
683
PIN_OTYPE_PUSHPULL(PC12_SDIO_CK) | \
684
PIN_OTYPE_OPENDRAIN(PC13_DRDY5_BMI055_GYRO) | \
685
PIN_OTYPE_PUSHPULL(PC14_OSC32_IN) | \
686
PIN_OTYPE_PUSHPULL(PC15_OSC32_OUT))
671
#define VAL_GPIOC_OTYPER (PIN_OTYPE_PUSHPULL(PC00_SCALED_V5) | \
…
687
688
#define VAL_GPIOC_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PC00_SCALED_V5) | \
689
PIN_OSPEED_SPEED_VERYLOW(PC01_SCALED_3V3_SENSORS) | \
690
PIN_OSPEED_SPEED_VERYLOW(PC02_HW_VER_SENSE) | \
691
PIN_OSPEED_SPEED_VERYLOW(PC03_HW_REV_SENSE) | \
692
PIN_OSPEED_SPEED_VERYLOW(PC04_ADC6) | \
693
PIN_OSPEED_SPEED_VERYLOW(PC05_DRDY4_ICM20602) | \
694
PIN_OSPEED_SPEED_VERYLOW(PC06_LED2) | \
695
PIN_OSPEED_SPEED_VERYLOW(PC07_LED3) | \
696
PIN_OSPEED_SPEED_HIGH(PC08_SDIO_D0) | \
697
PIN_OSPEED_SPEED_HIGH(PC09_SDIO_D1) | \
698
PIN_OSPEED_SPEED_HIGH(PC10_SDIO_D2) | \
699
PIN_OSPEED_SPEED_HIGH(PC11_SDIO_D3) | \
700
PIN_OSPEED_SPEED_HIGH(PC12_SDIO_CK) | \
701
PIN_OSPEED_SPEED_VERYLOW(PC13_DRDY5_BMI055_GYRO) | \
702
PIN_OSPEED_SPEED_HIGH(PC14_OSC32_IN) | \
703
PIN_OSPEED_SPEED_HIGH(PC15_OSC32_OUT))
688
#define VAL_GPIOC_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PC00_SCALED_V5) | \
…
704
705
#define VAL_GPIOC_PUPDR (PIN_PUPDR_FLOATING(PC00_SCALED_V5) | \
706
PIN_PUPDR_FLOATING(PC01_SCALED_3V3_SENSORS) | \
707
PIN_PUPDR_FLOATING(PC02_HW_VER_SENSE) | \
708
PIN_PUPDR_FLOATING(PC03_HW_REV_SENSE) | \
709
PIN_PUPDR_FLOATING(PC04_ADC6) | \
710
PIN_PUPDR_PULLDOWN(PC05_DRDY4_ICM20602) | \
711
PIN_PUPDR_FLOATING(PC06_LED2) | \
712
PIN_PUPDR_FLOATING(PC07_LED3) | \
713
PIN_PUPDR_PULLUP(PC08_SDIO_D0) | \
714
PIN_PUPDR_PULLUP(PC09_SDIO_D1) | \
715
PIN_PUPDR_PULLUP(PC10_SDIO_D2) | \
716
PIN_PUPDR_PULLUP(PC11_SDIO_D3) | \
717
PIN_PUPDR_PULLUP(PC12_SDIO_CK) | \
718
PIN_PUPDR_PULLDOWN(PC13_DRDY5_BMI055_GYRO) | \
719
PIN_PUPDR_FLOATING(PC14_OSC32_IN) | \
720
PIN_PUPDR_FLOATING(PC15_OSC32_OUT))
705
#define VAL_GPIOC_PUPDR (PIN_PUPDR_FLOATING(PC00_SCALED_V5) | \
…
721
722
#define VAL_GPIOC_ODR (PIN_ODR_LEVEL_LOW(PC00_SCALED_V5) | \
723
PIN_ODR_LEVEL_LOW(PC01_SCALED_3V3_SENSORS) | \
724
PIN_ODR_LEVEL_LOW(PC02_HW_VER_SENSE) | \
725
PIN_ODR_LEVEL_LOW(PC03_HW_REV_SENSE) | \
726
PIN_ODR_LEVEL_LOW(PC04_ADC6) | \
727
PIN_ODR_LEVEL_HIGH(PC05_DRDY4_ICM20602) | \
728
PIN_ODR_LEVEL_LOW(PC06_LED2) | \
729
PIN_ODR_LEVEL_LOW(PC07_LED3) | \
730
PIN_ODR_LEVEL_HIGH(PC08_SDIO_D0) | \
731
PIN_ODR_LEVEL_HIGH(PC09_SDIO_D1) | \
732
PIN_ODR_LEVEL_HIGH(PC10_SDIO_D2) | \
733
PIN_ODR_LEVEL_HIGH(PC11_SDIO_D3) | \
734
PIN_ODR_LEVEL_HIGH(PC12_SDIO_CK) | \
735
PIN_ODR_LEVEL_HIGH(PC13_DRDY5_BMI055_GYRO) | \
736
PIN_ODR_LEVEL_HIGH(PC14_OSC32_IN) | \
737
PIN_ODR_LEVEL_HIGH(PC15_OSC32_OUT))
722
#define VAL_GPIOC_ODR (PIN_ODR_LEVEL_LOW(PC00_SCALED_V5) | \
…
738
739
#define VAL_GPIOC_AFRL (PIN_AFIO_AF(PC00_SCALED_V5, 0) | \
740
PIN_AFIO_AF(PC01_SCALED_3V3_SENSORS, 0) | \
741
PIN_AFIO_AF(PC02_HW_VER_SENSE, 0) | \
742
PIN_AFIO_AF(PC03_HW_REV_SENSE, 0) | \
743
PIN_AFIO_AF(PC04_ADC6, 0) | \
744
PIN_AFIO_AF(PC05_DRDY4_ICM20602, 0) | \
745
PIN_AFIO_AF(PC06_LED2, 0) | \
746
PIN_AFIO_AF(PC07_LED3, 0))
739
#define VAL_GPIOC_AFRL (PIN_AFIO_AF(PC00_SCALED_V5, 0) | \
…
747
748
#define VAL_GPIOC_AFRH (PIN_AFIO_AF(PC08_SDIO_D0, 12) | \
749
PIN_AFIO_AF(PC09_SDIO_D1, 12) | \
750
PIN_AFIO_AF(PC10_SDIO_D2, 12) | \
751
PIN_AFIO_AF(PC11_SDIO_D3, 12) | \
752
PIN_AFIO_AF(PC12_SDIO_CK, 12) | \
753
PIN_AFIO_AF(PC13_DRDY5_BMI055_GYRO, 0) | \
754
PIN_AFIO_AF(PC14_OSC32_IN, 0) | \
755
PIN_AFIO_AF(PC15_OSC32_OUT, 0))
748
#define VAL_GPIOC_AFRH (PIN_AFIO_AF(PC08_SDIO_D0, 12) | \
…
756
757
#define VAL_GPIOD_MODER (PIN_MODE_ALTERNATE(PD00_UART4_RX) | \
758
PIN_MODE_ALTERNATE(PD01_UART4_TX) | \
759
PIN_MODE_ALTERNATE(PD02_SDIO_CMD) | \
760
PIN_MODE_INPUT(PD03_UART2_CTS) | \
761
PIN_MODE_INPUT(PD04_UART2_RTS) | \
762
PIN_MODE_ALTERNATE(PD05_UART2_TX) | \
763
PIN_MODE_ALTERNATE(PD06_UART2_RX) | \
764
PIN_MODE_ALTERNATE(PD07_SPI1_MOSI) | \
765
PIN_MODE_ALTERNATE(PD08_UART3_TX) | \
766
PIN_MODE_ALTERNATE(PD09_UART3_RX) | \
767
PIN_MODE_INPUT(PD10_DRDY6_BMI055_ACC) | \
768
PIN_MODE_INPUT(PD11_UART3_CTS) | \
769
PIN_MODE_INPUT(PD12_UART3_RTS) | \
770
PIN_MODE_ALTERNATE(PD13_SERVO5) | \
771
PIN_MODE_ALTERNATE(PD14_SERVO6) | \
772
PIN_MODE_INPUT(PD15_DRDY7_EXTERNAL1))
757
#define VAL_GPIOD_MODER (PIN_MODE_ALTERNATE(PD00_UART4_RX) | \
…
773
774
#define VAL_GPIOD_OTYPER (PIN_OTYPE_PUSHPULL(PD00_UART4_RX) | \
775
PIN_OTYPE_PUSHPULL(PD01_UART4_TX) | \
776
PIN_OTYPE_PUSHPULL(PD02_SDIO_CMD) | \
777
PIN_OTYPE_OPENDRAIN(PD03_UART2_CTS) | \
778
PIN_OTYPE_OPENDRAIN(PD04_UART2_RTS) | \
779
PIN_OTYPE_PUSHPULL(PD05_UART2_TX) | \
780
PIN_OTYPE_PUSHPULL(PD06_UART2_RX) | \
781
PIN_OTYPE_PUSHPULL(PD07_SPI1_MOSI) | \
782
PIN_OTYPE_PUSHPULL(PD08_UART3_TX) | \
783
PIN_OTYPE_PUSHPULL(PD09_UART3_RX) | \
784
PIN_OTYPE_OPENDRAIN(PD10_DRDY6_BMI055_ACC) | \
785
PIN_OTYPE_OPENDRAIN(PD11_UART3_CTS) | \
786
PIN_OTYPE_OPENDRAIN(PD12_UART3_RTS) | \
787
PIN_OTYPE_PUSHPULL(PD13_SERVO5) | \
788
PIN_OTYPE_PUSHPULL(PD14_SERVO6) | \
789
PIN_OTYPE_OPENDRAIN(PD15_DRDY7_EXTERNAL1))
774
#define VAL_GPIOD_OTYPER (PIN_OTYPE_PUSHPULL(PD00_UART4_RX) | \
…
790
791
#define VAL_GPIOD_OSPEEDR (PIN_OSPEED_SPEED_HIGH(PD00_UART4_RX) | \
792
PIN_OSPEED_SPEED_HIGH(PD01_UART4_TX) | \
793
PIN_OSPEED_SPEED_HIGH(PD02_SDIO_CMD) | \
794
PIN_OSPEED_SPEED_VERYLOW(PD03_UART2_CTS) | \
795
PIN_OSPEED_SPEED_VERYLOW(PD04_UART2_RTS) | \
796
PIN_OSPEED_SPEED_HIGH(PD05_UART2_TX) | \
797
PIN_OSPEED_SPEED_HIGH(PD06_UART2_RX) | \
798
PIN_OSPEED_SPEED_HIGH(PD07_SPI1_MOSI) | \
799
PIN_OSPEED_SPEED_HIGH(PD08_UART3_TX) | \
800
PIN_OSPEED_SPEED_HIGH(PD09_UART3_RX) | \
801
PIN_OSPEED_SPEED_VERYLOW(PD10_DRDY6_BMI055_ACC) | \
802
PIN_OSPEED_SPEED_VERYLOW(PD11_UART3_CTS) | \
803
PIN_OSPEED_SPEED_VERYLOW(PD12_UART3_RTS) | \
804
PIN_OSPEED_SPEED_HIGH(PD13_SERVO5) | \
805
PIN_OSPEED_SPEED_HIGH(PD14_SERVO6) | \
806
PIN_OSPEED_SPEED_VERYLOW(PD15_DRDY7_EXTERNAL1))
791
#define VAL_GPIOD_OSPEEDR (PIN_OSPEED_SPEED_HIGH(PD00_UART4_RX) | \
…
807
808
#define VAL_GPIOD_PUPDR (PIN_PUPDR_FLOATING(PD00_UART4_RX) | \
809
PIN_PUPDR_FLOATING(PD01_UART4_TX) | \
810
PIN_PUPDR_PULLUP(PD02_SDIO_CMD) | \
811
PIN_PUPDR_PULLDOWN(PD03_UART2_CTS) | \
