latest/tawaki__v2_80_8h_source.html

 #ifndef CONFIG_TAWAKI_2_00_H

 #define CONFIG_TAWAKI_2_00_H


 #define BOARD_TAWAKI_V2


 #include "board.h"


 /*

  * AHB_CLK

  */

 #define AHB_CLK STM32_HCLK


 /*

  * Concat macro

  */

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

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


 /*

  * LEDs

  */

 /* red, on PD15, 1 on LED_ON, 0 on LED_OFF */

 #ifndef USE_LED_1

 #define USE_LED_1 1

 #endif

 #define LED_1_GPIO PAL_PORT(LINE_LED1)

 #define LED_1_GPIO_PIN PAL_PAD(LINE_LED1)

 #define LED_1_GPIO_ON gpio_set

 #define LED_1_GPIO_OFF gpio_clear


 /* orange, on PA10, 1 on LED_ON, 0 on LED_OFF */

 #ifndef USE_LED_2

 #define USE_LED_2 1

 #endif

 #define LED_2_GPIO PAL_PORT(LINE_LED2)

 #define LED_2_GPIO_PIN PAL_PAD(LINE_LED2)

 #define LED_2_GPIO_ON gpio_set

 #define LED_2_GPIO_OFF gpio_clear


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

 #ifndef USE_LED_3

 #define USE_LED_3 1

 #endif

 #define LED_3_GPIO PAL_PORT(LINE_LED3)

 #define LED_3_GPIO_PIN PAL_PAD(LINE_LED3)

 #define LED_3_GPIO_ON gpio_set

 #define LED_3_GPIO_OFF gpio_clear


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

 #ifndef USE_LED_4

 #define USE_LED_4 1

 #endif

 #define LED_4_GPIO PAL_PORT(LINE_LED4)

 #define LED_4_GPIO_PIN PAL_PAD(LINE_LED4)

 #define LED_4_GPIO_ON gpio_set

 #define LED_4_GPIO_OFF gpio_clear


 /*

  * ADCs

  */

 // AUXa1

 #if USE_ADC_1

 #define AD1_1_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A1_ADC_INP)

 #define ADC_1 AD1_1

 #define ADC_1_GPIO_PORT PAL_PORT(LINE_AUX_A1)

 #define ADC_1_GPIO_PIN PAL_PAD(LINE_AUX_A1)

 #endif


 // AUXa2

 #if USE_ADC_2

 #define AD1_2_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A2_ADC_INP)

 #define ADC_2 AD1_2

 #define ADC_2_GPIO_PORT PAL_PORT(LINE_AUX_A2)

 #define ADC_2_GPIO_PIN PAL_PAD(LINE_AUX_A2)

 #endif


 // AUXa3

 #if USE_ADC_3

 #define AD1_3_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A3_ADC_INP)

 #define ADC_3 AD1_3

 #define ADC_3_GPIO_PORT PAL_PORT(LINE_AUX_A3)

 #define ADC_3_GPIO_PIN PAL_PAD(LINE_AUX_A3)

 #endif


 // AUXa4

 #if USE_ADC_4

 #define AD1_4_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_A4_ADC_INP)

 #define ADC_4 AD1_4

 #define ADC_4_GPIO_PORT PAL_PORT(LINE_AUX_A4)

 #define ADC_4_GPIO_PIN PAL_PAD(LINE_AUX_A4)

 #endif


 // AUXb1

 #if USE_ADC_5

 #define AD1_5_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B1_ADC_IN)

 #define ADC_5 AD1_5

 #define ADC_5_GPIO_PORT PAL_PORT(LINE_AUX_B1)

 #define ADC_5_GPIO_PIN PAL_PAD(LINE_AUX_B1)

 #endif


 // AUXb2

 #if USE_ADC_6

 #define AD1_6_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B2_ADC_IN)

 #define ADC_6 AD1_6

 #define ADC_6_GPIO_PORT PAL_PORT(LINE_AUX_B2)

 #define ADC_6_GPIO_PIN PAL_PAD(LINE_AUX_B2)

 #endif


 // AUXb3

 #if USE_ADC_7

 #define AD1_7_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B3_ADC_IN)

 #define ADC_7 AD1_7

 #define ADC_7_GPIO_PORT PAL_PORT(LINE_AUX_B3)

 #define ADC_7_GPIO_PIN PAL_PAD(LINE_AUX_B3)

 #endif


 // AUXb4

 #if USE_ADC_8

 #define AD1_8_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, AUX_B4_ADC_IN)

