ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32F732xx.py

#!/usr/bin/env python
'''
these tables are generated from the STM32 datasheets for the
STM32F732
'''

# additional build information for ChibiOS
build = {
    "CHIBIOS_STARTUP_MK"  : "os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk",
    "CHIBIOS_PLATFORM_MK" : "os/hal/ports/STM32/STM32F7xx/platform.mk"
    }

# MCU parameters
mcu = {
    # ram map, as list of (address, size-kb, flags)
    # flags of 1 means DMA-capable
    # flags of 2 means faster memory for CPU intensive work
    'RAM_MAP' : [
        (0x20000000,  64,  3), # DTCM
        (0x20010000, 176,  0), # SRAM1
        (0x2003C000,  16,  0), # SRAM2
        (0x00001000,  15,  0), # ITCM, dropping first 1k
    ],

    'EXPECTED_CLOCK' : 216000000,

    # this board has M7 instructions, but single precision only FPU
    # we build as m4 as it makes for a smaller build, and given the 1M
    # flash limit we care more about size
    'CORTEX'    : 'cortex-m4',
    'CPU_FLAGS' : '-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard'
}

DMA_Map = {
	# format is (DMA_TABLE, StreamNum, Channel)
	# extracted from tabula-STM32F732-DMA.csv
	"ADC1"    	:	[(2,0,0),(2,4,0)],
	"ADC2"    	:	[(2,2,1),(2,3,1)],
	"ADC3"    	:	[(2,0,2),(2,1,2)],
	"AES_IN"  	:	[(2,6,2)],
	"AES_OUT" 	:	[(2,5,2)],
	"DAC1"    	:	[(1,5,7)],
	"DAC2"    	:	[(1,6,7)],
	"I2C1_RX" 	:	[(1,0,1),(1,5,1)],
	"I2C1_TX" 	:	[(1,6,1),(1,7,1)],
	"I2C2_RX" 	:	[(1,2,7),(1,3,7)],
	"I2C2_TX" 	:	[(1,7,7)],
	"I2C3_RX" 	:	[(1,1,1),(1,2,3)],
	"I2C3_TX" 	:	[(1,4,3)],
	"QUADSPI" 	:	[(2,7,3)],
	"SAI1_A"  	:	[(2,1,0),(2,3,0)],
	"SAI1_B"  	:	[(2,5,0),(2,4,1)],
	"SAI2_A"  	:	[(2,4,3)],
	"SAI2_B"  	:	[(2,7,0),(2,6,3)],
	"SDMMC1"  	:	[(2,3,4),(2,6,4)],
	"SDMMC2"  	:	[(2,0,11),(2,5,11)],
	"SPI1_RX" 	:	[(2,0,3),(2,2,3)],
	"SPI1_TX" 	:	[(2,3,3),(2,5,3)],
	"SPI2_RX" 	:	[(1,3,0)],
	"SPI2_TX" 	:	[(1,4,0)],
	"SPI3_RX" 	:	[(1,0,0),(1,2,0)],
	"SPI3_TX" 	:	[(1,5,0),(1,7,0)],
	"SPI4_RX" 	:	[(2,0,4),(2,3,5)],
	"SPI4_TX" 	:	[(2,1,4),(2,4,5)],
