chimera.h

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#ifndef CONFIG_CHIMERA_1_00_H
#define CONFIG_CHIMERA_1_00_H

#define BOARD_CHIMERA

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

/*
 * AHB_CLK
 */
#define AHB_CLK STM32_HCLK


/*
 * LEDs
 */
/* red, on PB12, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_1
#define USE_LED_1 1
#endif
#define LED_1_GPIO GPIOB
#define LED_1_GPIO_PIN GPIO12
#define LED_1_GPIO_ON gpio_set
#define LED_1_GPIO_OFF gpio_clear

/* orange, on PB13, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_2
#define USE_LED_2 1
#endif
#define LED_2_GPIO GPIOB
#define LED_2_GPIO_PIN GPIO13
#define LED_2_GPIO_ON gpio_set
#define LED_2_GPIO_OFF gpio_clear

/* green, on PD10, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_3
#define USE_LED_3 1
#endif
#define LED_3_GPIO GPIOD
#define LED_3_GPIO_PIN GPIO10
#define LED_3_GPIO_ON gpio_set
#define LED_3_GPIO_OFF gpio_clear

/* yellow, on PD11, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_4
#define USE_LED_4 1
#endif
#define LED_4_GPIO GPIOD
#define LED_4_GPIO_PIN GPIO11
#define LED_4_GPIO_ON gpio_set
#define LED_4_GPIO_OFF gpio_clear

/* AUX0, on PA5, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_5
#define USE_LED_5 0
#endif
#define LED_5_GPIO GPIOA
#define LED_5_GPIO_PIN GPIO5
#define LED_5_GPIO_ON gpio_set
#define LED_5_GPIO_OFF gpio_clear

/* AUX1, on PA3, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_6
#define USE_LED_6 0
#endif
#define LED_6_GPIO GPIOA
#define LED_6_GPIO_PIN GPIO3
#define LED_6_GPIO_ON gpio_set
#define LED_6_GPIO_OFF gpio_clear

/* AUX2, on PA2, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_7
#define USE_LED_7 0
#endif
#define LED_7_GPIO GPIOA
#define LED_7_GPIO_PIN GPIO2
#define LED_7_GPIO_ON gpio_set
#define LED_7_GPIO_OFF gpio_clear

/* AUX3, on PA0, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_8
#define USE_LED_8 0
#endif
#define LED_8_GPIO GPIOA
#define LED_8_GPIO_PIN GPIO0
#define LED_8_GPIO_ON gpio_set
#define LED_8_GPIO_OFF gpio_clear

/* AUX4, on PC3, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_9
#define USE_LED_9 0
#endif
#define LED_9_GPIO GPIOC
#define LED_9_GPIO_PIN GPIO3
#define LED_9_GPIO_ON gpio_set
#define LED_9_GPIO_OFF gpio_clear

/* AUX5, on PC2, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_10
#define USE_LED_10 0
#endif
#define LED_10_GPIO GPIOC
#define LED_10_GPIO_PIN GPIO2
#define LED_10_GPIO_ON gpio_set
#define LED_10_GPIO_OFF gpio_clear

/* AUX6, on PC6, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_11
#define USE_LED_11 0
#endif
#define LED_11_GPIO GPIOC
#define LED_11_GPIO_PIN GPIO6
#define LED_11_GPIO_ON gpio_set
#define LED_11_GPIO_OFF gpio_clear

/* AUX7, on PC7, 1 on LED_ON, 0 on LED_OFF */
#ifndef USE_LED_12
#define USE_LED_12 0
#endif
#define LED_12_GPIO GPIOC
#define LED_12_GPIO_PIN GPIO7
#define LED_12_GPIO_ON gpio_set
#define LED_12_GPIO_OFF gpio_clear

/*
 * ADCs
 */
// AUX0
#if USE_ADC_1
#define AD1_1_CHANNEL ADC_CHANNEL_IN5
#define ADC_1 AD1_1
#define ADC_1_GPIO_PORT GPIOA
#define ADC_1_GPIO_PIN GPIO5
#endif