 #define ADC_8 AD1_8

 #define ADC_8_GPIO_PORT PAL_PORT(LINE_AUX_B4)

 #define ADC_8_GPIO_PIN PAL_PAD(LINE_AUX_B4)

 #endif


 // Internal ADC for battery enabled by default

 #ifndef USE_ADC_9

 #define USE_ADC_9 1

 #endif

 #if USE_ADC_9

 #define AD1_9_CHANNEL CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, VBAT_MEAS_ADC_INP)

 #define ADC_9 AD1_9

 #define ADC_9_GPIO_PORT PAL_PORT(LINE_VBAT_MEAS)

 #define ADC_9_GPIO_PIN PAL_PAD(LINE_VBAT_MEAS)

 #endif


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

 #ifndef ADC_CHANNEL_VSUPPLY

 #define ADC_CHANNEL_VSUPPLY ADC_9

 #endif


 /*

  * R1 = 2.2k

  * R2 = 12k

  * adc * (3.3 / 2^16) * ((R1 + R2) / R1)

  */

 #define VBAT_R1 2200.0f

 #define VBAT_R2 18000.0f

 #define DefaultVoltageOfAdc(adc) ((3.3f/65536.0f)*((VBAT_R1+VBAT_R2)/VBAT_R1)*adc)


 /*

  * PWM defines

  */


 // SRVa connectors, activated in PWM mode by default


 #ifndef USE_PWM1

 #define USE_PWM1 1

 #endif

 #if USE_PWM1

 #define PWM_SERVO_1 1

 #define PWM_SERVO_1_GPIO PAL_PORT(LINE_SRVA1)

 #define PWM_SERVO_1_PIN PAL_PAD(LINE_SRVA1)

 #define PWM_SERVO_1_AF AF_SRVA1

 #define PWM_SERVO_1_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA1_TIM)

 #define PWM_SERVO_1_CHANNEL (SRVA1_TIM_CH-1)

 #define PWM_SERVO_1_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVA1_TIM)

 #endif


 #ifndef USE_PWM2

 #define USE_PWM2 1

 #endif

 #if USE_PWM2

 #define PWM_SERVO_2 2

 #define PWM_SERVO_2_GPIO PAL_PORT(LINE_SRVA2)

 #define PWM_SERVO_2_PIN PAL_PAD(LINE_SRVA2)

 #define PWM_SERVO_2_AF AF_SRVA2

 #define PWM_SERVO_2_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA2_TIM)

 #define PWM_SERVO_2_CHANNEL (SRVA2_TIM_CH-1)

 #define PWM_SERVO_2_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVA2_TIM)

 #endif


 #ifndef USE_PWM3

 #define USE_PWM3 1

 #endif

 #if USE_PWM3

 #define PWM_SERVO_3 3

 #define PWM_SERVO_3_GPIO PAL_PORT(LINE_SRVA3)

 #define PWM_SERVO_3_PIN PAL_PAD(LINE_SRVA3)

 #define PWM_SERVO_3_AF AF_SRVA3

 #define PWM_SERVO_3_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA3_TIM)

 #define PWM_SERVO_3_CHANNEL (SRVA3_TIM_CH-1)

 #define PWM_SERVO_3_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVA3_TIM)

 #endif


 #ifndef USE_PWM4

 #define USE_PWM4 1

 #endif

 #if USE_PWM4

 #define PWM_SERVO_4 4

 #define PWM_SERVO_4_GPIO PAL_PORT(LINE_SRVA4)

 #define PWM_SERVO_4_PIN PAL_PAD(LINE_SRVA4)

 #define PWM_SERVO_4_AF AF_SRVA4

 #define PWM_SERVO_4_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVA4_TIM)

 #define PWM_SERVO_4_CHANNEL (SRVA4_TIM_CH-1)

 #define PWM_SERVO_4_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVA4_TIM)

 #endif


 // SRVb connector, PWM mode disabled by default (DShot is enabled by default)


 #ifndef USE_PWM5

 #define USE_PWM5 0

 #endif

 #if USE_PWM5

 #define PWM_SERVO_5 5

 #define PWM_SERVO_5_GPIO PAL_PORT(LINE_SRVB1)

 #define PWM_SERVO_5_PIN PAL_PAD(LINE_SRVB1)

 #define PWM_SERVO_5_AF AF_SRVB1

 #define PWM_SERVO_5_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB1_TIM)