812
PIN_PUPDR_PULLDOWN(PD04_UART2_RTS) | \
813
PIN_PUPDR_FLOATING(PD05_UART2_TX) | \
814
PIN_PUPDR_FLOATING(PD06_UART2_RX) | \
815
PIN_PUPDR_FLOATING(PD07_SPI1_MOSI) | \
816
PIN_PUPDR_FLOATING(PD08_UART3_TX) | \
817
PIN_PUPDR_FLOATING(PD09_UART3_RX) | \
818
PIN_PUPDR_PULLDOWN(PD10_DRDY6_BMI055_ACC) | \
819
PIN_PUPDR_PULLDOWN(PD11_UART3_CTS) | \
820
PIN_PUPDR_PULLDOWN(PD12_UART3_RTS) | \
821
PIN_PUPDR_FLOATING(PD13_SERVO5) | \
822
PIN_PUPDR_FLOATING(PD14_SERVO6) | \
823
PIN_PUPDR_PULLDOWN(PD15_DRDY7_EXTERNAL1))
808
#define VAL_GPIOD_PUPDR (PIN_PUPDR_FLOATING(PD00_UART4_RX) | \
…
824
825
#define VAL_GPIOD_ODR (PIN_ODR_LEVEL_HIGH(PD00_UART4_RX) | \
826
PIN_ODR_LEVEL_HIGH(PD01_UART4_TX) | \
827
PIN_ODR_LEVEL_HIGH(PD02_SDIO_CMD) | \
828
PIN_ODR_LEVEL_HIGH(PD03_UART2_CTS) | \
829
PIN_ODR_LEVEL_HIGH(PD04_UART2_RTS) | \
830
PIN_ODR_LEVEL_HIGH(PD05_UART2_TX) | \
831
PIN_ODR_LEVEL_HIGH(PD06_UART2_RX) | \
832
PIN_ODR_LEVEL_HIGH(PD07_SPI1_MOSI) | \
833
PIN_ODR_LEVEL_HIGH(PD08_UART3_TX) | \
834
PIN_ODR_LEVEL_HIGH(PD09_UART3_RX) | \
835
PIN_ODR_LEVEL_HIGH(PD10_DRDY6_BMI055_ACC) | \
836
PIN_ODR_LEVEL_HIGH(PD11_UART3_CTS) | \
837
PIN_ODR_LEVEL_HIGH(PD12_UART3_RTS) | \
838
PIN_ODR_LEVEL_LOW(PD13_SERVO5) | \
839
PIN_ODR_LEVEL_LOW(PD14_SERVO6) | \
840
PIN_ODR_LEVEL_HIGH(PD15_DRDY7_EXTERNAL1))
825
#define VAL_GPIOD_ODR (PIN_ODR_LEVEL_HIGH(PD00_UART4_RX) | \
…
841
842
#define VAL_GPIOD_AFRL (PIN_AFIO_AF(PD00_UART4_RX, 8) | \
843
PIN_AFIO_AF(PD01_UART4_TX, 8) | \
844
PIN_AFIO_AF(PD02_SDIO_CMD, 12) | \
845
PIN_AFIO_AF(PD03_UART2_CTS, 0) | \
846
PIN_AFIO_AF(PD04_UART2_RTS, 0) | \
847
PIN_AFIO_AF(PD05_UART2_TX, 7) | \
848
PIN_AFIO_AF(PD06_UART2_RX, 7) | \
849
PIN_AFIO_AF(PD07_SPI1_MOSI, 5))
842
#define VAL_GPIOD_AFRL (PIN_AFIO_AF(PD00_UART4_RX, 8) | \
…
850
851
#define VAL_GPIOD_AFRH (PIN_AFIO_AF(PD08_UART3_TX, 7) | \
852
PIN_AFIO_AF(PD09_UART3_RX, 7) | \
853
PIN_AFIO_AF(PD10_DRDY6_BMI055_ACC, 0) | \
854
PIN_AFIO_AF(PD11_UART3_CTS, 0) | \
855
PIN_AFIO_AF(PD12_UART3_RTS, 0) | \
856
PIN_AFIO_AF(PD13_SERVO5, 2) | \
857
PIN_AFIO_AF(PD14_SERVO6, 2) | \
858
PIN_AFIO_AF(PD15_DRDY7_EXTERNAL1, 0))
851
#define VAL_GPIOD_AFRH (PIN_AFIO_AF(PD08_UART3_TX, 7) | \
…
859
860
#define VAL_GPIOE_MODER (PIN_MODE_ALTERNATE(PE00_UART8_RX) | \
861
PIN_MODE_ALTERNATE(PE01_UART8_TX) | \
862
PIN_MODE_ALTERNATE(PE02_SPI4_SCK) | \
863
PIN_MODE_OUTPUT(PE03_V3V3_SENSORS_EN) | \
864
PIN_MODE_OUTPUT(PE04_V3V3_SPEKTRUM_EN) | \
865
PIN_MODE_INPUT(PE05_BUZZER) | \
866
PIN_MODE_ALTERNATE(PE06_SPI4_MOSI) | \
867
PIN_MODE_INPUT(PE07_DRDY8) | \
868
PIN_MODE_ALTERNATE(PE08_UART7_TX) | \
869
PIN_MODE_ALTERNATE(PE09_SERVO4) | \
870
PIN_MODE_INPUT(PE10_SAFETY_SWITCH_IN) | \
871
PIN_MODE_ALTERNATE(PE11_SERVO3) | \
872
PIN_MODE_OUTPUT(PE12_LED4) | \
873
PIN_MODE_ALTERNATE(PE13_SPI4_MISO) | \
874
PIN_MODE_ALTERNATE(PE14_SERVO1) | \
875
PIN_MODE_INPUT(PE15_V5V_PERIPH_OC))
860
#define VAL_GPIOE_MODER (PIN_MODE_ALTERNATE(PE00_UART8_RX) | \
…
876
877
#define VAL_GPIOE_OTYPER (PIN_OTYPE_PUSHPULL(PE00_UART8_RX) | \
878
PIN_OTYPE_PUSHPULL(PE01_UART8_TX) | \
879
PIN_OTYPE_PUSHPULL(PE02_SPI4_SCK) | \
880
PIN_OTYPE_PUSHPULL(PE03_V3V3_SENSORS_EN) | \
881
PIN_OTYPE_PUSHPULL(PE04_V3V3_SPEKTRUM_EN) | \
882
PIN_OTYPE_OPENDRAIN(PE05_BUZZER) | \
883
PIN_OTYPE_PUSHPULL(PE06_SPI4_MOSI) | \
884
PIN_OTYPE_OPENDRAIN(PE07_DRDY8) | \
885
PIN_OTYPE_PUSHPULL(PE08_UART7_TX) | \
886
PIN_OTYPE_PUSHPULL(PE09_SERVO4) | \
887
PIN_OTYPE_OPENDRAIN(PE10_SAFETY_SWITCH_IN) | \
888
PIN_OTYPE_PUSHPULL(PE11_SERVO3) | \
889
PIN_OTYPE_PUSHPULL(PE12_LED4) | \
890
PIN_OTYPE_PUSHPULL(PE13_SPI4_MISO) | \
891
PIN_OTYPE_PUSHPULL(PE14_SERVO1) | \
892
PIN_OTYPE_OPENDRAIN(PE15_V5V_PERIPH_OC))
877
#define VAL_GPIOE_OTYPER (PIN_OTYPE_PUSHPULL(PE00_UART8_RX) | \
…
893
894
#define VAL_GPIOE_OSPEEDR (PIN_OSPEED_SPEED_HIGH(PE00_UART8_RX) | \
895
PIN_OSPEED_SPEED_HIGH(PE01_UART8_TX) | \
896
PIN_OSPEED_SPEED_HIGH(PE02_SPI4_SCK) | \
897
PIN_OSPEED_SPEED_VERYLOW(PE03_V3V3_SENSORS_EN) | \
898
PIN_OSPEED_SPEED_VERYLOW(PE04_V3V3_SPEKTRUM_EN) | \
899
PIN_OSPEED_SPEED_VERYLOW(PE05_BUZZER) | \
900
PIN_OSPEED_SPEED_HIGH(PE06_SPI4_MOSI) | \
901
PIN_OSPEED_SPEED_VERYLOW(PE07_DRDY8) | \
902
PIN_OSPEED_SPEED_HIGH(PE08_UART7_TX) | \
903
PIN_OSPEED_SPEED_HIGH(PE09_SERVO4) | \
904
PIN_OSPEED_SPEED_VERYLOW(PE10_SAFETY_SWITCH_IN) | \
905
PIN_OSPEED_SPEED_HIGH(PE11_SERVO3) | \
906
PIN_OSPEED_SPEED_VERYLOW(PE12_LED4) | \
907
PIN_OSPEED_SPEED_HIGH(PE13_SPI4_MISO) | \
908
PIN_OSPEED_SPEED_HIGH(PE14_SERVO1) | \
909
PIN_OSPEED_SPEED_VERYLOW(PE15_V5V_PERIPH_OC))
894
#define VAL_GPIOE_OSPEEDR (PIN_OSPEED_SPEED_HIGH(PE00_UART8_RX) | \
…
910
911
#define VAL_GPIOE_PUPDR (PIN_PUPDR_FLOATING(PE00_UART8_RX) | \
912
PIN_PUPDR_FLOATING(PE01_UART8_TX) | \
913
PIN_PUPDR_FLOATING(PE02_SPI4_SCK) | \
914
PIN_PUPDR_FLOATING(PE03_V3V3_SENSORS_EN) | \
915
PIN_PUPDR_FLOATING(PE04_V3V3_SPEKTRUM_EN) | \
916
PIN_PUPDR_PULLDOWN(PE05_BUZZER) | \
917
PIN_PUPDR_FLOATING(PE06_SPI4_MOSI) | \
918
PIN_PUPDR_PULLDOWN(PE07_DRDY8) | \
919
PIN_PUPDR_FLOATING(PE08_UART7_TX) | \
920
PIN_PUPDR_FLOATING(PE09_SERVO4) | \
921
PIN_PUPDR_PULLDOWN(PE10_SAFETY_SWITCH_IN) | \
922
PIN_PUPDR_FLOATING(PE11_SERVO3) | \
923
PIN_PUPDR_FLOATING(PE12_LED4) | \
924
PIN_PUPDR_FLOATING(PE13_SPI4_MISO) | \
925
PIN_PUPDR_FLOATING(PE14_SERVO1) | \
926
PIN_PUPDR_PULLDOWN(PE15_V5V_PERIPH_OC))
911
#define VAL_GPIOE_PUPDR (PIN_PUPDR_FLOATING(PE00_UART8_RX) | \
…
927
928
#define VAL_GPIOE_ODR (PIN_ODR_LEVEL_HIGH(PE00_UART8_RX) | \
929
PIN_ODR_LEVEL_HIGH(PE01_UART8_TX) | \
930
PIN_ODR_LEVEL_HIGH(PE02_SPI4_SCK) | \
931
PIN_ODR_LEVEL_HIGH(PE03_V3V3_SENSORS_EN) | \
932
PIN_ODR_LEVEL_HIGH(PE04_V3V3_SPEKTRUM_EN) | \
933
PIN_ODR_LEVEL_HIGH(PE05_BUZZER) | \
934
PIN_ODR_LEVEL_HIGH(PE06_SPI4_MOSI) | \
935
PIN_ODR_LEVEL_HIGH(PE07_DRDY8) | \
936
PIN_ODR_LEVEL_HIGH(PE08_UART7_TX) | \
937
PIN_ODR_LEVEL_LOW(PE09_SERVO4) | \
938
PIN_ODR_LEVEL_LOW(PE10_SAFETY_SWITCH_IN) | \
939
PIN_ODR_LEVEL_LOW(PE11_SERVO3) | \
940
PIN_ODR_LEVEL_LOW(PE12_LED4) | \
941
PIN_ODR_LEVEL_HIGH(PE13_SPI4_MISO) | \
942
PIN_ODR_LEVEL_LOW(PE14_SERVO1) | \
943
PIN_ODR_LEVEL_HIGH(PE15_V5V_PERIPH_OC))
928
#define VAL_GPIOE_ODR (PIN_ODR_LEVEL_HIGH(PE00_UART8_RX) | \