	"SPI5_RX" 	:	[(2,3,2),(2,5,7)],
	"SPI5_TX" 	:	[(2,4,2),(2,6,7)],
	"TIM1_CH1"	:	[(2,6,0),(2,1,6),(2,3,6)],
	"TIM1_CH2"	:	[(2,6,0),(2,2,6)],
	"TIM1_CH3"	:	[(2,6,0),(2,6,6)],
	"TIM1_CH4"	:	[(2,4,6)],
	"TIM1_COM"	:	[(2,4,6)],
	"TIM1_TRIG"	:	[(2,0,6),(2,4,6)],
	"TIM1_UP" 	:	[(2,5,6)],
	"TIM2_CH1"	:	[(1,5,3)],
	"TIM2_CH2"	:	[(1,6,3)],
	"TIM2_CH3"	:	[(1,1,3)],
	"TIM2_CH4"	:	[(1,6,3),(1,7,3)],
	"TIM2_UP" 	:	[(1,1,3),(1,7,3)],
	"TIM3_CH1"	:	[(1,4,5)],
	"TIM3_CH2"	:	[(1,5,5)],
	"TIM3_CH3"	:	[(1,7,5)],
	"TIM3_CH4"	:	[(1,2,5)],
	"TIM3_TRIG"	:	[(1,4,5)],
	"TIM3_UP" 	:	[(1,2,5)],
	"TIM4_CH1"	:	[(1,0,2)],
	"TIM4_CH2"	:	[(1,3,2)],
	"TIM4_CH3"	:	[(1,7,2)],
	"TIM4_UP" 	:	[(1,6,2)],
	"TIM5_CH1"	:	[(1,2,6)],
	"TIM5_CH2"	:	[(1,4,6)],
	"TIM5_CH3"	:	[(1,0,6)],
	"TIM5_CH4"	:	[(1,1,6),(1,3,6)],
	"TIM5_TRIG"	:	[(1,1,6),(1,3,6)],
	"TIM5_UP" 	:	[(1,0,6),(1,6,6)],
	"TIM6_UP" 	:	[(1,1,7)],
	"TIM7_UP" 	:	[(1,2,1),(1,4,1)],
	"TIM8_CH1"	:	[(2,2,0),(2,2,7)],
	"TIM8_CH2"	:	[(2,2,0),(2,3,7)],
	"TIM8_CH3"	:	[(2,2,0),(2,4,7)],
	"TIM8_CH4"	:	[(2,7,7)],
	"TIM8_COM"	:	[(2,7,7)],
	"TIM8_TRIG"	:	[(2,7,7)],
	"TIM8_UP" 	:	[(2,1,7)],
	"UART4_RX"	:	[(1,2,4)],
	"UART4_TX"	:	[(1,4,4)],
	"UART5_RX"	:	[(1,0,4)],
	"UART5_TX"	:	[(1,7,4)],
	"UART7_RX"	:	[(1,3,5)],
	"UART7_TX"	:	[(1,1,5)],
	"UART8_RX"	:	[(1,6,5)],
	"UART8_TX"	:	[(1,0,5)],
	"USART1_RX"	:	[(2,2,4),(2,5,4)],
	"USART1_TX"	:	[(2,7,4)],
	"USART2_RX"	:	[(1,5,4)],
	"USART2_TX"	:	[(1,6,4)],
	"USART3_RX"	:	[(1,1,4)],
	"USART3_TX"	:	[(1,3,4),(1,4,7)],
	"USART6_RX"	:	[(2,1,5),(2,2,5)],
	"USART6_TX"	:	[(2,6,5),(2,7,5)],
}

AltFunction_map = {
	# format is PIN:FUNCTION : AFNUM
	# extracted from f732-AF.txt
	"PA0:SAI2_SD_B"     	:	10,
	"PA0:TIM2_CH1"      	:	1,
	"PA0:TIM2_ETR"      	:	1,
	"PA0:TIM5_CH1"      	:	2,
	"PA0:TIM8_ETR"      	:	3,
	"PA0:UART4_TX"      	:	8,
	"PA0:USART2_CTS"    	:	7,
	"PA1:QUADSPI_BK1_IO3"	:	9,
	"PA1:SAI2_MCLK_B"   	:	10,
	"PA1:TIM2_CH2"      	:	1,
	"PA1:TIM5_CH2"      	:	2,
	"PA1:UART4_RX"      	:	8,
	"PA1:USART2_DE"     	:	7,
	"PA1:USART2_RTS"    	:	7,
