mirror of https://github.com/ArduPilot/ardupilot
226 lines
6.4 KiB
C
226 lines
6.4 KiB
C
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#ifndef _BOARD_STM32V1F4_H_
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#define _BOARD_STM32V1F4_H_
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/**
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* @brief Configuration of the Cortex-M4 Processor and Core Peripherals
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*/
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#define __CM4_REV 0x0001 /*!< Core revision r0p1 */
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#define __MPU_PRESENT 1 /*!< STM32F4XX provides an MPU */
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#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */
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#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */
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#define __FPU_PRESENT 1 /*!< FPU present */
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#define HSE_VALUE (8000000)
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#define CYCLES_PER_MICROSECOND (SystemCoreClock / 1000000)
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#define SYSTICK_RELOAD_VAL (CYCLES_PER_MICROSECOND*1000-1)
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#undef STM32_PCLK1
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#undef STM32_PCLK2
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#define STM32_PCLK1 (CYCLES_PER_MICROSECOND*1000000/4)
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#define STM32_PCLK2 (CYCLES_PER_MICROSECOND*1000000/2)
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#define BOARD_BUTTON_PIN 254
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#ifndef LOW
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# define LOW 0
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#endif
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#ifndef HIGH
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# define HIGH 1
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#endif
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#define BOARD_BUZZER_PIN PC15
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#define HAL_BUZZER_ON 0
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#define HAL_BUZZER_OFF 1
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#define BOARD_NR_USARTS 4
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#define BOARD_HAS_UART3
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#define BOARD_USART1_TX_PIN PA10
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#define BOARD_USART1_RX_PIN PA9
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//#define BOARD_USART2_TX_PIN PA2
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//#define BOARD_USART2_RX_PIN PA3 - used for PPM
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#define BOARD_USART3_TX_PIN PC11
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#define BOARD_USART3_RX_PIN PC10
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#define BOARD_USART4_TX_PIN PA0
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#define BOARD_USART4_RX_PIN PA1
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#define BOARD_USART5_RX_PIN PD2
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#define BOARD_USART5_TX_PIN PC12
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#define BOARD_USART6_TX_PIN PC6
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#define BOARD_USART6_RX_PIN PC7
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#define BOARD_NR_SPI 3
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#define BOARD_SPI1_SCK_PIN PA5
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#define BOARD_SPI1_MISO_PIN PA6
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#define BOARD_SPI1_MOSI_PIN PA7
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#define BOARD_SPI2_SCK_PIN PB13
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#define BOARD_SPI2_MISO_PIN PC2
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#define BOARD_SPI2_MOSI_PIN PC3
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#define BOARD_SPI3_SCK_PIN PB3
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#define BOARD_SPI3_MISO_PIN PB4
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#define BOARD_SPI3_MOSI_PIN PB5
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#define BOARD_MPU6000_CS_PIN PA4
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#define BOARD_MPU6000_DRDY_PIN PC4
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#define BOARD_USB_SENSE PC13
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#define I2C1_SDA PB9
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#define I2C1_SCL PB8
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#define I2C2_SDA PB11
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#define I2C2_SCL PB10
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// bus 2 (soft) pins
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//#define BOARD_SOFT_SCL 14
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//#define BOARD_SOFT_SDA 15
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// SoftSerial pins
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//#define BOARD_SOFTSERIAL_TX 14
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//#define BOARD_SOFTSERIAL_RX 15
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//#define BOARD_BLUE_LED_PIN PA14
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//#define BOARD_GREEN_LED_PIN PA13
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//#define HAL_GPIO_A_LED_PIN BOARD_BLUE_LED_PIN
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//#define HAL_GPIO_B_LED_PIN BOARD_GREEN_LED_PIN
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# define BOARD_LED_ON LOW
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# define BOARD_LED_OFF HIGH
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# define HAL_GPIO_LED_ON LOW
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# define HAL_GPIO_LED_OFF HIGH
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#define BOARD_NR_GPIO_PINS 109
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#define BOARD_I2C_BUS_INT 0 // hardware internal I2C
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#define BOARD_I2C_BUS_EXT 1 // external I2C
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#define BOARD_I2C_BUS_SLOW 1 // slow down bus with this number
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#define BOARD_BARO_DEFAULT HAL_BARO_BMP280_I2C
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#define HAL_BARO_BMP280_BUS BOARD_I2C_BUS_INT
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#define HAL_BARO_BMP280_I2C_ADDR (0x76)
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#define HAL_BARO_BMP280_I2C_ADDR_ALT (0x77)
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#define HAL_BARO_MS5611_I2C_BUS BOARD_I2C_BUS_EXT
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#define HAL_BARO_MS5611_I2C_ADDR (0x77)