…
944
945
#define VAL_GPIOE_AFRL (PIN_AFIO_AF(PE00_UART8_RX, 8) | \
946
PIN_AFIO_AF(PE01_UART8_TX, 8) | \
947
PIN_AFIO_AF(PE02_SPI4_SCK, 5) | \
948
PIN_AFIO_AF(PE03_V3V3_SENSORS_EN, 0) | \
949
PIN_AFIO_AF(PE04_V3V3_SPEKTRUM_EN, 0) | \
950
PIN_AFIO_AF(PE05_BUZZER, 0) | \
951
PIN_AFIO_AF(PE06_SPI4_MOSI, 5) | \
952
PIN_AFIO_AF(PE07_DRDY8, 0))
945
#define VAL_GPIOE_AFRL (PIN_AFIO_AF(PE00_UART8_RX, 8) | \
…
953
954
#define VAL_GPIOE_AFRH (PIN_AFIO_AF(PE08_UART7_TX, 8) | \
955
PIN_AFIO_AF(PE09_SERVO4, 1) | \
956
PIN_AFIO_AF(PE10_SAFETY_SWITCH_IN, 0) | \
957
PIN_AFIO_AF(PE11_SERVO3, 1) | \
958
PIN_AFIO_AF(PE12_LED4, 0) | \
959
PIN_AFIO_AF(PE13_SPI4_MISO, 5) | \
960
PIN_AFIO_AF(PE14_SERVO1, 1) | \
961
PIN_AFIO_AF(PE15_V5V_PERIPH_OC, 0))
954
#define VAL_GPIOE_AFRH (PIN_AFIO_AF(PE08_UART7_TX, 8) | \
…
962
963
#define VAL_GPIOF_MODER (PIN_MODE_ALTERNATE(PF00_I2C2_SDA) | \
964
PIN_MODE_ALTERNATE(PF01_I2C2_SCL) | \
965
PIN_MODE_OUTPUT(PF02_SPI_SLAVE0) | \
966
PIN_MODE_OUTPUT(PF03_SPI_SLAVE1) | \
967
PIN_MODE_OUTPUT(PF04_SPI_SLAVE2) | \
968
PIN_MODE_OUTPUT(PF05_SPI_SLAVE3) | \
969
PIN_MODE_ALTERNATE(PF06_UART7_RX) | \
970
PIN_MODE_ALTERNATE(PF07_SPI5_SCK) | \
971
PIN_MODE_ALTERNATE(PF08_SPI5_MISO) | \
972
PIN_MODE_ALTERNATE(PF09_SPI5_MOSI) | \
973
PIN_MODE_OUTPUT(PF10_SPI_SLAVE4) | \
974
PIN_MODE_OUTPUT(PF11_SPI_SLAVE5) | \
975
PIN_MODE_OUTPUT(PF12_V5V_HIPOWER_EN) | \
976
PIN_MODE_INPUT(PF13_V5V_HIPOWER_OC) | \
977
PIN_MODE_ALTERNATE(PF14_I2C4_SCL) | \
978
PIN_MODE_ALTERNATE(PF15_I2C4_SDA))
963
#define VAL_GPIOF_MODER (PIN_MODE_ALTERNATE(PF00_I2C2_SDA) | \
…
979
980
#define VAL_GPIOF_OTYPER (PIN_OTYPE_OPENDRAIN(PF00_I2C2_SDA) | \
981
PIN_OTYPE_OPENDRAIN(PF01_I2C2_SCL) | \
982
PIN_OTYPE_PUSHPULL(PF02_SPI_SLAVE0) | \
983
PIN_OTYPE_PUSHPULL(PF03_SPI_SLAVE1) | \
984
PIN_OTYPE_PUSHPULL(PF04_SPI_SLAVE2) | \
985
PIN_OTYPE_PUSHPULL(PF05_SPI_SLAVE3) | \
986
PIN_OTYPE_PUSHPULL(PF06_UART7_RX) | \
987
PIN_OTYPE_PUSHPULL(PF07_SPI5_SCK) | \
988
PIN_OTYPE_PUSHPULL(PF08_SPI5_MISO) | \
989
PIN_OTYPE_PUSHPULL(PF09_SPI5_MOSI) | \
990
PIN_OTYPE_PUSHPULL(PF10_SPI_SLAVE4) | \
991
PIN_OTYPE_PUSHPULL(PF11_SPI_SLAVE5) | \
992
PIN_OTYPE_PUSHPULL(PF12_V5V_HIPOWER_EN) | \
993
PIN_OTYPE_OPENDRAIN(PF13_V5V_HIPOWER_OC) | \
994
PIN_OTYPE_OPENDRAIN(PF14_I2C4_SCL) | \
995
PIN_OTYPE_OPENDRAIN(PF15_I2C4_SDA))
980
#define VAL_GPIOF_OTYPER (PIN_OTYPE_OPENDRAIN(PF00_I2C2_SDA) | \
…
996
997
#define VAL_GPIOF_OSPEEDR (PIN_OSPEED_SPEED_HIGH(PF00_I2C2_SDA) | \
998
PIN_OSPEED_SPEED_HIGH(PF01_I2C2_SCL) | \
999
PIN_OSPEED_SPEED_HIGH(PF02_SPI_SLAVE0) | \
1000
PIN_OSPEED_SPEED_HIGH(PF03_SPI_SLAVE1) | \
1001
PIN_OSPEED_SPEED_HIGH(PF04_SPI_SLAVE2) | \
1002
PIN_OSPEED_SPEED_HIGH(PF05_SPI_SLAVE3) | \
1003
PIN_OSPEED_SPEED_HIGH(PF06_UART7_RX) | \
1004
PIN_OSPEED_SPEED_HIGH(PF07_SPI5_SCK) | \
1005
PIN_OSPEED_SPEED_HIGH(PF08_SPI5_MISO) | \
1006
PIN_OSPEED_SPEED_HIGH(PF09_SPI5_MOSI) | \
1007
PIN_OSPEED_SPEED_HIGH(PF10_SPI_SLAVE4) | \
1008
PIN_OSPEED_SPEED_HIGH(PF11_SPI_SLAVE5) | \
1009
PIN_OSPEED_SPEED_VERYLOW(PF12_V5V_HIPOWER_EN) | \
1010
PIN_OSPEED_SPEED_VERYLOW(PF13_V5V_HIPOWER_OC) | \
1011
PIN_OSPEED_SPEED_HIGH(PF14_I2C4_SCL) | \
1012
PIN_OSPEED_SPEED_HIGH(PF15_I2C4_SDA))
997
#define VAL_GPIOF_OSPEEDR (PIN_OSPEED_SPEED_HIGH(PF00_I2C2_SDA) | \
…
1013
1014
#define VAL_GPIOF_PUPDR (PIN_PUPDR_PULLUP(PF00_I2C2_SDA) | \
1015
PIN_PUPDR_PULLUP(PF01_I2C2_SCL) | \
1016
PIN_PUPDR_FLOATING(PF02_SPI_SLAVE0) | \
1017
PIN_PUPDR_FLOATING(PF03_SPI_SLAVE1) | \
1018
PIN_PUPDR_FLOATING(PF04_SPI_SLAVE2) | \
1019
PIN_PUPDR_FLOATING(PF05_SPI_SLAVE3) | \
1020
PIN_PUPDR_FLOATING(PF06_UART7_RX) | \
1021
PIN_PUPDR_FLOATING(PF07_SPI5_SCK) | \
1022
PIN_PUPDR_FLOATING(PF08_SPI5_MISO) | \
1023
PIN_PUPDR_FLOATING(PF09_SPI5_MOSI) | \
1024
PIN_PUPDR_FLOATING(PF10_SPI_SLAVE4) | \
1025
PIN_PUPDR_FLOATING(PF11_SPI_SLAVE5) | \
1026
PIN_PUPDR_FLOATING(PF12_V5V_HIPOWER_EN) | \
1027
PIN_PUPDR_PULLDOWN(PF13_V5V_HIPOWER_OC) | \
1028
PIN_PUPDR_PULLUP(PF14_I2C4_SCL) | \
1029
PIN_PUPDR_PULLUP(PF15_I2C4_SDA))
1014
#define VAL_GPIOF_PUPDR (PIN_PUPDR_PULLUP(PF00_I2C2_SDA) | \
…
1030
1031
#define VAL_GPIOF_ODR (PIN_ODR_LEVEL_HIGH(PF00_I2C2_SDA) | \
1032
PIN_ODR_LEVEL_HIGH(PF01_I2C2_SCL) | \
1033
PIN_ODR_LEVEL_HIGH(PF02_SPI_SLAVE0) | \
1034
PIN_ODR_LEVEL_HIGH(PF03_SPI_SLAVE1) | \
1035
PIN_ODR_LEVEL_HIGH(PF04_SPI_SLAVE2) | \
1036
PIN_ODR_LEVEL_HIGH(PF05_SPI_SLAVE3) | \
1037
PIN_ODR_LEVEL_HIGH(PF06_UART7_RX) | \
1038
PIN_ODR_LEVEL_HIGH(PF07_SPI5_SCK) | \
1039
PIN_ODR_LEVEL_HIGH(PF08_SPI5_MISO) | \
1040
PIN_ODR_LEVEL_HIGH(PF09_SPI5_MOSI) | \
1041
PIN_ODR_LEVEL_HIGH(PF10_SPI_SLAVE4) | \
1042
PIN_ODR_LEVEL_HIGH(PF11_SPI_SLAVE5) | \
1043
PIN_ODR_LEVEL_LOW(PF12_V5V_HIPOWER_EN) | \
1044
PIN_ODR_LEVEL_HIGH(PF13_V5V_HIPOWER_OC) | \
1045
PIN_ODR_LEVEL_HIGH(PF14_I2C4_SCL) | \
1046
PIN_ODR_LEVEL_HIGH(PF15_I2C4_SDA))
1031
#define VAL_GPIOF_ODR (PIN_ODR_LEVEL_HIGH(PF00_I2C2_SDA) | \
…
1047
1048
#define VAL_GPIOF_AFRL (PIN_AFIO_AF(PF00_I2C2_SDA, 4) | \
1049
PIN_AFIO_AF(PF01_I2C2_SCL, 4) | \
1050
PIN_AFIO_AF(PF02_SPI_SLAVE0, 0) | \
1051
PIN_AFIO_AF(PF03_SPI_SLAVE1, 0) | \
1052
PIN_AFIO_AF(PF04_SPI_SLAVE2, 0) | \
1053
PIN_AFIO_AF(PF05_SPI_SLAVE3, 0) | \
1054
PIN_AFIO_AF(PF06_UART7_RX, 8) | \
1055
PIN_AFIO_AF(PF07_SPI5_SCK, 5))
1048
#define VAL_GPIOF_AFRL (PIN_AFIO_AF(PF00_I2C2_SDA, 4) | \
…
1056
1057
#define VAL_GPIOF_AFRH (PIN_AFIO_AF(PF08_SPI5_MISO, 5) | \
1058
PIN_AFIO_AF(PF09_SPI5_MOSI, 5) | \
1059
PIN_AFIO_AF(PF10_SPI_SLAVE4, 0) | \
1060
PIN_AFIO_AF(PF11_SPI_SLAVE5, 0) | \
1061
PIN_AFIO_AF(PF12_V5V_HIPOWER_EN, 0) | \
1062
PIN_AFIO_AF(PF13_V5V_HIPOWER_OC, 0) | \
1063
PIN_AFIO_AF(PF14_I2C4_SCL, 4) | \
1064
PIN_AFIO_AF(PF15_I2C4_SDA, 4))
1057
#define VAL_GPIOF_AFRH (PIN_AFIO_AF(PF08_SPI5_MISO, 5) | \
…
1065
1066
#define VAL_GPIOG_MODER (PIN_MODE_OUTPUT(PG00_HW_VER_DRIVE) | \
1067
PIN_MODE_INPUT(PG01_POWER_IN_A) | \
1068
PIN_MODE_INPUT(PG02_POWER_IN_B) | \
1069
PIN_MODE_INPUT(PG03_POWER_IN_C) | \
1070
PIN_MODE_OUTPUT(PG04_V5V_PERIPH_EN) | \
1071
PIN_MODE_OUTPUT(PG05_V5V_RC_EN) | \
1072
PIN_MODE_OUTPUT(PG06_V5V_WIFI_EN) | \
1073
PIN_MODE_OUTPUT(PG07_V3V3_SD_CARD_EN) | \
1074
PIN_MODE_INPUT(PG08_USART6_RTS) | \