	"PA2:SAI2_SCK_B"    	:	8,
	"PA2:TIM2_CH3"      	:	1,
	"PA2:TIM5_CH3"      	:	2,
	"PA2:TIM9_CH1"      	:	3,
	"PA2:USART2_TX"     	:	7,
	"PA3:TIM2_CH4"      	:	1,
	"PA3:TIM5_CH4"      	:	2,
	"PA3:TIM9_CH2"      	:	3,
	"PA3:USART2_RX"     	:	7,
	"PA3:OTG_HS_ULPI_D0"	:	10,
	"PA4:I2S1_WS"       	:	5,
	"PA4:I2S3_WS"       	:	6,
	"PA4:SPI1_NSS"      	:	5,
	"PA4:SPI3_NSS"      	:	6,
	"PA4:USART2_CK"     	:	7,
	"PA4:OTG_HS_SOF"	:	12,
	"PA5:I2S1_CK"       	:	5,
	"PA5:SPI1_SCK"      	:	5,
	"PA5:TIM2_CH1"      	:	1,
	"PA5:TIM2_ETR"      	:	1,
	"PA5:TIM8_CH1N"     	:	3,
	"PA5:OTG_HS_ULPI_CK"	:	10,
	"PA6:SPI1_MISO"     	:	5,
	"PA6:TIM13_CH1"     	:	9,
	"PA6:TIM1_BKIN"     	:	1,
	"PA6:TIM3_CH1"      	:	2,
	"PA6:TIM8_BKIN"     	:	3,
	"PA7:I2S1_SD"       	:	5,
	"PA7:SPI1_MOSI"     	:	5,
	"PA7:TIM14_CH1"     	:	9,
	"PA7:TIM1_CH1N"     	:	1,
	"PA7:TIM3_CH2"      	:	2,
	"PA7:TIM8_CH1N"     	:	3,
	"PA8:I2C3_SCL"      	:	4,
	"PA8:RCC_MCO_1"     	:	0,
	"PA8:TIM1_CH1"      	:	1,
	"PA8:TIM8_BKIN2"    	:	3,
	"PA8:USART1_CK"     	:	7,
	"PA8:OTG_FS_SOF"	:	10,
	"PA9:I2C3_SMBA"     	:	4,
	"PA9:I2S2_CK"       	:	5,
	"PA9:SPI2_SCK"      	:	5,
	"PA9:TIM1_CH2"      	:	1,
	"PA9:USART1_TX"     	:	7,
	"PA10:TIM1_CH3"     	:	1,
	"PA10:USART1_RX"    	:	7,
	"PA10:OTG_FS_ID"	:	10,
	"PA11:CAN1_RX"      	:	9,
	"PA11:TIM1_CH4"     	:	1,
	"PA11:USART1_CTS"   	:	7,
    "PA11:OTG_FS_DM"	:	10,
	"PA12:CAN1_TX"      	:	9,
	"PA12:SAI2_FS_B"    	:	8,
	"PA12:TIM1_ETR"     	:	1,
	"PA12:USART1_DE"    	:	7,
	"PA12:USART1_RTS"   	:	7,
    "PA12:OTG_FS_DP"	:	10,
    "PA13:JTMS-SWDIO"	:	0,
    "PA14:JTCK-SWCLK"	:	0,
	"PA15:I2S1_WS"      	:	5,
	"PA15:I2S3_WS"      	:	6,
	"PA15:SPI1_NSS"     	:	5,
	"PA15:SPI3_NSS"     	:	6,
	"PA15:SYS_JTDI"     	:	0,
	"PA15:TIM2_CH1"     	:	1,
	"PA15:TIM2_ETR"     	:	1,
	"PA15:UART4_DE"     	:	8,
	"PA15:UART4_RTS"    	:	8,
	"PB0:TIM1_CH2N"     	:	1,
	"PB0:TIM3_CH3"      	:	2,
	"PB0:TIM8_CH2N"     	:	3,
	"PB0:UART4_CTS"     	:	8,
    "PB0:OTG_HS_ULPI_D1"	:	10,
	"PB1:TIM1_CH3N"     	:	1,
	"PB1:TIM3_CH4"      	:	2,
