mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_F4Light: new board: OmnibusV3
This commit is contained in:
night-ghost
Francisco Ferreira
parent
3830cebddc
commit
d28bac2b89
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@ -0,0 +1,46 @@
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this is for AirbotV2, AirbotV3, Also Known As Omnibus boards
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# Board connection
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Just see board's documentation.
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## Default connection
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| Function | Serial |
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| ------ | ------ |
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| USB | Serial0 in MP |
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| Telemetry | UART1 (Serial1) |
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| GPS | UART6 (Serial3) |
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| Built-in OSD | Serial2 |
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This board REQUIRES external Compass via I2C bus.
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## OSD
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Built-in OSD can be configured via files in root directory of SD card:
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- eeprom.osd is configuration, exported from Configuration Tool.
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- font.mcm is font (select one of https://github.com/night-ghost/minimosd-extra/tree/master/Released/FW_%2B_Char). This file will be deleted after flashing.
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Firmware supports connection to built-in OSD with CT from my MinimOSD (https://github.com/night-ghost/minimosd-extra). To do this:
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- set BRD_CONNECT_COM parameter to OSD's Serial (usually 2), then reboot / power cycle
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- USB will be connected to OSD after reboot, supported load/store/fonts in MAVLink mode
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OSD will work better when VSYNC out from MAX connected to PC3 (R8 to Vcc).
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## Voltage and current reading
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How to get voltage/current reading(tested on omnibus, should work on other targets to):
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- BAT_MONITOR 4
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- BAT_VOLT_PIN 8
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- BAT_CURR_PIN 7
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- BAT_VOLT_MULT 11.0 (or 10.1 for apm power module)
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- BAT_AMP_PERVOLT 38.0 (or 17 for apm power module)
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Don't try to configure Curr/Vol reading from Initial setup page of MP, because VOL/CURR variables will be reset.
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Attention!
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If you select PPM (both via jumper or removing 0 ohm resistor) UART1 is no more used for RC IN and can be
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used for telemetry (Serial1 on MP settings).
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Once PPM is selected you can use this pin for RC IN with PPM/SBUS/DSM, the parser in the HAL is able to understand
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which protocol are you using and to decode it properly.
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@ -0,0 +1,211 @@
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#ifndef BOARD_STM32V1F4
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#define BOARD_STM32V1F4
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#include <boards.h>
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#include "../../SPIDevice.h"
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#include <AP_Common/AP_Common.h>
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using namespace F4Light;
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extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] __FLASH__ = {
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/* Top header */
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/*
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const gpio_dev * const gpio_device; < Maple pin's GPIO device
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const timer_dev * const timer_device; < Pin's timer device, if any.
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const adc_dev * const adc_device; < ADC device, if any.
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uint8_t gpio_bit; < Pin's GPIO port bit.
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uint8_t timer_channel; < Timer channel, or 0 if none.
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uint8_t adc_channel; < Pin ADC channel, or ADCx if none.