1075
PIN_MODE_ALTERNATE(PG09_USART6_RX) | \
1076
PIN_MODE_OUTPUT(PG10_SPI_SLAVE6) | \
1077
PIN_MODE_ALTERNATE(PG11_SPI1_SCK) | \
1078
PIN_MODE_ALTERNATE(PG12_SPI6_MISO) | \
1079
PIN_MODE_ALTERNATE(PG13_SPI6_SCK) | \
1080
PIN_MODE_ALTERNATE(PG14_USART6_TX) | \
1081
PIN_MODE_INPUT(PG15_USART6_CTS))
1066
#define VAL_GPIOG_MODER (PIN_MODE_OUTPUT(PG00_HW_VER_DRIVE) | \
…
1082
1083
#define VAL_GPIOG_OTYPER (PIN_OTYPE_PUSHPULL(PG00_HW_VER_DRIVE) | \
1084
PIN_OTYPE_OPENDRAIN(PG01_POWER_IN_A) | \
1085
PIN_OTYPE_OPENDRAIN(PG02_POWER_IN_B) | \
1086
PIN_OTYPE_OPENDRAIN(PG03_POWER_IN_C) | \
1087
PIN_OTYPE_PUSHPULL(PG04_V5V_PERIPH_EN) | \
1088
PIN_OTYPE_PUSHPULL(PG05_V5V_RC_EN) | \
1089
PIN_OTYPE_PUSHPULL(PG06_V5V_WIFI_EN) | \
1090
PIN_OTYPE_PUSHPULL(PG07_V3V3_SD_CARD_EN) | \
1091
PIN_OTYPE_OPENDRAIN(PG08_USART6_RTS) | \
1092
PIN_OTYPE_PUSHPULL(PG09_USART6_RX) | \
1093
PIN_OTYPE_PUSHPULL(PG10_SPI_SLAVE6) | \
1094
PIN_OTYPE_PUSHPULL(PG11_SPI1_SCK) | \
1095
PIN_OTYPE_PUSHPULL(PG12_SPI6_MISO) | \
1096
PIN_OTYPE_PUSHPULL(PG13_SPI6_SCK) | \
1097
PIN_OTYPE_PUSHPULL(PG14_USART6_TX) | \
1098
PIN_OTYPE_OPENDRAIN(PG15_USART6_CTS))
1083
#define VAL_GPIOG_OTYPER (PIN_OTYPE_PUSHPULL(PG00_HW_VER_DRIVE) | \
…
1099
1100
#define VAL_GPIOG_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PG00_HW_VER_DRIVE) | \
1101
PIN_OSPEED_SPEED_VERYLOW(PG01_POWER_IN_A) | \
1102
PIN_OSPEED_SPEED_VERYLOW(PG02_POWER_IN_B) | \
1103
PIN_OSPEED_SPEED_VERYLOW(PG03_POWER_IN_C) | \
1104
PIN_OSPEED_SPEED_VERYLOW(PG04_V5V_PERIPH_EN) | \
1105
PIN_OSPEED_SPEED_VERYLOW(PG05_V5V_RC_EN) | \
1106
PIN_OSPEED_SPEED_VERYLOW(PG06_V5V_WIFI_EN) | \
1107
PIN_OSPEED_SPEED_VERYLOW(PG07_V3V3_SD_CARD_EN) | \
1108
PIN_OSPEED_SPEED_VERYLOW(PG08_USART6_RTS) | \
1109
PIN_OSPEED_SPEED_HIGH(PG09_USART6_RX) | \
1110
PIN_OSPEED_SPEED_HIGH(PG10_SPI_SLAVE6) | \
1111
PIN_OSPEED_SPEED_HIGH(PG11_SPI1_SCK) | \
1112
PIN_OSPEED_SPEED_HIGH(PG12_SPI6_MISO) | \
1113
PIN_OSPEED_SPEED_HIGH(PG13_SPI6_SCK) | \
1114
PIN_OSPEED_SPEED_HIGH(PG14_USART6_TX) | \
1115
PIN_OSPEED_SPEED_VERYLOW(PG15_USART6_CTS))
1100
#define VAL_GPIOG_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PG00_HW_VER_DRIVE) | \
…
1116
1117
#define VAL_GPIOG_PUPDR (PIN_PUPDR_FLOATING(PG00_HW_VER_DRIVE) | \
1118
PIN_PUPDR_PULLDOWN(PG01_POWER_IN_A) | \
1119
PIN_PUPDR_PULLDOWN(PG02_POWER_IN_B) | \
1120
PIN_PUPDR_PULLDOWN(PG03_POWER_IN_C) | \
1121
PIN_PUPDR_FLOATING(PG04_V5V_PERIPH_EN) | \
1122
PIN_PUPDR_FLOATING(PG05_V5V_RC_EN) | \
1123
PIN_PUPDR_FLOATING(PG06_V5V_WIFI_EN) | \
1124
PIN_PUPDR_FLOATING(PG07_V3V3_SD_CARD_EN) | \
1125
PIN_PUPDR_PULLDOWN(PG08_USART6_RTS) | \
1126
PIN_PUPDR_FLOATING(PG09_USART6_RX) | \
1127
PIN_PUPDR_FLOATING(PG10_SPI_SLAVE6) | \
1128
PIN_PUPDR_FLOATING(PG11_SPI1_SCK) | \
1129
PIN_PUPDR_FLOATING(PG12_SPI6_MISO) | \
1130
PIN_PUPDR_FLOATING(PG13_SPI6_SCK) | \
1131
PIN_PUPDR_FLOATING(PG14_USART6_TX) | \
1132
PIN_PUPDR_PULLDOWN(PG15_USART6_CTS))
1117
#define VAL_GPIOG_PUPDR (PIN_PUPDR_FLOATING(PG00_HW_VER_DRIVE) | \
…
1133
1134
#define VAL_GPIOG_ODR (PIN_ODR_LEVEL_LOW(PG00_HW_VER_DRIVE) | \
1135
PIN_ODR_LEVEL_HIGH(PG01_POWER_IN_A) | \
1136
PIN_ODR_LEVEL_HIGH(PG02_POWER_IN_B) | \
1137
PIN_ODR_LEVEL_HIGH(PG03_POWER_IN_C) | \
1138
PIN_ODR_LEVEL_LOW(PG04_V5V_PERIPH_EN) | \
1139
PIN_ODR_LEVEL_HIGH(PG05_V5V_RC_EN) | \
1140
PIN_ODR_LEVEL_HIGH(PG06_V5V_WIFI_EN) | \
1141
PIN_ODR_LEVEL_HIGH(PG07_V3V3_SD_CARD_EN) | \
1142
PIN_ODR_LEVEL_HIGH(PG08_USART6_RTS) | \
1143
PIN_ODR_LEVEL_HIGH(PG09_USART6_RX) | \
1144
PIN_ODR_LEVEL_HIGH(PG10_SPI_SLAVE6) | \
1145
PIN_ODR_LEVEL_HIGH(PG11_SPI1_SCK) | \
1146
PIN_ODR_LEVEL_HIGH(PG12_SPI6_MISO) | \
1147
PIN_ODR_LEVEL_HIGH(PG13_SPI6_SCK) | \
1148
PIN_ODR_LEVEL_HIGH(PG14_USART6_TX) | \
1149
PIN_ODR_LEVEL_HIGH(PG15_USART6_CTS))
1134
#define VAL_GPIOG_ODR (PIN_ODR_LEVEL_LOW(PG00_HW_VER_DRIVE) | \
…
1150
1151
#define VAL_GPIOG_AFRL (PIN_AFIO_AF(PG00_HW_VER_DRIVE, 0) | \
1152
PIN_AFIO_AF(PG01_POWER_IN_A, 0) | \
1153
PIN_AFIO_AF(PG02_POWER_IN_B, 0) | \
1154
PIN_AFIO_AF(PG03_POWER_IN_C, 0) | \
1155
PIN_AFIO_AF(PG04_V5V_PERIPH_EN, 0) | \
1156
PIN_AFIO_AF(PG05_V5V_RC_EN, 0) | \
1157
PIN_AFIO_AF(PG06_V5V_WIFI_EN, 0) | \
1158
PIN_AFIO_AF(PG07_V3V3_SD_CARD_EN, 0))
1151
#define VAL_GPIOG_AFRL (PIN_AFIO_AF(PG00_HW_VER_DRIVE, 0) | \
…
1159
1160
#define VAL_GPIOG_AFRH (PIN_AFIO_AF(PG08_USART6_RTS, 0) | \
1161
PIN_AFIO_AF(PG09_USART6_RX, 8) | \
1162
PIN_AFIO_AF(PG10_SPI_SLAVE6, 0) | \
1163
PIN_AFIO_AF(PG11_SPI1_SCK, 5) | \
1164
PIN_AFIO_AF(PG12_SPI6_MISO, 5) | \
1165
PIN_AFIO_AF(PG13_SPI6_SCK, 5) | \
1166
PIN_AFIO_AF(PG14_USART6_TX, 8) | \
1167
PIN_AFIO_AF(PG15_USART6_CTS, 0))
1160
#define VAL_GPIOG_AFRH (PIN_AFIO_AF(PG08_USART6_RTS, 0) | \
…
1168
1169
#define VAL_GPIOH_MODER (PIN_MODE_ALTERNATE(PH00_OSC_IN) | \
1170
PIN_MODE_ALTERNATE(PH01_OSC_OUT) | \
1171
PIN_MODE_OUTPUT(PH02_CAN1_SILENT_S0) | \
1172
PIN_MODE_OUTPUT(PH03_CAN2_SILENT_S1) | \
1173
PIN_MODE_OUTPUT(PH04_CAN3_SILENT_S2) | \
1174
PIN_MODE_OUTPUT(PH05_SPI_SLAVE7) | \
1175
PIN_MODE_ALTERNATE(PH06_SERVO7) | \
1176
PIN_MODE_ALTERNATE(PH07_I2C3_SCL) | \
1177
PIN_MODE_ALTERNATE(PH08_I2C3_SDA) | \
1178
PIN_MODE_ALTERNATE(PH09_SERVO8) | \
1179
PIN_MODE_OUTPUT(PH10_LED5) | \
1180
PIN_MODE_OUTPUT(PH11_LED6) | \
1181
PIN_MODE_OUTPUT(PH12_LED7) | \
1182
PIN_MODE_ALTERNATE(PH13_CAN1_TX) | \
1183
PIN_MODE_OUTPUT(PH14_HW_REV_DRIVE) | \
1184
PIN_MODE_INPUT(PH15_SPI5_SYNC))
1169
#define VAL_GPIOH_MODER (PIN_MODE_ALTERNATE(PH00_OSC_IN) | \
…
1185
1186
#define VAL_GPIOH_OTYPER (PIN_OTYPE_PUSHPULL(PH00_OSC_IN) | \
1187
PIN_OTYPE_PUSHPULL(PH01_OSC_OUT) | \
1188
PIN_OTYPE_PUSHPULL(PH02_CAN1_SILENT_S0) | \
1189
PIN_OTYPE_PUSHPULL(PH03_CAN2_SILENT_S1) | \
1190
PIN_OTYPE_PUSHPULL(PH04_CAN3_SILENT_S2) | \
1191
PIN_OTYPE_PUSHPULL(PH05_SPI_SLAVE7) | \
1192
PIN_OTYPE_PUSHPULL(PH06_SERVO7) | \
1193
PIN_OTYPE_OPENDRAIN(PH07_I2C3_SCL) | \
1194
PIN_OTYPE_OPENDRAIN(PH08_I2C3_SDA) | \
1195
PIN_OTYPE_PUSHPULL(PH09_SERVO8) | \
1196
PIN_OTYPE_PUSHPULL(PH10_LED5) | \
1197
PIN_OTYPE_PUSHPULL(PH11_LED6) | \
1198
PIN_OTYPE_PUSHPULL(PH12_LED7) | \
1199
PIN_OTYPE_PUSHPULL(PH13_CAN1_TX) | \
1200
PIN_OTYPE_PUSHPULL(PH14_HW_REV_DRIVE) | \
1201
PIN_OTYPE_OPENDRAIN(PH15_SPI5_SYNC))