 #define PWM_SERVO_5_CHANNEL (SRVB1_TIM_CH-1)

 #define PWM_SERVO_5_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVB1_TIM)

 #endif


 #ifndef USE_PWM6

 #define USE_PWM6 0

 #endif

 #if USE_PWM6

 #define PWM_SERVO_6 6

 #define PWM_SERVO_6_GPIO PAL_PORT(LINE_SRVB2)

 #define PWM_SERVO_6_PIN PAL_PAD(LINE_SRVB2)

 #define PWM_SERVO_6_AF AF_SRVB2

 #define PWM_SERVO_6_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB2_TIM)

 #define PWM_SERVO_6_CHANNEL (SRVB2_TIM_CH-1)

 #define PWM_SERVO_6_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVB2_TIM)

 #endif


 #ifndef USE_PWM7

 #define USE_PWM7 0

 #endif

 #if USE_PWM7

 #define PWM_SERVO_7 7

 #define PWM_SERVO_7_GPIO PAL_PORT(LINE_SRVB3)

 #define PWM_SERVO_7_PIN PAL_PAD(LINE_SRVB3)

 #define PWM_SERVO_7_AF AF_SRVB3

 #define PWM_SERVO_7_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB3_TIM)

 #define PWM_SERVO_7_CHANNEL (SRVB3_TIM_CH-1)

 #define PWM_SERVO_7_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVB3_TIM)

 #endif


 #ifndef USE_PWM8

 #define USE_PWM8 0

 #endif

 #if USE_PWM8

 #define PWM_SERVO_8 8

 #define PWM_SERVO_8_GPIO PAL_PORT(LINE_SRVB4)

 #define PWM_SERVO_8_PIN PAL_PAD(LINE_SRVB4)

 #define PWM_SERVO_8_AF AF_SRVB4

 #define PWM_SERVO_8_DRIVER CONCAT_BOARD_PARAM(PWMD, SRVB4_TIM)

 #define PWM_SERVO_8_CHANNEL (SRVB4_TIM_CH-1)

 #define PWM_SERVO_8_CONF CONCAT_BOARD_PARAM(pwmcfg, SRVB4_TIM)

 #endif


 #ifndef USE_PWM9

 #define USE_PWM9 0

 #endif

 #if USE_PWM9

 #define PWM_SERVO_9 9

 #define PWM_SERVO_9_GPIO PAL_PORT(LINE_AUX_A1)

 #define PWM_SERVO_9_PIN PAL_PAD(LINE_AUX_A1)

 #define PWM_SERVO_9_AF GPIO_AF2

 #define PWM_SERVO_9_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A1_TIM)

 #define PWM_SERVO_9_CHANNEL (AUX_A1_TIM_CH-1)

 #define PWM_SERVO_9_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A1_TIM)

 #endif


 #ifndef USE_PWM10

 #define USE_PWM10 0

 #endif

 #if USE_PWM10

 #define PWM_SERVO_10 10

 #define PWM_SERVO_10_GPIO PAL_PORT(LINE_AUX_A2)

 #define PWM_SERVO_10_PIN PAL_PAD(LINE_AUX_A2)

 #define PWM_SERVO_10_AF GPIO_AF2

 #define PWM_SERVO_10_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A2_TIM)

 #define PWM_SERVO_10_CHANNEL (AUX_A2_TIM_CH-1)

 #define PWM_SERVO_10_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A2_TIM)

 #endif


 #ifndef USE_PWM11

 #define USE_PWM11 0

 #endif

 #if USE_PWM11

 #define PWM_SERVO_11 11

 #define PWM_SERVO_11_GPIO PAL_PORT(LINE_AUX_A3)

 #define PWM_SERVO_11_PIN PAL_PAD(LINE_AUX_A3)

 #define PWM_SERVO_11_AF GPIO_AF2

 #define PWM_SERVO_11_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A3_TIM)

 #define PWM_SERVO_11_CHANNEL (AUX_A3_TIM_CH-1)

 #define PWM_SERVO_11_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A3_TIM)

 #endif


 #ifndef USE_PWM12

 #define USE_PWM12 0

 #endif

 #if USE_PWM12

 #define PWM_SERVO_12 12

 #define PWM_SERVO_12_GPIO PAL_PORT(LINE_AUX_A4)

 #define PWM_SERVO_12_PIN PAL_PAD(LINE_AUX_A4)

 #define PWM_SERVO_12_AF GPIO_AF2

 #define PWM_SERVO_12_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_A4_TIM)