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*/
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{&gpiob, NULL, NULL, 10, NO_CH, nADC}, /* D0/PB10 0 USART3_TX/I2C2-SCL */
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{&gpiob, NULL, NULL, 2, NO_CH, nADC}, /* D1/PB2 1*/
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{&gpiob, NULL, NULL, 12, NO_CH, nADC}, /* D2/PB12 2 SDCARD CS pin */
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{&gpiob, NULL, NULL, 13, NO_CH, nADC}, /* D3/PB13 3 SPI2_SCK */
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{&gpiob,&timer12,NULL, 14, TIMER_CH1, nADC}, /* D4/PB14 4 SPI2_MOSI */
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{&gpiob,&timer12,NULL, 15, TIMER_CH2, nADC}, /* D5/PB15 5 SPI2_MISO */
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{&gpioc, NULL,&_adc1, 0, NO_CH, 10}, /* D6/PC0 6 NC */
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{&gpioc, NULL,&_adc1, 1, NO_CH, 11}, /* D7/PC1 7 AMP */
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{&gpioc, NULL,&_adc1, 2, NO_CH, 12}, /* D8/PC2 8 VOLT */
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{&gpioc, NULL,&_adc1, 3, NO_CH, 13}, /* D9/PC3 9 freq sense - resistor to VCC, used asd MAX7456 VSYNC */
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{&gpioc, NULL,&_adc1, 4, NO_CH, 14}, /* D10/PC4 10 EXTI_MPU6000 */
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{&gpioc, NULL,&_adc1, 5, NO_CH, 15}, /* D11/PC5 1 USB_SENSE */
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{&gpioc, &timer8,NULL, 6, TIMER_CH1, nADC}, /* D12/PC6 2 CH3_IN / UART6_TX */
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{&gpioc, &timer8,NULL, 7, TIMER_CH2, nADC}, /* D13/PC7 3 CH4_IN / UART6_RX */
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{&gpioc, &timer8,NULL, 8, TIMER_CH3, nADC}, /* D14/PC8 4 CH5_IN / S_scl */
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{&gpioc, &timer8,NULL, 9, TIMER_CH4, nADC}, /* D15/PC9 5 CH6_IN / S_sda */
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{&gpioc, NULL, NULL, 10, NO_CH, nADC}, /* D16/PC10 6 SPI3_SCLK */
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{&gpioc, NULL, NULL, 11, NO_CH, nADC}, /* D17/PC11 7 SPI3_MISO */
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{&gpioc, NULL, NULL, 12, NO_CH, nADC}, /* D18/PC12 8 SPI3_MOSI */
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{&gpioc, NULL, NULL, 13, NO_CH, nADC}, /* D19/PC13 9 NOT CONNECTED */
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{&gpioc, NULL, NULL, 14, NO_CH, nADC}, /* D20/PC14 20 NOT CONNECTED */
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{&gpioc, NULL, NULL, 15, NO_CH, nADC}, /* D21/PC15 1 NOT CONNECTED */
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{&gpioa, &timer1,NULL, 8, TIMER_CH1, nADC}, /* D22/PA8 2 SERVO6 */
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{&gpioa, &timer1,NULL, 9, TIMER_CH2, nADC}, /* D23/PA9 3 USART1_TX */
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{&gpioa, &timer1,NULL, 10, TIMER_CH3, nADC}, /* D24/PA10 4 USART1_RX */
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{&gpiob, &timer4,NULL, 9, TIMER_CH4, nADC}, /* D25/PB9 5 PPM_in2 */
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{&gpiod, NULL, NULL, 2, NO_CH, nADC}, /* D26/PD2 6 EXTI_RFM22B / UART5_RX */
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{&gpiod, NULL, NULL, 3, NO_CH, nADC}, /* D27/PD3 7*/
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{&gpiod, NULL, NULL, 6, NO_CH, nADC}, /* D28/PD6 8*/
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{&gpiog, NULL, NULL, 11, NO_CH, nADC}, /* D29/PG11 9*/
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{&gpiog, NULL, NULL, 12, NO_CH, nADC}, /* D30/PG12 30*/
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{&gpiog, NULL, NULL, 13, NO_CH, nADC}, /* D31/PG13 1*/
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{&gpiog, NULL, NULL, 14, NO_CH, nADC}, /* D32/PG14 2*/
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{&gpiog, NULL, NULL, 8, NO_CH, nADC}, /* D33/PG8 3*/