	"PB1:TIM8_CH3N"     	:	3,
	"PB1:OTG_HS_ULPI_D2"	:	10,
	"PB2:I2S3_SD"       	:	7,
	"PB2:QUADSPI_CLK"   	:	9,
	"PB2:SAI1_SD_A"     	:	6,
	"PB2:SPI3_MOSI"     	:	7,
	"PB3:I2S1_CK"       	:	5,
	"PB3:I2S3_CK"       	:	6,
	"PB3:SPI1_SCK"      	:	5,
	"PB3:SPI3_SCK"      	:	6,
	"PB3:SYS_JTDO-SWO"  	:	0,
	"PB3:TIM2_CH2"      	:	1,
	"PB4:I2S2_WS"       	:	7,
	"PB4:SPI1_MISO"     	:	5,
	"PB4:SPI2_NSS"      	:	7,
	"PB4:SPI3_MISO"     	:	6,
	"PB4:SYS_JTRST"     	:	0,
	"PB4:TIM3_CH1"      	:	2,
	"PB5:I2C1_SMBA"     	:	4,
	"PB5:I2S1_SD"       	:	5,
	"PB5:I2S3_SD"       	:	6,
	"PB5:SPI1_MOSI"     	:	5,
	"PB5:SPI3_MOSI"     	:	6,
	"PB5:TIM3_CH2"      	:	2,
	"PB5:OTG_HS_ULPI_D7"	:	10,
	"PB6:I2C1_SCL"      	:	4,
	"PB6:QUADSPI_BK1_NCS"	:	10,
	"PB6:TIM4_CH1"      	:	2,
	"PB6:USART1_TX"     	:	7,
	"PB7:I2C1_SDA"      	:	4,
	"PB7:TIM4_CH2"      	:	2,
	"PB7:USART1_RX"     	:	7,
	"PB8:CAN1_RX"       	:	9,
	"PB8:I2C1_SCL"      	:	4,
	"PB8:SDMMC1_D4"     	:	12,
	"PB8:TIM10_CH1"     	:	3,
	"PB8:TIM4_CH3"      	:	2,
	"PB9:CAN1_TX"       	:	9,
	"PB9:I2C1_SDA"      	:	4,
	"PB9:I2S2_WS"       	:	5,
	"PB9:SDMMC1_D5"     	:	12,
	"PB9:SPI2_NSS"      	:	5,
	"PB9:TIM11_CH1"     	:	3,
	"PB9:TIM4_CH4"      	:	2,
	"PB10:I2C2_SCL"     	:	4,
	"PB10:I2S2_CK"      	:	5,
	"PB10:SPI2_SCK"     	:	5,
	"PB10:TIM2_CH3"     	:	1,
	"PB10:USART3_TX"    	:	7,
	"PB10:OTG_HS_ULPI_D3"	:	10,
	"PB11:I2C2_SDA"     	:	4,
	"PB11:TIM2_CH4"     	:	1,
	"PB11:USART3_RX"    	:	7,
	"PB11:OTG_HS_ULPI_D4"	:	10,
	"PB12:I2C2_SMBA"    	:	4,
	"PB12:I2S2_WS"      	:	5,
	"PB12:SPI2_NSS"     	:	5,
	"PB12:TIM1_BKIN"    	:	1,
	"PB12:USART3_CK"    	:	7,
	"PB12:OTG_HS_ID"	:	12,
	"PB12:OTG_HS_ULPI_D5"	:	10,
	"PB13:I2S2_CK"      	:	5,
	"PB13:SPI2_SCK"     	:	5,
	"PB13:TIM1_CH1N"    	:	1,
	"PB13:USART3_CTS"   	:	7,
	"PB13:OTG_HS_ULPI_D6"	:	10,
	"PB14:SPI2_MISO"    	:	5,
	"PB14:TIM12_CH1"    	:	9,
	"PB14:TIM1_CH2N"    	:	1,
	"PB14:TIM8_CH2N"    	:	3,
	"PB14:USART3_DE"    	:	7,
	"PB14:USART3_RTS"   	:	7,
	"PB14:OTG_HS_DM"	:	12,
	"PB15:I2S2_SD"      	:	5,