 #define PWM_SERVO_12_CHANNEL (AUX_A4_TIM_CH-1)

 #define PWM_SERVO_12_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_A4_TIM)

 #endif


 #ifndef USE_PWM13

 #define USE_PWM13 0

 #endif

 #if USE_PWM13

 #define PWM_SERVO_13 13

 #define PWM_SERVO_13_GPIO PAL_PORT(LINE_AUX_B1)

 #define PWM_SERVO_13_PIN PAL_PAD(LINE_AUX_B1)

 #define PWM_SERVO_13_AF GPIO_AF2

 #define PWM_SERVO_13_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B1_TIM)

 #define PWM_SERVO_13_CHANNEL (AUX_B1_TIM_CH-1)

 #define PWM_SERVO_13_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B1_TIM)

 #endif


 #ifndef USE_PWM14

 #define USE_PWM14 0

 #endif

 #if USE_PWM14

 #define PWM_SERVO_14 14

 #define PWM_SERVO_14_GPIO PAL_PORT(LINE_AUX_B2)

 #define PWM_SERVO_14_PIN PAL_PAD(LINE_AUX_B2)

 #define PWM_SERVO_14_AF GPIO_AF2

 #define PWM_SERVO_14_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B2_TIM)

 #define PWM_SERVO_14_CHANNEL (AUX_B2_TIM_CH-1)

 #define PWM_SERVO_14_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B2_TIM)

 #endif


 #ifndef USE_PWM15

 #define USE_PWM15 0

 #endif

 #if USE_PWM15

 #define PWM_SERVO_15 15

 #define PWM_SERVO_15_GPIO PAL_PORT(LINE_AUX_B3)

 #define PWM_SERVO_15_PIN PAL_PAD(LINE_AUX_B3)

 #define PWM_SERVO_15_AF GPIO_AF2

 #define PWM_SERVO_15_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B3_TIM)

 #define PWM_SERVO_15_CHANNEL (AUX_B3_TIM_CH-1)

 #define PWM_SERVO_15_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B3_TIM)

 #endif


 #ifndef USE_PWM16

 #define USE_PWM16 0

 #endif

 #if USE_PWM16

 #define PWM_SERVO_16 16

 #define PWM_SERVO_16_GPIO PAL_PORT(LINE_AUX_B4)

 #define PWM_SERVO_16_PIN PAL_PAD(LINE_AUX_B4)

 #define PWM_SERVO_16_AF GPIO_AF2

 #define PWM_SERVO_16_DRIVER CONCAT_BOARD_PARAM(PWMD, AUX_B4_TIM)

 #define PWM_SERVO_16_CHANNEL (AUX_B4_TIM_CH-1)

 #define PWM_SERVO_16_CONF CONCAT_BOARD_PARAM(pwmcfg, AUX_B4_TIM)

 #endif


 // servo index starting at 1 + regular servos + aux servos

 // so NB = 1+8+8

 #define ACTUATORS_PWM_NB 17


 #ifdef DSHOT_TIM3_TELEMETRY_NUM

 #define DSHOT_TIM3_TELEMETRY_DEV CONCAT_BOARD_PARAM(&SD, DSHOT_TIM3_TELEMETRY_NUM)

 #else

 #define DSHOT_TIM3_TELEMETRY_DEV NULL

 #endif


 #ifdef DSHOT_TIM1_TELEMETRY_NUM

 #define DSHOT_TIM1_TELEMETRY_DEV CONCAT_BOARD_PARAM(&SD, DSHOT_TIM1_TELEMETRY_NUM)

 #else

 #define DSHOT_TIM1_TELEMETRY_DEV NULL

 #endif


 // macros for possible dshot telemetry

 #define DSHOT_TLM_RX 1

 #define DSHOT_TLM_AUX_RX 4


 #ifndef USE_DSHOT_TIM3

 #define USE_DSHOT_TIM3 1 // use SRVb for DShot by default

 #endif


 #if USE_DSHOT_TIM3 // Servo B1, B2, B3, B4 on TIM4


 // Servo B1, B2, B3, B4 on TM4 are primary DSHOT connector

 #define DSHOT_SERVO_1 1

 #define DSHOT_SERVO_1_GPIO PAL_PORT(LINE_SRVB1)

 #define DSHOT_SERVO_1_PIN PAL_PAD(LINE_SRVB1)

 #define DSHOT_SERVO_1_AF AF_SRVB1

 #define DSHOT_SERVO_1_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB1_TIM)