// AUX1
#if USE_ADC_2
#define AD1_2_CHANNEL ADC_CHANNEL_IN3
#define ADC_2 AD1_2
#define ADC_2_GPIO_PORT GPIOA
#define ADC_2_GPIO_PIN GPIO3
#endif

// AUX2
#if USE_ADC_3
#define AD1_3_CHANNEL ADC_CHANNEL_IN2
#define ADC_3 AD1_3
#define ADC_3_GPIO_PORT GPIOA
#define ADC_3_GPIO_PIN GPIO2
#endif

// AUX3
#if USE_ADC_4
#define AD1_4_CHANNEL ADC_CHANNEL_IN0
#define ADC_4 AD1_4
#define ADC_4_GPIO_PORT GPIOA
#define ADC_4_GPIO_PIN GPIO0
#endif

// AUX4
#if USE_ADC_5
#define AD1_5_CHANNEL ADC_CHANNEL_IN13
#define ADC_5 AD1_5
#define ADC_5_GPIO_PORT GPIOC
#define ADC_5_GPIO_PIN GPIO3
#endif

// AUX5
#if USE_ADC_6
#define AD1_6_CHANNEL ADC_CHANNEL_IN12
#define ADC_6 AD1_6
#define ADC_6_GPIO_PORT GPIOC
#define ADC_6_GPIO_PIN GPIO2
#endif

// Internal ADC for battery enabled by default
#ifndef USE_ADC_7
#define USE_ADC_7 1
#endif
#if USE_ADC_7
#define AD1_7_CHANNEL ADC_CHANNEL_IN4
#define ADC_7 AD1_7
#define ADC_7_GPIO_PORT GPIOA
#define ADC_7_GPIO_PIN GPIO4
#endif

/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_7
#endif

/*
 * R1 = 3.3k
 * R2 = 22k
 * adc * (3.3 / 2^12) * ((R1 + R2) / R1)
 */
#define VBAT_R1 3300.0f
#define VBAT_R2 22000.0f
#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f)*((VBAT_R1+VBAT_R2)/VBAT_R1)*adc)

//TODO configure DAC (ADC_1)

/*
 * PWM defines
 */
#ifndef USE_PWM0
#define USE_PWM0 1
#endif
#if USE_PWM0
#define PWM_SERVO_0 0
#define PWM_SERVO_0_GPIO GPIOA
#define PWM_SERVO_0_PIN GPIO6
#define PWM_SERVO_0_AF GPIO_AF2
#define PWM_SERVO_0_DRIVER PWMD3
#define PWM_SERVO_0_CHANNEL 0
#define PWM_SERVO_0_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_0_ACTIVE PWM_OUTPUT_DISABLED
#endif

#ifndef USE_PWM1
#define USE_PWM1 1
#endif
#if USE_PWM1
#define PWM_SERVO_1 1
#define PWM_SERVO_1_GPIO GPIOA
#define PWM_SERVO_1_PIN GPIO7
#define PWM_SERVO_1_AF GPIO_AF2
#define PWM_SERVO_1_DRIVER PWMD3
#define PWM_SERVO_1_CHANNEL 1
#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_1_ACTIVE PWM_OUTPUT_DISABLED
#endif

#ifndef USE_PWM2
#define USE_PWM2 1
#endif
#if USE_PWM2
#define PWM_SERVO_2 2
#define PWM_SERVO_2_GPIO GPIOB
#define PWM_SERVO_2_PIN GPIO0
#define PWM_SERVO_2_AF GPIO_AF2
#define PWM_SERVO_2_DRIVER PWMD3
#define PWM_SERVO_2_CHANNEL 2
#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_2_ACTIVE PWM_OUTPUT_DISABLED
#endif