1186
#define VAL_GPIOH_OTYPER (PIN_OTYPE_PUSHPULL(PH00_OSC_IN) | \
…
1202
1203
#define VAL_GPIOH_OSPEEDR (PIN_OSPEED_SPEED_HIGH(PH00_OSC_IN) | \
1204
PIN_OSPEED_SPEED_HIGH(PH01_OSC_OUT) | \
1205
PIN_OSPEED_SPEED_VERYLOW(PH02_CAN1_SILENT_S0) | \
1206
PIN_OSPEED_SPEED_VERYLOW(PH03_CAN2_SILENT_S1) | \
1207
PIN_OSPEED_SPEED_VERYLOW(PH04_CAN3_SILENT_S2) | \
1208
PIN_OSPEED_SPEED_HIGH(PH05_SPI_SLAVE7) | \
1209
PIN_OSPEED_SPEED_HIGH(PH06_SERVO7) | \
1210
PIN_OSPEED_SPEED_HIGH(PH07_I2C3_SCL) | \
1211
PIN_OSPEED_SPEED_HIGH(PH08_I2C3_SDA) | \
1212
PIN_OSPEED_SPEED_HIGH(PH09_SERVO8) | \
1213
PIN_OSPEED_SPEED_VERYLOW(PH10_LED5) | \
1214
PIN_OSPEED_SPEED_VERYLOW(PH11_LED6) | \
1215
PIN_OSPEED_SPEED_VERYLOW(PH12_LED7) | \
1216
PIN_OSPEED_SPEED_HIGH(PH13_CAN1_TX) | \
1217
PIN_OSPEED_SPEED_VERYLOW(PH14_HW_REV_DRIVE) | \
1218
PIN_OSPEED_SPEED_VERYLOW(PH15_SPI5_SYNC))
1203
#define VAL_GPIOH_OSPEEDR (PIN_OSPEED_SPEED_HIGH(PH00_OSC_IN) | \
…
1219
1220
#define VAL_GPIOH_PUPDR (PIN_PUPDR_FLOATING(PH00_OSC_IN) | \
1221
PIN_PUPDR_FLOATING(PH01_OSC_OUT) | \
1222
PIN_PUPDR_FLOATING(PH02_CAN1_SILENT_S0) | \
1223
PIN_PUPDR_FLOATING(PH03_CAN2_SILENT_S1) | \
1224
PIN_PUPDR_FLOATING(PH04_CAN3_SILENT_S2) | \
1225
PIN_PUPDR_FLOATING(PH05_SPI_SLAVE7) | \
1226
PIN_PUPDR_FLOATING(PH06_SERVO7) | \
1227
PIN_PUPDR_PULLUP(PH07_I2C3_SCL) | \
1228
PIN_PUPDR_PULLUP(PH08_I2C3_SDA) | \
1229
PIN_PUPDR_FLOATING(PH09_SERVO8) | \
1230
PIN_PUPDR_FLOATING(PH10_LED5) | \
1231
PIN_PUPDR_FLOATING(PH11_LED6) | \
1232
PIN_PUPDR_FLOATING(PH12_LED7) | \
1233
PIN_PUPDR_FLOATING(PH13_CAN1_TX) | \
1234
PIN_PUPDR_FLOATING(PH14_HW_REV_DRIVE) | \
1235
PIN_PUPDR_PULLDOWN(PH15_SPI5_SYNC))
1220
#define VAL_GPIOH_PUPDR (PIN_PUPDR_FLOATING(PH00_OSC_IN) | \
…
1236
1237
#define VAL_GPIOH_ODR (PIN_ODR_LEVEL_HIGH(PH00_OSC_IN) | \
1238
PIN_ODR_LEVEL_HIGH(PH01_OSC_OUT) | \
1239
PIN_ODR_LEVEL_LOW(PH02_CAN1_SILENT_S0) | \
1240
PIN_ODR_LEVEL_LOW(PH03_CAN2_SILENT_S1) | \
1241
PIN_ODR_LEVEL_LOW(PH04_CAN3_SILENT_S2) | \
1242
PIN_ODR_LEVEL_HIGH(PH05_SPI_SLAVE7) | \
1243
PIN_ODR_LEVEL_LOW(PH06_SERVO7) | \
1244
PIN_ODR_LEVEL_HIGH(PH07_I2C3_SCL) | \
1245
PIN_ODR_LEVEL_HIGH(PH08_I2C3_SDA) | \
1246
PIN_ODR_LEVEL_LOW(PH09_SERVO8) | \
1247
PIN_ODR_LEVEL_LOW(PH10_LED5) | \
1248
PIN_ODR_LEVEL_LOW(PH11_LED6) | \
1249
PIN_ODR_LEVEL_LOW(PH12_LED7) | \
1250
PIN_ODR_LEVEL_HIGH(PH13_CAN1_TX) | \
1251
PIN_ODR_LEVEL_LOW(PH14_HW_REV_DRIVE) | \
1252
PIN_ODR_LEVEL_HIGH(PH15_SPI5_SYNC))
1237
#define VAL_GPIOH_ODR (PIN_ODR_LEVEL_HIGH(PH00_OSC_IN) | \
…
1253
1254
#define VAL_GPIOH_AFRL (PIN_AFIO_AF(PH00_OSC_IN, 0) | \
1255
PIN_AFIO_AF(PH01_OSC_OUT, 0) | \
1256
PIN_AFIO_AF(PH02_CAN1_SILENT_S0, 0) | \
1257
PIN_AFIO_AF(PH03_CAN2_SILENT_S1, 0) | \
1258
PIN_AFIO_AF(PH04_CAN3_SILENT_S2, 0) | \
1259
PIN_AFIO_AF(PH05_SPI_SLAVE7, 0) | \
1260
PIN_AFIO_AF(PH06_SERVO7, 9) | \
1261
PIN_AFIO_AF(PH07_I2C3_SCL, 4))
1254
#define VAL_GPIOH_AFRL (PIN_AFIO_AF(PH00_OSC_IN, 0) | \
…
1262
1263
#define VAL_GPIOH_AFRH (PIN_AFIO_AF(PH08_I2C3_SDA, 4) | \
1264
PIN_AFIO_AF(PH09_SERVO8, 9) | \
1265
PIN_AFIO_AF(PH10_LED5, 0) | \
1266
PIN_AFIO_AF(PH11_LED6, 0) | \
1267
PIN_AFIO_AF(PH12_LED7, 0) | \
1268
PIN_AFIO_AF(PH13_CAN1_TX, 9) | \
1269
PIN_AFIO_AF(PH14_HW_REV_DRIVE, 0) | \
1270
PIN_AFIO_AF(PH15_SPI5_SYNC, 0))
1263
#define VAL_GPIOH_AFRH (PIN_AFIO_AF(PH08_I2C3_SDA, 4) | \
…
1271
1272
#define VAL_GPIOI_MODER (PIN_MODE_OUTPUT(PI00_ARMED) | \
1273
PIN_MODE_ALTERNATE(PI01_SPI2_SCK) | \
1274
PIN_MODE_ALTERNATE(PI02_SPI2_MISO) | \
1275
PIN_MODE_ALTERNATE(PI03_SPI2_MOSI) | \
1276
PIN_MODE_OUTPUT(PI04_SPI_SLAVE8) | \
1277
PIN_MODE_ALTERNATE(PI05_PWM_INPUT1) | \
1278
PIN_MODE_OUTPUT(PI06_SPI_SLAVE9) | \
1279
PIN_MODE_OUTPUT(PI07_SPI_SLAVE10) | \
1280
PIN_MODE_OUTPUT(PI08_SPI_SLAVE11) | \
1281
PIN_MODE_ALTERNATE(PI09_CAN1_RX) | \
1282
PIN_MODE_OUTPUT(PI10_SPI_SLAVE12) | \
1283
PIN_MODE_OUTPUT(PI11_SPI_SLAVE13) | \
1284
PIN_MODE_INPUT(PI12) | \
1285
PIN_MODE_INPUT(PI13) | \
1286
PIN_MODE_INPUT(PI14) | \
1287
PIN_MODE_INPUT(PI15))
1272
#define VAL_GPIOI_MODER (PIN_MODE_OUTPUT(PI00_ARMED) | \
…
1288
1289
#define VAL_GPIOI_OTYPER (PIN_OTYPE_PUSHPULL(PI00_ARMED) | \
1290
PIN_OTYPE_PUSHPULL(PI01_SPI2_SCK) | \
1291
PIN_OTYPE_PUSHPULL(PI02_SPI2_MISO) | \
1292
PIN_OTYPE_PUSHPULL(PI03_SPI2_MOSI) | \
1293
PIN_OTYPE_PUSHPULL(PI04_SPI_SLAVE8) | \
1294
PIN_OTYPE_PUSHPULL(PI05_PWM_INPUT1) | \
1295
PIN_OTYPE_PUSHPULL(PI06_SPI_SLAVE9) | \
1296
PIN_OTYPE_PUSHPULL(PI07_SPI_SLAVE10) | \
1297
PIN_OTYPE_PUSHPULL(PI08_SPI_SLAVE11) | \
1298
PIN_OTYPE_PUSHPULL(PI09_CAN1_RX) | \
1299
PIN_OTYPE_PUSHPULL(PI10_SPI_SLAVE12) | \
1300
PIN_OTYPE_PUSHPULL(PI11_SPI_SLAVE13) | \
1301
PIN_OTYPE_PUSHPULL(PI12) | \
1302
PIN_OTYPE_PUSHPULL(PI13) | \
1303
PIN_OTYPE_PUSHPULL(PI14) | \
1304
PIN_OTYPE_PUSHPULL(PI15))
1289
#define VAL_GPIOI_OTYPER (PIN_OTYPE_PUSHPULL(PI00_ARMED) | \
…
1305
1306
#define VAL_GPIOI_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PI00_ARMED) | \
1307
PIN_OSPEED_SPEED_HIGH(PI01_SPI2_SCK) | \
1308
PIN_OSPEED_SPEED_HIGH(PI02_SPI2_MISO) | \
1309
PIN_OSPEED_SPEED_HIGH(PI03_SPI2_MOSI) | \
1310
PIN_OSPEED_SPEED_HIGH(PI04_SPI_SLAVE8) | \
1311
PIN_OSPEED_SPEED_HIGH(PI05_PWM_INPUT1) | \
1312
PIN_OSPEED_SPEED_HIGH(PI06_SPI_SLAVE9) | \
1313
PIN_OSPEED_SPEED_HIGH(PI07_SPI_SLAVE10) | \
1314
PIN_OSPEED_SPEED_HIGH(PI08_SPI_SLAVE11) | \
1315
PIN_OSPEED_SPEED_HIGH(PI09_CAN1_RX) | \
1316
PIN_OSPEED_SPEED_HIGH(PI10_SPI_SLAVE12) | \
1317
PIN_OSPEED_SPEED_HIGH(PI11_SPI_SLAVE13) | \
1318
PIN_OSPEED_SPEED_VERYLOW(PI12) | \
1319
PIN_OSPEED_SPEED_VERYLOW(PI13) | \
1320
PIN_OSPEED_SPEED_VERYLOW(PI14) | \
1321
PIN_OSPEED_SPEED_VERYLOW(PI15))
1306
#define VAL_GPIOI_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PI00_ARMED) | \
…
1322
1323
#define VAL_GPIOI_PUPDR (PIN_PUPDR_FLOATING(PI00_ARMED) | \
1324
PIN_PUPDR_FLOATING(PI01_SPI2_SCK) | \
1325
PIN_PUPDR_FLOATING(PI02_SPI2_MISO) | \
1326
PIN_PUPDR_FLOATING(PI03_SPI2_MOSI) | \
1327
PIN_PUPDR_FLOATING(PI04_SPI_SLAVE8) | \
1328
PIN_PUPDR_FLOATING(PI05_PWM_INPUT1) | \
1329
PIN_PUPDR_FLOATING(PI06_SPI_SLAVE9) | \
1330
PIN_PUPDR_FLOATING(PI07_SPI_SLAVE10) | \
1331
PIN_PUPDR_FLOATING(PI08_SPI_SLAVE11) | \
1332