 #define DSHOT_SERVO_1_CHANNEL SRVB1_TIM_CH


 #define DSHOT_SERVO_2 2

 #define DSHOT_SERVO_2_GPIO PAL_PORT(LINE_SRVB2)

 #define DSHOT_SERVO_2_PIN PAL_PAD(LINE_SRVB2)

 #define DSHOT_SERVO_2_AF AF_SRVB2

 #define DSHOT_SERVO_2_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB2_TIM)

 #define DSHOT_SERVO_2_CHANNEL SRVB2_TIM_CH


 #define DSHOT_SERVO_3 3

 #define DSHOT_SERVO_3_GPIO PAL_PORT(LINE_SRVB3)

 #define DSHOT_SERVO_3_PIN PAL_PAD(LINE_SRVB3)

 #define DSHOT_SERVO_3_AF AF_SRVB3

 #define DSHOT_SERVO_3_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB3_TIM)

 #define DSHOT_SERVO_3_CHANNEL SRVB3_TIM_CH


 #define DSHOT_SERVO_4 4

 #define DSHOT_SERVO_4_GPIO PAL_PORT(LINE_SRVB4)

 #define DSHOT_SERVO_4_PIN PAL_PAD(LINE_SRVB4)

 #define DSHOT_SERVO_4_AF AF_SRVB4

 #define DSHOT_SERVO_4_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVB4_TIM)

 #define DSHOT_SERVO_4_CHANNEL SRVB4_TIM_CH


 #define DSHOT_CONF_TIM3 1


 #if DSHOT_BIDIR


 #define DSHOT_CAPT_CONF3_DEF                     \

   .dma_capt_cfg = {                              \

     .gptd = &DSHOT1_BIDIR_GPT,                \

     .dma_streams = {DSHOTS_CAPTURE_STREAMS(3)},  \

     .dma_capture = &dshot3DmaCaptureBuffer,      \

     .dcache_memory_in_use = false,               \

   },

 #else

 #define DSHOT_CAPT_CONF3_DEF

 #endif


 #define DSHOT_CONF3_DEF {                 \

   .dma_stream = STM32_DMA_STREAM_ID_ANY,  \

   .dmamux = STM32_DMAMUX1_TIM3_UP,        \

   .pwmp = &PWMD3,                         \

   .tlm_sd = DSHOT_TIM3_TELEMETRY_DEV,     \

   .dma_buf = &dshot3DmaBuffer,            \

   DSHOT_CAPT_CONF3_DEF                    \

   .dcache_memory_in_use = false           \

 }


 #endif


 #if USE_DSHOT_TIM1 // Servo A1, A2, A3, A4 on TIM1 only activated if needed


 #define DSHOT_SERVO_5 5

 #define DSHOT_SERVO_5_GPIO PAL_PORT(LINE_SRVA1)

 #define DSHOT_SERVO_5_PIN PAL_PAD(LINE_SRVA1)

 #define DSHOT_SERVO_5_AF AF_SRVA1

 #define DSHOT_SERVO_5_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA1_TIM)

 #define DSHOT_SERVO_5_CHANNEL SRVA1_TIM_CH


 #define DSHOT_SERVO_6 6

 #define DSHOT_SERVO_6_GPIO PAL_PORT(LINE_SRVA2)

 #define DSHOT_SERVO_6_PIN PAL_PAD(LINE_SRVA2)

 #define DSHOT_SERVO_6_AF AF_SRVA2

 #define DSHOT_SERVO_6_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA2_TIM)

 #define DSHOT_SERVO_6_CHANNEL SRVA2_TIM_CH


 #define DSHOT_SERVO_7 7

 #define DSHOT_SERVO_7_GPIO PAL_PORT(LINE_SRVA3)

 #define DSHOT_SERVO_7_PIN PAL_PAD(LINE_SRVA3)

 #define DSHOT_SERVO_7_AF AF_SRVA3

 #define DSHOT_SERVO_7_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA3_TIM)

 #define DSHOT_SERVO_7_CHANNEL SRVA3_TIM_CH


 #define DSHOT_SERVO_8 8

 #define DSHOT_SERVO_8_GPIO PAL_PORT(LINE_SRVA4)

 #define DSHOT_SERVO_8_PIN PAL_PAD(LINE_SRVA4)

 #define DSHOT_SERVO_8_AF AF_SRVA4

 #define DSHOT_SERVO_8_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SRVA4_TIM)