#ifndef USE_PWM3
#define USE_PWM3 1
#endif
#if USE_PWM3
#define PWM_SERVO_3 3
#define PWM_SERVO_3_GPIO GPIOB
#define PWM_SERVO_3_PIN GPIO1
#define PWM_SERVO_3_AF GPIO_AF2
#define PWM_SERVO_3_DRIVER PWMD3
#define PWM_SERVO_3_CHANNEL 3
#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_3_ACTIVE PWM_OUTPUT_DISABLED
#endif

#ifndef USE_PWM4
#define USE_PWM4 1
#endif
#if USE_PWM4
#define PWM_SERVO_4 4
#define PWM_SERVO_4_GPIO GPIOD
#define PWM_SERVO_4_PIN GPIO12
#define PWM_SERVO_4_AF GPIO_AF2
#define PWM_SERVO_4_DRIVER PWMD4
#define PWM_SERVO_4_CHANNEL 0
#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_4_ACTIVE PWM_OUTPUT_DISABLED
#endif

#ifndef USE_PWM5
#define USE_PWM5 1
#endif
#if USE_PWM5
#define PWM_SERVO_5 5
#define PWM_SERVO_5_GPIO GPIOD
#define PWM_SERVO_5_PIN GPIO13
#define PWM_SERVO_5_AF GPIO_AF2
#define PWM_SERVO_5_DRIVER PWMD4
#define PWM_SERVO_5_CHANNEL 1
#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_5_ACTIVE PWM_OUTPUT_DISABLED
#endif

#ifndef USE_PWM6
#define USE_PWM6 1
#endif
#if USE_PWM6
#define PWM_SERVO_6 6
#define PWM_SERVO_6_GPIO GPIOD
#define PWM_SERVO_6_PIN GPIO14
#define PWM_SERVO_6_AF GPIO_AF2
#define PWM_SERVO_6_DRIVER PWMD4
#define PWM_SERVO_6_CHANNEL 2
#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_6_ACTIVE PWM_OUTPUT_DISABLED
#endif

#ifndef USE_PWM6
#define USE_PWM6 1
#endif
#if USE_PWM7
#define PWM_SERVO_7 7
#define PWM_SERVO_7_GPIO GPIOD
#define PWM_SERVO_7_PIN GPIO15
#define PWM_SERVO_7_AF GPIO_AF2
#define PWM_SERVO_7_DRIVER PWMD4
#define PWM_SERVO_7_CHANNEL 3
#define PWM_SERVO_7_ACTIVE PWM_OUTPUT_ACTIVE_HIGH
#else
#define PWM_SERVO_7_ACTIVE PWM_OUTPUT_DISABLED
#endif

// TODO PWM on AUX pins

#ifdef STM32_PWM_USE_TIM3
#define PWM_CONF_TIM3 STM32_PWM_USE_TIM3
#else
#define PWM_CONF_TIM3 1
#endif
#define PWM_CONF3_DEF { \
  PWM_FREQUENCY, \
  PWM_FREQUENCY/TIM3_SERVO_HZ, \
  NULL, \
  { \
    { PWM_SERVO_0_ACTIVE, NULL }, \
    { PWM_SERVO_1_ACTIVE, NULL }, \
    { PWM_SERVO_2_ACTIVE, NULL }, \
    { PWM_SERVO_3_ACTIVE, NULL }, \
  }, \
  0, \
  0 \
}

#ifdef STM32_PWM_USE_TIM4
#define PWM_CONF_TIM4 STM32_PWM_USE_TIM4
#else
#define PWM_CONF_TIM4 1
#endif
#define PWM_CONF4_DEF { \
  PWM_FREQUENCY, \
  PWM_FREQUENCY/TIM4_SERVO_HZ, \
  NULL, \
  { \
    { PWM_SERVO_4_ACTIVE, NULL }, \
    { PWM_SERVO_5_ACTIVE, NULL }, \
    { PWM_SERVO_6_ACTIVE, NULL }, \
    { PWM_SERVO_7_ACTIVE, NULL }, \
  }, \
  0, \
  0 \
}