PIN_PUPDR_FLOATING(PI09_CAN1_RX) | \
1333
PIN_PUPDR_FLOATING(PI10_SPI_SLAVE12) | \
1334
PIN_PUPDR_FLOATING(PI11_SPI_SLAVE13) | \
1335
PIN_PUPDR_PULLDOWN(PI12) | \
1336
PIN_PUPDR_PULLDOWN(PI13) | \
1337
PIN_PUPDR_PULLDOWN(PI14) | \
1338
PIN_PUPDR_PULLDOWN(PI15))
1323
#define VAL_GPIOI_PUPDR (PIN_PUPDR_FLOATING(PI00_ARMED) | \
…
1339
1340
#define VAL_GPIOI_ODR (PIN_ODR_LEVEL_LOW(PI00_ARMED) | \
1341
PIN_ODR_LEVEL_HIGH(PI01_SPI2_SCK) | \
1342
PIN_ODR_LEVEL_HIGH(PI02_SPI2_MISO) | \
1343
PIN_ODR_LEVEL_HIGH(PI03_SPI2_MOSI) | \
1344
PIN_ODR_LEVEL_HIGH(PI04_SPI_SLAVE8) | \
1345
PIN_ODR_LEVEL_HIGH(PI05_PWM_INPUT1) | \
1346
PIN_ODR_LEVEL_HIGH(PI06_SPI_SLAVE9) | \
1347
PIN_ODR_LEVEL_HIGH(PI07_SPI_SLAVE10) | \
1348
PIN_ODR_LEVEL_HIGH(PI08_SPI_SLAVE11) | \
1349
PIN_ODR_LEVEL_HIGH(PI09_CAN1_RX) | \
1350
PIN_ODR_LEVEL_HIGH(PI10_SPI_SLAVE12) | \
1351
PIN_ODR_LEVEL_HIGH(PI11_SPI_SLAVE13) | \
1352
PIN_ODR_LEVEL_LOW(PI12) | \
1353
PIN_ODR_LEVEL_LOW(PI13) | \
1354
PIN_ODR_LEVEL_LOW(PI14) | \
1355
PIN_ODR_LEVEL_LOW(PI15))
1340
#define VAL_GPIOI_ODR (PIN_ODR_LEVEL_LOW(PI00_ARMED) | \
…
1356
1357
#define VAL_GPIOI_AFRL (PIN_AFIO_AF(PI00_ARMED, 0) | \
1358
PIN_AFIO_AF(PI01_SPI2_SCK, 5) | \
1359
PIN_AFIO_AF(PI02_SPI2_MISO, 5) | \
1360
PIN_AFIO_AF(PI03_SPI2_MOSI, 5) | \
1361
PIN_AFIO_AF(PI04_SPI_SLAVE8, 0) | \
1362
PIN_AFIO_AF(PI05_PWM_INPUT1, 3) | \
1363
PIN_AFIO_AF(PI06_SPI_SLAVE9, 0) | \
1364
PIN_AFIO_AF(PI07_SPI_SLAVE10, 0))
1357
#define VAL_GPIOI_AFRL (PIN_AFIO_AF(PI00_ARMED, 0) | \
…
1365
1366
#define VAL_GPIOI_AFRH (PIN_AFIO_AF(PI08_SPI_SLAVE11, 0) | \
1367
PIN_AFIO_AF(PI09_CAN1_RX, 9) | \
1368
PIN_AFIO_AF(PI10_SPI_SLAVE12, 0) | \
1369
PIN_AFIO_AF(PI11_SPI_SLAVE13, 0) | \
1370
PIN_AFIO_AF(PI12, 0) | \
1371
PIN_AFIO_AF(PI13, 0) | \
1372
PIN_AFIO_AF(PI14, 0) | \
1373
PIN_AFIO_AF(PI15, 0))
1366
#define VAL_GPIOI_AFRH (PIN_AFIO_AF(PI08_SPI_SLAVE11, 0) | \
…
1374
1375
#define VAL_GPIOJ_MODER (PIN_MODE_INPUT(PJ00) | \
1376
PIN_MODE_INPUT(PJ01) | \
1377
PIN_MODE_INPUT(PJ02) | \
1378
PIN_MODE_INPUT(PJ03) | \
1379
PIN_MODE_INPUT(PJ04) | \
1380
PIN_MODE_INPUT(PJ05) | \
1381
PIN_MODE_INPUT(PJ06) | \
1382
PIN_MODE_INPUT(PJ07) | \
1383
PIN_MODE_INPUT(PJ08) | \
1384
PIN_MODE_INPUT(PJ09) | \
1385
PIN_MODE_INPUT(PJ10) | \
1386
PIN_MODE_INPUT(PJ11) | \
1387
PIN_MODE_INPUT(PJ12) | \
1388
PIN_MODE_INPUT(PJ13) | \
1389
PIN_MODE_INPUT(PJ14) | \
1390
PIN_MODE_INPUT(PJ15))
1375
#define VAL_GPIOJ_MODER (PIN_MODE_INPUT(PJ00) | \
…
1391
1392
#define VAL_GPIOJ_OTYPER (PIN_OTYPE_PUSHPULL(PJ00) | \
1393
PIN_OTYPE_PUSHPULL(PJ01) | \
1394
PIN_OTYPE_PUSHPULL(PJ02) | \
1395
PIN_OTYPE_PUSHPULL(PJ03) | \
1396
PIN_OTYPE_PUSHPULL(PJ04) | \
1397
PIN_OTYPE_PUSHPULL(PJ05) | \
1398
PIN_OTYPE_PUSHPULL(PJ06) | \
1399
PIN_OTYPE_PUSHPULL(PJ07) | \
1400
PIN_OTYPE_PUSHPULL(PJ08) | \
1401
PIN_OTYPE_PUSHPULL(PJ09) | \
1402
PIN_OTYPE_PUSHPULL(PJ10) | \
1403
PIN_OTYPE_PUSHPULL(PJ11) | \
1404
PIN_OTYPE_PUSHPULL(PJ12) | \
1405
PIN_OTYPE_PUSHPULL(PJ13) | \
1406
PIN_OTYPE_PUSHPULL(PJ14) | \
1407
PIN_OTYPE_PUSHPULL(PJ15))
1392
#define VAL_GPIOJ_OTYPER (PIN_OTYPE_PUSHPULL(PJ00) | \
…
1408
1409
#define VAL_GPIOJ_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PJ00) | \
1410
PIN_OSPEED_SPEED_VERYLOW(PJ01) | \
1411
PIN_OSPEED_SPEED_VERYLOW(PJ02) | \
1412
PIN_OSPEED_SPEED_VERYLOW(PJ03) | \
1413
PIN_OSPEED_SPEED_VERYLOW(PJ04) | \
1414
PIN_OSPEED_SPEED_VERYLOW(PJ05) | \
1415
PIN_OSPEED_SPEED_VERYLOW(PJ06) | \
1416
PIN_OSPEED_SPEED_VERYLOW(PJ07) | \
1417
PIN_OSPEED_SPEED_VERYLOW(PJ08) | \
1418
PIN_OSPEED_SPEED_VERYLOW(PJ09) | \
1419
PIN_OSPEED_SPEED_VERYLOW(PJ10) | \
1420
PIN_OSPEED_SPEED_VERYLOW(PJ11) | \
1421
PIN_OSPEED_SPEED_VERYLOW(PJ12) | \
1422
PIN_OSPEED_SPEED_VERYLOW(PJ13) | \
1423
PIN_OSPEED_SPEED_VERYLOW(PJ14) | \
1424
PIN_OSPEED_SPEED_VERYLOW(PJ15))
1409
#define VAL_GPIOJ_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PJ00) | \
…
1425
1426
#define VAL_GPIOJ_PUPDR (PIN_PUPDR_PULLDOWN(PJ00) | \
1427
PIN_PUPDR_PULLDOWN(PJ01) | \
1428
PIN_PUPDR_PULLDOWN(PJ02) | \
1429
PIN_PUPDR_PULLDOWN(PJ03) | \
1430
PIN_PUPDR_PULLDOWN(PJ04) | \
1431
PIN_PUPDR_PULLDOWN(PJ05) | \
1432
PIN_PUPDR_PULLDOWN(PJ06) | \
1433
PIN_PUPDR_PULLDOWN(PJ07) | \
1434
PIN_PUPDR_PULLDOWN(PJ08) | \
1435
PIN_PUPDR_PULLDOWN(PJ09) | \
1436
PIN_PUPDR_PULLDOWN(PJ10) | \
1437
PIN_PUPDR_PULLDOWN(PJ11) | \
1438
PIN_PUPDR_PULLDOWN(PJ12) | \
1439
PIN_PUPDR_PULLDOWN(PJ13) | \
1440
PIN_PUPDR_PULLDOWN(PJ14) | \
1441
PIN_PUPDR_PULLDOWN(PJ15))
1426
#define VAL_GPIOJ_PUPDR (PIN_PUPDR_PULLDOWN(PJ00) | \
…
1442
1443
#define VAL_GPIOJ_ODR (PIN_ODR_LEVEL_LOW(PJ00) | \
1444
PIN_ODR_LEVEL_LOW(PJ01) | \
1445
PIN_ODR_LEVEL_LOW(PJ02) | \
1446
PIN_ODR_LEVEL_LOW(PJ03) | \
1447
PIN_ODR_LEVEL_LOW(PJ04) | \
1448
PIN_ODR_LEVEL_LOW(PJ05) | \
1449
PIN_ODR_LEVEL_LOW(PJ06) | \
1450
PIN_ODR_LEVEL_LOW(PJ07) | \
1451
PIN_ODR_LEVEL_LOW(PJ08) | \
1452
PIN_ODR_LEVEL_LOW(PJ09) | \
1453
PIN_ODR_LEVEL_LOW(PJ10) | \
1454
PIN_ODR_LEVEL_LOW(PJ11) | \
1455
PIN_ODR_LEVEL_LOW(PJ12) | \
1456
PIN_ODR_LEVEL_LOW(PJ13) | \
1457
PIN_ODR_LEVEL_LOW(PJ14) | \
1458
PIN_ODR_LEVEL_LOW(PJ15))
1443
#define VAL_GPIOJ_ODR (PIN_ODR_LEVEL_LOW(PJ00) | \
…
1459
1460
#define VAL_GPIOJ_AFRL (PIN_AFIO_AF(PJ00, 0) | \
1461
PIN_AFIO_AF(PJ01, 0) | \
1462
PIN_AFIO_AF(PJ02, 0) | \
1463
PIN_AFIO_AF(PJ03, 0) | \
1464
PIN_AFIO_AF(PJ04, 0) | \
1465
PIN_AFIO_AF(PJ05, 0) | \
1466
PIN_AFIO_AF(PJ06, 0) | \
1467
PIN_AFIO_AF(PJ07, 0))
1460
#define VAL_GPIOJ_AFRL (PIN_AFIO_AF(PJ00, 0) | \
…
1468
1469
#define VAL_GPIOJ_AFRH (PIN_AFIO_AF(PJ08, 0) | \
1470
PIN_AFIO_AF(PJ09, 0) | \
1471
PIN_AFIO_AF(PJ10, 0) | \
1472
PIN_AFIO_AF(PJ11, 0) | \
1473
PIN_AFIO_AF(PJ12, 0) | \
1474
PIN_AFIO_AF(PJ13, 0) | \
1475
PIN_AFIO_AF(PJ14, 0) | \
1476
PIN_AFIO_AF(PJ15, 0))
1469
#define VAL_GPIOJ_AFRH (PIN_AFIO_AF(PJ08, 0) | \
…
1477
1478
#define VAL_GPIOK_MODER (PIN_MODE_INPUT(PK00) | \
1479
PIN_MODE_INPUT(PK01) | \
1480
PIN_MODE_INPUT(PK02) | \
1481
PIN_MODE_INPUT(PK03) | \
1482
PIN_MODE_INPUT(PK04) | \
1483
PIN_MODE_INPUT(PK05) | \
1484
PIN_MODE_INPUT(PK06) | \
1485
PIN_MODE_INPUT(PK07) | \
1486
PIN_MODE_INPUT(PK08) | \
1487
PIN_MODE_INPUT(PK09) | \
1488
PIN_MODE_INPUT(PK10) | \
1489
PIN_MODE_INPUT(PK11) | \