 #define DSHOT_SERVO_8_CHANNEL SRVA4_TIM_CH


 #define DSHOT_CONF_TIM1 1


 #if DSHOT_BIDIR

 #ifndef DSHOT2_BIDIR_GPT

 #error "Select and activate DSHOT2_BIDIR_GPT for DSHOT_CONF1. Example: USE_GPT8=TRUE, DSHOT2_BIDIR_GPT=GPTD8"

 #endif

 #define DSHOT_CAPT_CONF1_DEF                     \

   .dma_capt_cfg = {                              \

     .gptd = &DSHOT2_BIDIR_GPT,                   \

     .dma_streams = {DSHOTS_CAPTURE_STREAMS(1)},  \

     .dma_capture = &dshot1DmaCaptureBuffer,      \

     .dcache_memory_in_use = false,               \

   },

 #else

 #define DSHOT_CAPT_CONF1_DEF

 #endif


 #define DSHOT_CONF1_DEF {                 \

   .dma_stream = STM32_DMA_STREAM_ID_ANY,  \

   .dmamux = STM32_DMAMUX1_TIM1_UP,        \

   .pwmp = &PWMD1,                         \

   .tlm_sd = DSHOT_TIM1_TELEMETRY_DEV,     \

   .dma_buf = &dshot1DmaBuffer,        \

   DSHOT_CAPT_CONF1_DEF                    \

   .dcache_memory_in_use = false           \

 }


 #endif


 #define UART2_GPIO_PORT_TX  PAL_PORT(LINE_UART2_TX)

 #define UART2_GPIO_TX       PAL_PAD(LINE_UART2_TX)

 #define UART2_GPIO_PORT_RX  PAL_PORT(LINE_UART2_RX)

 #define UART2_GPIO_RX       PAL_PAD(LINE_UART2_RX)

 #define UART2_GPIO_AF       AF_UART2_TX

 #ifndef UART2_HW_FLOW_CONTROL

 #define UART2_HW_FLOW_CONTROL FALSE

 #endif


 #define UART3_GPIO_PORT_TX  PAL_PORT(LINE_UART3_TX)

 #define UART3_GPIO_TX       PAL_PAD(LINE_UART3_TX)

 #define UART3_GPIO_PORT_RX  PAL_PORT(LINE_UART3_RX)

 #define UART3_GPIO_RX       PAL_PAD(LINE_UART3_RX)

 #define UART3_GPIO_AF       AF_UART3_TX


 #define UART7_GPIO_PORT_TX  PAL_PORT(LINE_UART7_TX)

 #define UART7_GPIO_TX       PAL_PAD(LINE_UART7_TX)

 #define UART7_GPIO_PORT_RX  PAL_PORT(LINE_UART7_RX)

 #define UART7_GPIO_RX       PAL_PAD(LINE_UART7_RX)

 #define UART7_GPIO_AF       AF_UART7_TX


 #define UART4_GPIO_PORT_TX  PAL_PORT(LINE_AUX_A1)

 #define UART4_GPIO_TX       PAL_PAD(LINE_AUX_A1)

 #define UART4_GPIO_PORT_RX  PAL_PORT(LINE_AUX_A2)

 #define UART4_GPIO_RX       PAL_PAD(LINE_AUX_A2)

 #define UART4_GPIO_AF       AUX_A1_UART_AF


 #define UART1_GPIO_PORT_RX  PAL_PORT(LINE_DSHOT_RX)

 #define UART1_GPIO_RX       PAL_PAD(LINE_DSHOT_RX)

 #define UART1_GPIO_AF       AF_DSHOT_RX


 // In case, do dynamic config of UARTs

 #ifndef USE_UART8_RX

 #define USE_UART8_RX TRUE

 #endif

 #ifndef USE_UART8_TX // may be used in half duplex mode

 #define USE_UART8_TX FALSE

 #endif

 // Tx and Rx are configured on the same pin, only one of them should be used

 #define UART8_GPIO_PORT_TX  PAL_PORT(LINE_RC1)

 #define UART8_GPIO_TX       PAL_PAD(LINE_RC1)

 #define UART8_GPIO_PORT_RX  PAL_PORT(LINE_RC1)

 #define UART8_GPIO_RX       PAL_PAD(LINE_RC1)

 #define UART8_GPIO_AF       RC1_UART_AF


 #ifndef USE_UART6_RX

 #define USE_UART6_RX FALSE

 #endif

 #ifndef USE_UART6_TX

 #define USE_UART6_TX TRUE

 #endif

 // Tx and Rx are configured on the same pin, only one of them should be used

 #define UART6_GPIO_PORT_TX  PAL_PORT(LINE_RC2)