	"PB15:RTC_REFIN"    	:	0,
	"PB15:SPI2_MOSI"    	:	5,
	"PB15:TIM12_CH2"    	:	9,
	"PB15:TIM1_CH3N"    	:	1,
	"PB15:TIM8_CH3N"    	:	3,
	"PB15:OTG_HS_DP"	:	12,
	"PC0:SAI2_FS_B"     	:	8,
	"PC0:OTG_HS_ULPI_STP"	:	10,
	"PC1:I2S2_SD"       	:	5,
	"PC1:SAI1_SD_A"     	:	6,
	"PC1:SPI2_MOSI"     	:	5,
	"PC1:SYS_TRACED0"   	:	0,
	"PC2:SPI2_MISO"     	:	5,
	"PC2:OTG_HS_ULPI_DIR"	:	10,
	"PC3:I2S2_SD"       	:	5,
	"PC3:SPI2_MOSI"     	:	5,
	"PC3:OTG_HS_ULPI_NXT"	:	10,
	"PC4:I2S1_MCK"      	:	5,
	"PC6:I2S2_MCK"      	:	5,
	"PC6:SDMMC1_D6"     	:	12,
	"PC6:TIM3_CH1"      	:	2,
	"PC6:TIM8_CH1"      	:	3,
	"PC6:USART6_TX"     	:	8,
	"PC7:I2S3_MCK"      	:	6,
	"PC7:SDMMC1_D7"     	:	12,
	"PC7:TIM3_CH2"      	:	2,
	"PC7:TIM8_CH2"      	:	3,
	"PC7:USART6_RX"     	:	8,
	"PC8:SDMMC1_D0"     	:	12,
	"PC8:SYS_TRACED1"   	:	0,
	"PC8:TIM3_CH3"      	:	2,
	"PC8:TIM8_CH3"      	:	3,
	"PC8:UART5_DE"      	:	7,
	"PC8:UART5_RTS"     	:	7,
	"PC8:USART6_CK"     	:	8,
	"PC9:I2C3_SDA"      	:	4,
	"PC9:I2S_CKIN"      	:	5,
	"PC9:QUADSPI_BK1_IO0"	:	9,
	"PC9:RCC_MCO_2"     	:	0,
	"PC9:SDMMC1_D1"     	:	12,
	"PC9:TIM3_CH4"      	:	2,
	"PC9:TIM8_CH4"      	:	3,
	"PC9:UART5_CTS"     	:	7,
	"PC10:I2S3_CK"      	:	6,
	"PC10:QUADSPI_BK1_IO1"	:	9,
	"PC10:SDMMC1_D2"    	:	12,
	"PC10:SPI3_SCK"     	:	6,
	"PC10:UART4_TX"     	:	8,
	"PC10:USART3_TX"    	:	7,
	"PC11:QUADSPI_BK2_NCS"	:	9,
	"PC11:SDMMC1_D3"    	:	12,
	"PC11:SPI3_MISO"    	:	6,
	"PC11:UART4_RX"     	:	8,
	"PC11:USART3_RX"    	:	7,
	"PC12:I2S3_SD"      	:	6,
	"PC12:SDMMC1_CK"    	:	12,
	"PC12:SPI3_MOSI"    	:	6,
	"PC12:SYS_TRACED3"  	:	0,
	"PC12:UART5_TX"     	:	8,
	"PC12:USART3_CK"    	:	7,
	"PD2:SDMMC1_CMD"    	:	12,
	"PD2:SYS_TRACED2"   	:	0,
	"PD2:TIM3_ETR"      	:	2,
	"PD2:UART5_RX"      	:	8,
}

ADC1_map = {
	# format is PIN : ADC1_CHAN
    "PA1"	:	1,
    "PA2"	:	2,
    "PA3"	:	3,
    "PA4"	:	4,
    "PA5"	:	5,
    "PA6"	:	6,
    "PA7"	:	7,
    "PB0"	:	8,
    "PB1"	:	9,
    "PC0"	:	10,
    "PC1"	:	11,
    "PC2"	:	12,
    "PC3"	:	13,
    "PC4"	:	14,
    "PC5"	:	15,
}