1490
PIN_MODE_INPUT(PK12) | \
1491
PIN_MODE_INPUT(PK13) | \
1492
PIN_MODE_INPUT(PK14) | \
1493
PIN_MODE_INPUT(PK15))
1478
#define VAL_GPIOK_MODER (PIN_MODE_INPUT(PK00) | \
…
1494
1495
#define VAL_GPIOK_OTYPER (PIN_OTYPE_PUSHPULL(PK00) | \
1496
PIN_OTYPE_PUSHPULL(PK01) | \
1497
PIN_OTYPE_PUSHPULL(PK02) | \
1498
PIN_OTYPE_PUSHPULL(PK03) | \
1499
PIN_OTYPE_PUSHPULL(PK04) | \
1500
PIN_OTYPE_PUSHPULL(PK05) | \
1501
PIN_OTYPE_PUSHPULL(PK06) | \
1502
PIN_OTYPE_PUSHPULL(PK07) | \
1503
PIN_OTYPE_PUSHPULL(PK08) | \
1504
PIN_OTYPE_PUSHPULL(PK09) | \
1505
PIN_OTYPE_PUSHPULL(PK10) | \
1506
PIN_OTYPE_PUSHPULL(PK11) | \
1507
PIN_OTYPE_PUSHPULL(PK12) | \
1508
PIN_OTYPE_PUSHPULL(PK13) | \
1509
PIN_OTYPE_PUSHPULL(PK14) | \
1510
PIN_OTYPE_PUSHPULL(PK15))
1495
#define VAL_GPIOK_OTYPER (PIN_OTYPE_PUSHPULL(PK00) | \
…
1511
1512
#define VAL_GPIOK_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PK00) | \
1513
PIN_OSPEED_SPEED_VERYLOW(PK01) | \
1514
PIN_OSPEED_SPEED_VERYLOW(PK02) | \
1515
PIN_OSPEED_SPEED_VERYLOW(PK03) | \
1516
PIN_OSPEED_SPEED_VERYLOW(PK04) | \
1517
PIN_OSPEED_SPEED_VERYLOW(PK05) | \
1518
PIN_OSPEED_SPEED_VERYLOW(PK06) | \
1519
PIN_OSPEED_SPEED_VERYLOW(PK07) | \
1520
PIN_OSPEED_SPEED_VERYLOW(PK08) | \
1521
PIN_OSPEED_SPEED_VERYLOW(PK09) | \
1522
PIN_OSPEED_SPEED_VERYLOW(PK10) | \
1523
PIN_OSPEED_SPEED_VERYLOW(PK11) | \
1524
PIN_OSPEED_SPEED_VERYLOW(PK12) | \
1525
PIN_OSPEED_SPEED_VERYLOW(PK13) | \
1526
PIN_OSPEED_SPEED_VERYLOW(PK14) | \
1527
PIN_OSPEED_SPEED_VERYLOW(PK15))
1512
#define VAL_GPIOK_OSPEEDR (PIN_OSPEED_SPEED_VERYLOW(PK00) | \
…
1528
1529
#define VAL_GPIOK_PUPDR (PIN_PUPDR_PULLDOWN(PK00) | \
1530
PIN_PUPDR_PULLDOWN(PK01) | \
1531
PIN_PUPDR_PULLDOWN(PK02) | \
1532
PIN_PUPDR_PULLDOWN(PK03) | \
1533
PIN_PUPDR_PULLDOWN(PK04) | \
1534
PIN_PUPDR_PULLDOWN(PK05) | \
1535
PIN_PUPDR_PULLDOWN(PK06) | \
1536
PIN_PUPDR_PULLDOWN(PK07) | \
1537
PIN_PUPDR_PULLDOWN(PK08) | \
1538
PIN_PUPDR_PULLDOWN(PK09) | \
1539
PIN_PUPDR_PULLDOWN(PK10) | \
1540
PIN_PUPDR_PULLDOWN(PK11) | \
1541
PIN_PUPDR_PULLDOWN(PK12) | \
1542
PIN_PUPDR_PULLDOWN(PK13) | \
1543
PIN_PUPDR_PULLDOWN(PK14) | \
1544
PIN_PUPDR_PULLDOWN(PK15))
1529
#define VAL_GPIOK_PUPDR (PIN_PUPDR_PULLDOWN(PK00) | \
…
1545
1546
#define VAL_GPIOK_ODR (PIN_ODR_LEVEL_LOW(PK00) | \
1547
PIN_ODR_LEVEL_LOW(PK01) | \
1548
PIN_ODR_LEVEL_LOW(PK02) | \
1549
PIN_ODR_LEVEL_LOW(PK03) | \
1550
PIN_ODR_LEVEL_LOW(PK04) | \
1551
PIN_ODR_LEVEL_LOW(PK05) | \
1552
PIN_ODR_LEVEL_LOW(PK06) | \
1553
PIN_ODR_LEVEL_LOW(PK07) | \
1554
PIN_ODR_LEVEL_LOW(PK08) | \
1555
PIN_ODR_LEVEL_LOW(PK09) | \
1556
PIN_ODR_LEVEL_LOW(PK10) | \
1557
PIN_ODR_LEVEL_LOW(PK11) | \
1558
PIN_ODR_LEVEL_LOW(PK12) | \
1559
PIN_ODR_LEVEL_LOW(PK13) | \
1560
PIN_ODR_LEVEL_LOW(PK14) | \
1561
PIN_ODR_LEVEL_LOW(PK15))
1546
#define VAL_GPIOK_ODR (PIN_ODR_LEVEL_LOW(PK00) | \
…
1562
1563
#define VAL_GPIOK_AFRL (PIN_AFIO_AF(PK00, 0) | \
1564
PIN_AFIO_AF(PK01, 0) | \
1565
PIN_AFIO_AF(PK02, 0) | \
1566
PIN_AFIO_AF(PK03, 0) | \
1567
PIN_AFIO_AF(PK04, 0) | \
1568
PIN_AFIO_AF(PK05, 0) | \
1569
PIN_AFIO_AF(PK06, 0) | \
1570
PIN_AFIO_AF(PK07, 0))
1563
#define VAL_GPIOK_AFRL (PIN_AFIO_AF(PK00, 0) | \
…
1571
1572
#define VAL_GPIOK_AFRH (PIN_AFIO_AF(PK08, 0) | \
1573
PIN_AFIO_AF(PK09, 0) | \
1574
PIN_AFIO_AF(PK10, 0) | \
1575
PIN_AFIO_AF(PK11, 0) | \
1576
PIN_AFIO_AF(PK12, 0) | \
1577
PIN_AFIO_AF(PK13, 0) | \
1578
PIN_AFIO_AF(PK14, 0) | \
1579
PIN_AFIO_AF(PK15, 0))
1572
#define VAL_GPIOK_AFRH (PIN_AFIO_AF(PK08, 0) | \
…
1580
1581
#define AF_PA06_SPI1_MISO 5U
1582
#define AF_LINE_SPI1_MISO 5U
1583
#define AF_PA08_CAN3_RX 11U
1584
#define AF_LINE_CAN3_RX 11U
1585
#define AF_PA10_SERVO2 1U
1586
#define AF_LINE_SERVO2 1U
1587
#define AF_PA11_USB_DM 10U
1588
#define AF_LINE_USB_DM 10U
1589
#define AF_PA12_USB_DP 10U
1590
#define AF_LINE_USB_DP 10U
1591
#define AF_PA13_SWDIO 0U
1592
#define AF_LINE_SWDIO 0U
1593
#define AF_PA14_SWCLK 0U
1594
#define AF_LINE_SWCLK 0U
1595
#define AF_PA15_CAN3_TX 11U
1596
#define AF_LINE_CAN3_TX 11U
1597
#define AF_PB05_SPI6_MOSI 8U
1598
#define AF_LINE_SPI6_MOSI 8U
1599
#define AF_PB06_USART1_TX 7U
1600
#define AF_LINE_USART1_TX 7U
1601
#define AF_PB07_USART1_RX 7U
1602
#define AF_LINE_USART1_RX 7U
1603
#define AF_PB08_I2C1_SCL 4U
1604
#define AF_LINE_I2C1_SCL 4U
1605
#define AF_PB09_I2C1_SDA 4U
1606
#define AF_LINE_I2C1_SDA 4U
1607
#define AF_PB12_CAN2_RX 9U
1608
#define AF_LINE_CAN2_RX 9U
1609
#define AF_PB13_CAN2_TX 9U
1610
#define AF_LINE_CAN2_TX 9U
1611
#define AF_PC08_SDIO_D0 12U
1612
#define AF_LINE_SDIO_D0 12U
1613
#define AF_PC09_SDIO_D1 12U
1614
#define AF_LINE_SDIO_D1 12U
1615
#define AF_PC10_SDIO_D2 12U
1616
#define AF_LINE_SDIO_D2 12U
1617
#define AF_PC11_SDIO_D3 12U
1618
#define AF_LINE_SDIO_D3 12U
1619
#define AF_PC12_SDIO_CK 12U
1620
#define AF_LINE_SDIO_CK 12U
1621
#define AF_PC14_OSC32_IN 0U
1622
#define AF_LINE_OSC32_IN 0U
1623
#define AF_PC15_OSC32_OUT 0U
1624
#define AF_LINE_OSC32_OUT 0U
1625
#define AF_PD00_UART4_RX 8U
1626
#define AF_LINE_UART4_RX 8U
1627
#define AF_PD01_UART4_TX 8U
1628
#define AF_LINE_UART4_TX 8U
1629
#define AF_PD02_SDIO_CMD 12U
1630
#define AF_LINE_SDIO_CMD 12U
1631
#define AF_PD05_UART2_TX 7U
1632
#define AF_LINE_UART2_TX 7U
1633
#define AF_PD06_UART2_RX 7U
1634
#define AF_LINE_UART2_RX 7U
1635
#define AF_PD07_SPI1_MOSI 5U
1636
#define AF_LINE_SPI1_MOSI 5U
1637
#define AF_PD08_UART3_TX 7U
1638
#define AF_LINE_UART3_TX 7U
1639
#define AF_PD09_UART3_RX 7U
1640
#define AF_LINE_UART3_RX 7U
1641
#define AF_PD13_SERVO5 2U
1642
#define AF_LINE_SERVO5 2U
1643
#define AF_PD14_SERVO6 2U
1644
#define AF_LINE_SERVO6 2U
1645
#define AF_PE00_UART8_RX 8U
1646
#define AF_LINE_UART8_RX 8U
1647
#define AF_PE01_UART8_TX 8U
1648
#define AF_LINE_UART8_TX 8U
1649
#define AF_PE02_SPI4_SCK 5U
1650
#define AF_LINE_SPI4_SCK 5U
1651
#define AF_PE06_SPI4_MOSI 5U
1652
#define AF_LINE_SPI4_MOSI 5U
1653
#define AF_PE08_UART7_TX 8U
1654
#define AF_LINE_UART7_TX 8U
1655
#define AF_PE09_SERVO4 1U
1656
#define AF_LINE_SERVO4 1U
1657
#define AF_PE11_SERVO3 1U
1658
#define AF_LINE_SERVO3 1U
1659
#define AF_PE13_SPI4_MISO 5U
1660
#define AF_LINE_SPI4_MISO 5U
1661
#define AF_PE14_SERVO1 1U