 #define UART6_GPIO_TX       PAL_PAD(LINE_RC2)

 #define UART6_GPIO_PORT_RX  PAL_PORT(LINE_RC2)

 #define UART6_GPIO_RX       PAL_PAD(LINE_RC2)

 #define UART6_GPIO_AF       RC2_USART_AF


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

  * PB1: AUXb4

  */

 #define SPEKTRUM_BIND_PIN       PAL_PORT(LINE_AUX_B4)

 #define SPEKTRUM_BIND_PIN_PORT  PAL_PAD(LINE_AUX_B4)


 // no wait with chibios as the RTC oscillator takes longer to stabilize

 #define SPEKTRUM_BIND_WAIT 30000


 #define RC_PPM_TICKS_PER_USEC 6

 #define PPM_TIMER_FREQUENCY 6000000

 #define PPM_CHANNEL CONCAT_BOARD_PARAM(ICU_CHANNEL_, RC2_TIM_CH)

 #define PPM_TIMER CONCAT_BOARD_PARAM(ICUD, RC2_TIM)


 /*

  * PWM input

  */

 // PWM_INPUT 1 on PA0 (AUXa1)

 #define PWM_INPUT1_ICU            ICUD2

 #define PWM_INPUT1_CHANNEL        ICU_CHANNEL_1

 #define PWM_INPUT1_GPIO_PORT      PAL_PORT(LINE_AUX_A1)

 #define PWM_INPUT1_GPIO_PIN       PAL_PAD(LINE_AUX_A1)

 #define PWM_INPUT1_GPIO_AF        GPIO_AF1


 // PWM_INPUT 2 on PA1 (AUXa2)

 #define PWM_INPUT2_ICU            ICUD5

 #define PWM_INPUT2_CHANNEL        ICU_CHANNEL_2

 #define PWM_INPUT2_GPIO_PORT      PAL_PORT(LINE_AUX_A2)

 #define PWM_INPUT2_GPIO_PIN       PAL_PAD(LINE_AUX_A2)

 #define PWM_INPUT2_GPIO_AF        GPIO_AF2


 // 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))


 // Internal I2C (baro, magneto)


 #ifndef I2C4_CLOCK_SPEED

 #define I2C4_CLOCK_SPEED 400000

 #endif


 #if I2C4_CLOCK_SPEED == 400000

 #define I2C4_CFG_DEF { \

   .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \

   .cr1 = STM32_CR1_DNF(0), \

   .cr2 = 0 \

 }

 #elif I2C4_CLOCK_SPEED == 100000

 #define I2C4_CFG_DEF { \

   .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \

   .cr1 = STM32_CR1_DNF(0), \

   .cr2 = 0 \

 }

 #else

 #error "Unknown I2C4 clock speed"

 #endif


 // External I2C


 #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


 // Internal SPI (IMU)

 #define SPI6_GPIO_AF          AF_SPI6_INTERNAL_CLK

 #define SPI6_GPIO_PORT_MISO   PAL_PORT(LINE_SPI6_INTERNAL_MISO)

 #define SPI6_GPIO_MISO        PAL_PAD(LINE_SPI6_INTERNAL_MISO)

 #define SPI6_GPIO_PORT_MOSI   PAL_PORT(LINE_SPI6_INTERNAL_MOSI)

 #define SPI6_GPIO_MOSI        PAL_PAD(LINE_SPI6_INTERNAL_MOSI)

 #define SPI6_GPIO_PORT_SCK    PAL_PORT(LINE_SPI6_INTERNAL_CLK)

 #define SPI6_GPIO_SCK         PAL_PAD(LINE_SPI6_INTERNAL_CLK)


 // External SPI

 #define SPI2_GPIO_AF          AF_SPI2_EXTERNAL_CLK

 #define SPI2_GPIO_PORT_MISO   PAL_PORT(LINE_SPI2_EXTERNAL_MISO)

 #define SPI2_GPIO_MISO        PAL_PAD(LINE_SPI2_EXTERNAL_MISO)

 #define SPI2_GPIO_PORT_MOSI   PAL_PORT(LINE_SPI2_EXTERNAL_MOSI)

 #define SPI2_GPIO_MOSI        PAL_PAD(LINE_SPI2_EXTERNAL_MOSI)