#define UART2_GPIO_PORT_TX GPIOD
#define UART2_GPIO_TX GPIO5
#define UART2_GPIO_PORT_RX GPIOD
#define UART2_GPIO_RX GPIO6
#define UART2_GPIO_AF 7
#ifndef UART2_HW_FLOW_CONTROL
#define UART2_HW_FLOW_CONTROL TRUE
#endif

#define UART1_GPIO_PORT_TX GPIOB
#define UART1_GPIO_TX GPIO6
#define UART1_GPIO_PORT_RX GPIOB
#define UART1_GPIO_RX GPIO7
#define UART1_GPIO_AF 7

#define UART3_GPIO_PORT_TX GPIOD
#define UART3_GPIO_TX GPIO8
#define UART3_GPIO_PORT_RX GPIOD
#define UART3_GPIO_RX GPIO9
#define UART3_GPIO_AF 7

#define UART8_GPIO_PORT_TX GPIOE
#define UART8_GPIO_TX GPIO0
#define UART8_GPIO_PORT_RX GPIOE
#define UART8_GPIO_RX GPIO1
#define UART8_GPIO_AF 8

// In case, do dynamic config of UARTs
#define USE_UART7_RX TRUE
#ifndef USE_UART7_TX // may be used in half duplex mode
#define USE_UART7_TX FALSE
#endif
#define UART7_GPIO_PORT_RX GPIOE
#define UART7_GPIO_RX GPIO7
#define UART7_GPIO_AF 8

#define USE_UART4_RX TRUE
#define USE_UART4_TX FALSE
#define UART4_GPIO_PORT_RX GPIOA
#define UART4_GPIO_RX GPIO1
#define UART4_GPIO_AF 8

/* The line that is pulled low at power up to initiate the bind process
 * PC7: AUX7
 */
#define SPEKTRUM_BIND_PIN GPIO7
#define SPEKTRUM_BIND_PIN_PORT GPIOC

// no wait with chibios as the RTC oscillator takes longer to stabilize
#define SPEKTRUM_BIND_WAIT 30000

#define RC_PPM_TICKS_PER_USEC 6
#define PPM_TIMER_FREQUENCY 6000000
#define PPM_CHANNEL ICU_CHANNEL_2
#define PPM_TIMER ICUD5

/*
 * PWM input
 */
// PWM_INPUT 1 on PA0 (AUX3)
#define PWM_INPUT1_ICU            ICUD2
#define PWM_INPUT1_CHANNEL        ICU_CHANNEL_1
#define PWM_INPUT1_GPIO_PORT      GPIOA
#define PWM_INPUT1_GPIO_PIN       GPIO0
#define PWM_INPUT1_GPIO_AF        GPIO_AF1

// PWM_INPUT 2 on PC7 (AUX7)
#define PWM_INPUT2_ICU            ICUD8
#define PWM_INPUT2_CHANNEL        ICU_CHANNEL_2
#define PWM_INPUT2_GPIO_PORT      GPIOC
#define PWM_INPUT2_GPIO_PIN       GPIO7
#define PWM_INPUT2_GPIO_AF        GPIO_AF3

// Digital noise filter: 0 disabled, [0x1 - 0xF] enable up to n t_I2CCLK
#define STM32_CR1_DNF(n)          ((n & 0x0f) << 8)
// Timing register
#define I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR  (STM32_TIMINGR_PRESC(0U) | \
    STM32_TIMINGR_SCLDEL(10U) | STM32_TIMINGR_SDADEL(0U) | \
    STM32_TIMINGR_SCLH(34U)  | STM32_TIMINGR_SCLL(86U))
#define I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR  (STM32_TIMINGR_PRESC(1U) | \
    STM32_TIMINGR_SCLDEL(9U) | STM32_TIMINGR_SDADEL(0U) | \
    STM32_TIMINGR_SCLH(105U)  | STM32_TIMINGR_SCLL(153U))