1662
#define AF_LINE_SERVO1 1U
1663
#define AF_PF00_I2C2_SDA 4U
1664
#define AF_LINE_I2C2_SDA 4U
1665
#define AF_PF01_I2C2_SCL 4U
1666
#define AF_LINE_I2C2_SCL 4U
1667
#define AF_PF06_UART7_RX 8U
1668
#define AF_LINE_UART7_RX 8U
1669
#define AF_PF07_SPI5_SCK 5U
1670
#define AF_LINE_SPI5_SCK 5U
1671
#define AF_PF08_SPI5_MISO 5U
1672
#define AF_LINE_SPI5_MISO 5U
1673
#define AF_PF09_SPI5_MOSI 5U
1674
#define AF_LINE_SPI5_MOSI 5U
1675
#define AF_PF14_I2C4_SCL 4U
1676
#define AF_LINE_I2C4_SCL 4U
1677
#define AF_PF15_I2C4_SDA 4U
1678
#define AF_LINE_I2C4_SDA 4U
1679
#define AF_PG09_USART6_RX 8U
1680
#define AF_LINE_USART6_RX 8U
1681
#define AF_PG11_SPI1_SCK 5U
1682
#define AF_LINE_SPI1_SCK 5U
1683
#define AF_PG12_SPI6_MISO 5U
1684
#define AF_LINE_SPI6_MISO 5U
1685
#define AF_PG13_SPI6_SCK 5U
1686
#define AF_LINE_SPI6_SCK 5U
1687
#define AF_PG14_USART6_TX 8U
1688
#define AF_LINE_USART6_TX 8U
1689
#define AF_PH00_OSC_IN 0U
1690
#define AF_LINE_OSC_IN 0U
1691
#define AF_PH01_OSC_OUT 0U
1692
#define AF_LINE_OSC_OUT 0U
1693
#define AF_PH06_SERVO7 9U
1694
#define AF_LINE_SERVO7 9U
1695
#define AF_PH07_I2C3_SCL 4U
1696
#define AF_LINE_I2C3_SCL 4U
1697
#define AF_PH08_I2C3_SDA 4U
1698
#define AF_LINE_I2C3_SDA 4U
1699
#define AF_PH09_SERVO8 9U
1700
#define AF_LINE_SERVO8 9U
1701
#define AF_PH13_CAN1_TX 9U
1702
#define AF_LINE_CAN1_TX 9U
1703
#define AF_PI01_SPI2_SCK 5U
1704
#define AF_LINE_SPI2_SCK 5U
1705
#define AF_PI02_SPI2_MISO 5U
1706
#define AF_LINE_SPI2_MISO 5U
1707
#define AF_PI03_SPI2_MOSI 5U
1708
#define AF_LINE_SPI2_MOSI 5U
1709
#define AF_PI05_PWM_INPUT1 3U
1710
#define AF_LINE_PWM_INPUT1 3U
1711
#define AF_PI09_CAN1_RX 9U
1712
#define AF_LINE_CAN1_RX 9U
1713
1714
1715
#define ADC1_ADC 1
1716
#define ADC1_ADC_FN IN
1717
#define ADC1_ADC_IN 0
1718
#define ADC2_ADC 1
1719
#define ADC2_ADC_FN IN
1720
#define ADC2_ADC_IN 1
1721
#define ADC3_ADC 1
1722
#define ADC3_ADC_FN IN
1723
#define ADC3_ADC_IN 2
1724
#define ADC4_ADC 1
1725
#define ADC4_ADC_FN IN
1726
#define ADC4_ADC_IN 3
1727
#define ADC5_ADC 1
1728
#define ADC5_ADC_FN IN
1729
#define ADC5_ADC_IN 4
1730
#define SERVO2_TIM 1
1731
#define SERVO2_TIM_FN CH
1732
#define SERVO2_TIM_CH 3
1733
#define SERVO2_TIM_AF 1
1734
#define RSSI_IN_ADC 1
1735
#define RSSI_IN_ADC_FN IN
1736
#define RSSI_IN_ADC_IN 8
1737
#define SCALED_V5_ADC 1
1738
#define SCALED_V5_ADC_FN IN
1739
#define SCALED_V5_ADC_IN 10
1740
#define SCALED_3V3_SENSORS_ADC 1
1741
#define SCALED_3V3_SENSORS_ADC_FN IN
1742
#define SCALED_3V3_SENSORS_ADC_IN 11
1743
#define HW_VER_SENSE_ADC 1
1744
#define HW_VER_SENSE_ADC_FN IN
1745
#define HW_VER_SENSE_ADC_IN 12
1746
#define HW_REV_SENSE_ADC 1
1747
#define HW_REV_SENSE_ADC_FN IN
1748
#define HW_REV_SENSE_ADC_IN 13
1749
#define ADC6_ADC 1
1750
#define ADC6_ADC_FN IN
1751
#define ADC6_ADC_IN 14
1752
#define SERVO5_TIM 4
1753
#define SERVO5_TIM_FN CH
1754
#define SERVO5_TIM_CH 2
1755
#define SERVO5_TIM_AF 2
1756
#define SERVO6_TIM 4
1757
#define SERVO6_TIM_FN CH
1758
#define SERVO6_TIM_CH 3
1759
#define SERVO6_TIM_AF 2
1760
#define SERVO4_TIM 1
1761
#define SERVO4_TIM_FN CH
1762
#define SERVO4_TIM_CH 1
1763
#define SERVO4_TIM_AF 1
1764
#define SERVO3_TIM 1
1765
#define SERVO3_TIM_FN CH
1766
#define SERVO3_TIM_CH 2
1767
#define SERVO3_TIM_AF 1
1768
#define SERVO1_TIM 1
1769
#define SERVO1_TIM_FN CH
1770
#define SERVO1_TIM_CH 4
1771
#define SERVO1_TIM_AF 1
1772
#define SERVO7_TIM 12
1773
#define SERVO7_TIM_FN CH
1774
#define SERVO7_TIM_CH 1
1775
#define SERVO7_TIM_AF 9
1776
#define SERVO8_TIM 12
1777
#define SERVO8_TIM_FN CH
1778
#define SERVO8_TIM_CH 2
1779
#define SERVO8_TIM_AF 9
1780
#define PWM_INPUT1_TIM 8
1781
#define PWM_INPUT1_TIM_FN CH
1782
#define PWM_INPUT1_TIM_CH 1
1783
#define PWM_INPUT1_TIM_AF 3
1784
1785
#define BOARD_GROUP_DECLFOREACH(line, group) \
1786
static const ioline_t group ## _ARRAY[] = {group}; \
1787
for (ioline_t i=0, line = group ## _ARRAY[i]; (i < group ## _SIZE) && (line = group ## _ARRAY[i]); i++)
1785
#define BOARD_GROUP_DECLFOREACH(line, group) \
…
1788
1789
#define BOARD_GROUP_FOREACH(line, group) \
1790
for (ioline_t i=0, line = group ## _ARRAY[i]; (i < group ## _SIZE) && (line = group ## _ARRAY[i]); i++)
1789
#define BOARD_GROUP_FOREACH(line, group) \
…
1791
1792
1793
#define BOARD_GROUP_DECLFOR(array, index, group) \
1794
static const ioline_t group ## _ARRAY[] = {group}; \
1795
for (ioline_t index=0, *array = (ioline_t *) group ## _ARRAY; index < group ## _SIZE; index++)
1793
#define BOARD_GROUP_DECLFOR(array, index, group) \
…
1796
1797
#define BOARD_GROUP_FOR(array, index, group) \
1798
for (ioline_t index=0, *array = (ioline_t *) group ## _ARRAY; index < group ## _SIZE; index++)
1797
#define BOARD_GROUP_FOR(array, index, group) \
…
1799
1800
#define ENERGY_SAVE_INPUTS \
1801
LINE_SERVO2, \
1802
LINE_LED1, \
1803
LINE_LED2, \
1804
LINE_LED3, \
1805
LINE_SERVO5, \
1806
LINE_SERVO6, \
1807
LINE_SERVO4, \
1808
LINE_SERVO3, \
1809
LINE_LED4, \
1810
LINE_SERVO1, \
1811
LINE_SPI_SLAVE0, \
1812
LINE_SPI_SLAVE1, \
1813
LINE_SPI_SLAVE2, \
1814
LINE_SPI_SLAVE3, \
1815
LINE_SPI_SLAVE4, \
1816
LINE_SPI_SLAVE5, \
1817
LINE_SPI_SLAVE6, \
1818
LINE_SPI_SLAVE7, \
1819
LINE_SERVO7, \
1820
LINE_SERVO8, \
1821
LINE_LED5, \
1822
LINE_LED6, \
1823
LINE_LED7, \
1824
LINE_SPI_SLAVE8, \
1825
LINE_SPI_SLAVE9, \
1826
LINE_SPI_SLAVE10, \
1827
LINE_SPI_SLAVE11, \
1828
LINE_SPI_SLAVE12, \
1829
LINE_SPI_SLAVE13
1800
#define ENERGY_SAVE_INPUTS \
…
1830
#define ENERGY_SAVE_INPUTS_SIZE 29
1831
1832
#define ENERGY_SAVE_LOWS \
1833
LINE_V3V3_SENSORS_EN, \
1834
LINE_V3V3_SPEKTRUM_EN, \
1835
LINE_V5V_HIPOWER_EN, \
1836
LINE_V5V_PERIPH_EN, \
1837
LINE_V5V_RC_EN, \
1838
LINE_V5V_WIFI_EN
1832
#define ENERGY_SAVE_LOWS \
…
1839
#define ENERGY_SAVE_LOWS_SIZE 6
1840
1841
#if !defined(_FROM_ASM_)
1842
#ifdef __cplusplus
1843
extern
"C"
{
1844
#endif
1845
void
boardInit
(
void
);
1846
#ifdef __cplusplus
1847
}
1848
#endif
1849
#endif
/* _FROM_ASM_ */
1850
boardInit
void boardInit(void)
Board-specific initialization code.
Definition
board.c:317
sw
airborne
boards
px4fmu
chibios
v5.0
board.h
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1.9.8
1.9.8 