 #define SPI2_GPIO_PORT_SCK    PAL_PORT(LINE_SPI2_EXTERNAL_CLK)

 #define SPI2_GPIO_SCK         PAL_PAD(LINE_SPI2_EXTERNAL_CLK)


 // SLAVE0 on SPI connector (NSS possible)

 #define SPI_SELECT_SLAVE0_PORT  PAL_PORT(LINE_SPI2_EXTERNAL_CS)

 #define SPI_SELECT_SLAVE0_PIN   PAL_PAD(LINE_SPI2_EXTERNAL_CS)

 // SLAVE1 on AUXb1

 #define SPI_SELECT_SLAVE1_PORT  PAL_PORT(LINE_AUX_B1)

 #define SPI_SELECT_SLAVE1_PIN   PAL_PAD(LINE_AUX_B1)

 // SLAVE2 on AUXb2

 #define SPI_SELECT_SLAVE2_PORT  PAL_PORT(LINE_AUX_B2)

 #define SPI_SELECT_SLAVE2_PIN   PAL_PAD(LINE_AUX_B2)

 // SLAVE3 on AUXb3

 #define SPI_SELECT_SLAVE3_PORT  PAL_PORT(LINE_AUX_B3)

 #define SPI_SELECT_SLAVE3_PIN   PAL_PAD(LINE_AUX_B3)

 // SLAVE4 on AUXb4

 #define SPI_SELECT_SLAVE4_PORT  PAL_PORT(LINE_AUX_B4)

 #define SPI_SELECT_SLAVE4_PIN   PAL_PAD(LINE_AUX_B4)

 // SLAVE5 on PE4 (internal IMU)

 #define SPI_SELECT_SLAVE5_PORT  PAL_PORT(LINE_SPI6_INTERNAL_CS)

 #define SPI_SELECT_SLAVE5_PIN   PAL_PAD(LINE_SPI6_INTERNAL_CS)


 #ifndef USE_BARO_BOARD

 #define USE_BARO_BOARD 0

 #endif


 #define SDIO_D0_PORT  PAL_PORT(LINE_SDMMC1_D0)

 #define SDIO_D0_PIN   PAL_PAD(LINE_SDMMC1_D0)

 #define SDIO_D1_PORT  PAL_PORT(LINE_SDMMC1_D1)

 #define SDIO_D1_PIN   PAL_PAD(LINE_SDMMC1_D1)

 #define SDIO_D2_PORT  PAL_PORT(LINE_SDMMC1_D2)

 #define SDIO_D2_PIN   PAL_PAD(LINE_SDMMC1_D2)

 #define SDIO_D3_PORT  PAL_PORT(LINE_SDMMC1_D3)

 #define SDIO_D3_PIN   PAL_PAD(LINE_SDMMC1_D3)

 #define SDIO_CK_PORT  PAL_PORT(LINE_SDMMC1_CK)

 #define SDIO_CK_PIN   PAL_PAD(LINE_SDMMC1_CK)

 #define SDIO_CMD_PORT PAL_PORT(LINE_SDMMC1_CMD)

 #define SDIO_CMD_PIN  PAL_PAD(LINE_SDMMC1_CMD)

 #define SDIO_AF       AF_SDMMC1_CK

 // bat monitoring for file closing

 #define SDLOG_BAT_ADC CONCAT_BOARD_PARAM(ADCD, VBAT_MEAS_ADC)

 #define SDLOG_BAT_CHAN CONCAT_BOARD_PARAM(ADC_CHANNEL_IN, VBAT_MEAS_ADC_INP)

 // usb led status

 #define SDLOG_USB_LED 4

 #define SDLOG_USB_VBUS_PORT PAL_PORT(LINE_USB_VBUS)

 #define SDLOG_USB_VBUS_PIN  PAL_PAD(LINE_USB_VBUS)


 /*

  * 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 PAL_PORT(LINE_AUX_A1)

 #define WS2812D1_PIN  PAL_PAD(LINE_AUX_A1)

 #define WS2812D1_AF 2

 #define WS2812D1_CFG_DEF { \

   .dma_stream = STM32_DMA_STREAM_ID_ANY, \

   .dmamux = STM32_DMAMUX1_TIM5_UP,          \

   .dma_priority = STM32_PWM5_UP_DMA_PRIORITY, \

   .pwm_channel = 0, \

   .pwmp = &PWMD5 \

 }


 #endif /* CONFIG_TAWAKI_2_00_H */


board.h