#ifndef I2C1_CLOCK_SPEED
#define I2C1_CLOCK_SPEED 400000
#endif

#if I2C1_CLOCK_SPEED == 400000
#define I2C1_CFG_DEF { \
  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
  .cr1 = STM32_CR1_DNF(0), \
  .cr2 = 0 \
}
#elif I2C1_CLOCK_SPEED == 100000
#define I2C1_CFG_DEF { \
  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
  .cr1 = STM32_CR1_DNF(0), \
  .cr2 = 0 \
}
#else
#error "Unknown I2C1 clock speed"
#endif


#ifndef I2C2_CLOCK_SPEED
#define I2C2_CLOCK_SPEED 400000
#endif

#if I2C2_CLOCK_SPEED == 400000
#define I2C2_CFG_DEF { \
  .timingr = I2C_FAST_400KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
  .cr1 = STM32_CR1_DNF(0), \
  .cr2 = 0 \
}
#elif I2C2_CLOCK_SPEED == 100000
#define I2C2_CFG_DEF { \
  .timingr = I2C_STD_100KHZ_DNF0_100NS_PCLK54MHZ_TIMINGR, \
  .cr1 = STM32_CR1_DNF(0), \
  .cr2 = 0 \
}
#else
#error "Unknown I2C2 clock speed"
#endif

#define SPI1_GPIO_AF GPIO_AF5
#define SPI1_GPIO_PORT_MISO GPIOB
#define SPI1_GPIO_MISO GPIO4
#define SPI1_GPIO_PORT_MOSI GPIOB
#define SPI1_GPIO_MOSI GPIO5
#define SPI1_GPIO_PORT_SCK GPIO3
#define SPI1_GPIO_SCK GPIO3

// SLAVE0 on SPI connector
#define SPI_SELECT_SLAVE0_PORT GPIOA
#define SPI_SELECT_SLAVE0_PIN GPIO15
// SLAVE1 on AUX0
#define SPI_SELECT_SLAVE1_PORT GPIOA
#define SPI_SELECT_SLAVE1_PIN GPIO5
// SLAVE2 on AUX1
#define SPI_SELECT_SLAVE2_PORT GPIOA
#define SPI_SELECT_SLAVE2_PIN GPIO3
// SLAVE3 on AUX2
#define SPI_SELECT_SLAVE3_PORT GPIOA
#define SPI_SELECT_SLAVE3_PIN GPIO2
// SLAVE4 on AUX3
#define SPI_SELECT_SLAVE4_PORT GPIOA
#define SPI_SELECT_SLAVE4_PIN GPIO0
// SLAVE5 on AUX4
#define SPI_SELECT_SLAVE5_PORT GPIOC
#define SPI_SELECT_SLAVE5_PIN GPIO3

#ifndef USE_BARO_BOARD
#define USE_BARO_BOARD 1
#endif

#define SDIO_D0_PORT GPIOC
#define SDIO_D0_PIN GPIO8
#define SDIO_D1_PORT GPIOC
#define SDIO_D1_PIN GPIO9
#define SDIO_D2_PORT GPIOC
#define SDIO_D2_PIN GPIO10
#define SDIO_D3_PORT GPIOC
#define SDIO_D3_PIN GPIO11
#define SDIO_CK_PORT GPIOC
#define SDIO_CK_PIN GPIO12
#define SDIO_CMD_PORT GPIOD
#define SDIO_CMD_PIN GPIO2
#define SDIO_AF 12
// bat monitoring for file closing
#define SDLOG_BAT_ADC ADCD1
#define SDLOG_BAT_CHAN AD1_7_CHANNEL
// usb led status
#define SDLOG_USB_LED 4
#define SDLOG_USB_VBUS_PORT GPIOA
#define SDLOG_USB_VBUS_PIN GPIO9


/*
 * Actuators for fixedwing
 */
 /* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()

#endif /* CONFIG_CHIMERA_1_00_H */