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#define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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#define BOARD_COMPASS_HMC5843_I2C_ADDR 0x1E
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#define BOARD_COMPASS_HMC5843_ROTATION ROTATION_NONE
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#define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_EXT
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#define HAL_COMPASS_HMC5843_I2C_ADDR BOARD_COMPASS_HMC5843_I2C_ADDR
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#define HAL_COMPASS_HMC5843_ROTATION BOARD_COMPASS_HMC5843_ROTATION
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#define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI
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#define BOARD_INS_ROTATION ROTATION_YAW_270
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#define BOARD_INS_MPU60x0_NAME "mpu6000"
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#define BOARD_STORAGE_SIZE 8192 // 4096 // EEPROM size
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#define BOARD_SDCARD_NAME "sdcard"
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#define BOARD_SDCARD_CS_PIN PC14
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//#define BOARD_SDCARD_DET_PIN 38 // PB7
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#define BOARD_HAS_SDIO
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#define HAL_BOARD_LOG_DIRECTORY "0:/APM/LOGS"
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#define HAL_BOARD_TERRAIN_DIRECTORY "0:/APM/TERRAIN"
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//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
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#define USB_MASSSTORAGE
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#define BOARD_OSD_NAME "osd"
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#define BOARD_OSD_CS_PIN PB12
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//#define BOARD_OSD_VSYNC_PIN 9
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//#define BOARD_OSD_RESET_PIN 6
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/*
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#define DATAFLASH_CS_PIN PC0
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#define BOARD_DATAFLASH_NAME "dataflash"
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#define BOARD_DATAFLASH_PAGES 0x10000
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#define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes
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*/
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#define BOARD_OWN_NAME "MatekF4-wing"
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# define BOARD_PUSHBUTTON_PIN 254
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# define BOARD_USB_MUX_PIN -1
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# define BOARD_BATTERY_VOLT_PIN PC0 // Battery voltage
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# define BOARD_BATTERY_CURR_PIN PC1 // Battery current
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# define BOARD_SONAR_SOURCE_ANALOG_PIN PC5 // rssi
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# define HAL_BATT_VOLT_PIN PC5 // ChibiOS compatible defines
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# define HAL_BATT_CURR_PIN PC4
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# define HAL_BATT_VOLT_SCALE 10.1
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# define HAL_BATT_CURR_SCALE 31.7
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#define BOARD_USB_DMINUS 108
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//#define BOARD_SBUS_INVERTER
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//#define BOARD_SBUS_UART 2 // can use some UART as hardware inverted input
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#define LED_STRIP_PIN PA15
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE
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#define BOARD_UARTS_LAYOUT 6
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#define SERVO_PIN_1 PB7 // S1
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#define SERVO_PIN_2 PB6 // S2
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#define SERVO_PIN_3 PB0 // S3
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#define SERVO_PIN_4 PB1 // S4
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#define SERVO_PIN_5 PC8 // S5
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#define SERVO_PIN_6 PC9 // S6
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#define SERVO_PIN_7 PB14 // S7
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#define SERVO_PIN_8 PB15 // S8
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#define SERVO_PIN_9 PA8 // S9
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#define MOTOR_LAYOUT_DEFAULT 0 // Ardupilot
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#define HAL_CONSOLE USB_Driver // console on USB
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#define HAL_CONSOLE_PORT 0
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/*
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// @Param: USB_STORAGE
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// @DisplayName: allows access to SD card at next reboot
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// @Description: Allows to read/write internal SD card via USB mass-storage protocol. Auto-reset.
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// @Values: 0:normal, 1:work as USB flash drive
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// @User: Advanced
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AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
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// @Param: SD_REFORMAT
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// @DisplayName: Allows to re-format SD card in case of errors in FS
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// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
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// @Values: 0: not allow, 1:allow
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// @User: Advanced
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AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0),
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*/
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#define BOARD_HAL_VARINFO \
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AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
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AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0),
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// parameters
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#define BOARD_HAL_PARAMS \
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AP_Int8 _usb_storage; \
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AP_Int8 _sd_format;
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#endif
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