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{&gpiog, NULL, NULL, 7, NO_CH, nADC}, /* D34/PG7 4*/
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{&gpiog, NULL, NULL, 6, NO_CH, nADC}, /* D35/PG6 5*/
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{&gpiob, &timer3,NULL, 5, TIMER_CH2, nADC}, /* D36/PB5 6 LED_BLUE */
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{&gpiob, &timer4,NULL, 6, TIMER_CH1, nADC}, /* D37/PB6 7 RCD_CS on SPI_3*/
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{&gpiob, &timer4,NULL, 7, TIMER_CH2, nADC}, /* D38/PB7 8 SD_DET */
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{&gpiof, NULL,&_adc3, 6, NO_CH, 4}, /* D39/PF6 9*/
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{&gpiof, NULL,&_adc3, 7, NO_CH, 5}, /* D40/PF7 40*/
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{&gpiof, NULL,&_adc3, 8, NO_CH, 6}, /* D41/PF8 1*/
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{&gpiof, NULL,&_adc3, 9, NO_CH, 7}, /* D42/PF9 2*/
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{&gpiof, NULL,&_adc3,10, NO_CH, 8}, /* D43/PF10 3*/
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{&gpiof, NULL, NULL, 11, NO_CH, nADC}, /* D44/PF11 4*/
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{&gpiob, &timer3,&_adc1,1, TIMER_CH4, 9}, /* D45/PB1 5 SERVO2 */
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{&gpiob, &timer3,&_adc1,0, TIMER_CH3, 8}, /* D46/PB0 6 SERVO1 */
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{&gpioa, &timer2,&_adc1,0, TIMER_CH1, 0}, /* D47/PA0 7 RSSI input */
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{&gpioa, &timer2,&_adc1,1, TIMER_CH2, 1}, /* D48/PA1 8 SERVO5 / UART4_RX */
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{&gpioa, &timer2,&_adc1,2, TIMER_CH3, 2}, /* D49/PA2 9 SERVO4 */
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{&gpioa, &timer2,&_adc1,3, TIMER_CH4, 3}, /* D50/PA3 50 SERVO3 */
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{&gpioa, NULL, &_adc1,4, NO_CH, 4}, /* D51/PA4 1 CS_MPU6000 */
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{&gpioa, NULL, &_adc1,5, NO_CH, 5}, /* D52/PA5 2 SPI1_CLK */
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{&gpioa, &timer3,&_adc1,6, TIMER_CH1, 6}, /* D53/PA6 3 SPI1_MISO */
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{&gpioa, &timer3,&_adc1,7, TIMER_CH2, 7}, /* D54/PA7 4 SPI1_MOSI */
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{&gpiof, NULL, NULL, 0, NO_CH, nADC}, /* D55/PF0 5*/
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{&gpiod, NULL, NULL, 11, NO_CH, nADC}, /* D56/PD11 6*/
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{&gpiod, &timer4,NULL, 14, TIMER_CH3, nADC}, /* D57/PD14 7*/
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{&gpiof, NULL, NULL, 1, NO_CH, nADC}, /* D58/PF1 8*/
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{&gpiod, &timer4,NULL, 12, TIMER_CH1, nADC}, /* D59/PD12 9*/
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{&gpiod, &timer4,NULL, 15, TIMER_CH4, nADC}, /* D60/PD15 60*/
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{&gpiof, NULL, NULL, 2, NO_CH, nADC}, /* D61/PF2 1*/
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{&gpiod, &timer4,NULL, 13, TIMER_CH2, nADC}, /* D62/PD13 2*/
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{&gpiod, NULL, NULL, 0, NO_CH, nADC}, /* D63/PD0 3*/
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{&gpiof, NULL, NULL, 3, NO_CH, nADC}, /* D64/PF3 4*/
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{&gpioe, NULL, NULL, 3, NO_CH, nADC}, /* D65/PE3 5*/
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{&gpiod, NULL, NULL, 1, NO_CH, nADC}, /* D66/PD1 6*/
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{&gpiof, NULL, NULL, 4, NO_CH, nADC}, /* D67/PF4 7*/
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{&gpioe, NULL, NULL, 4, NO_CH, nADC}, /* D68/PE4 8*/
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{&gpioe, NULL, NULL, 7, NO_CH, nADC}, /* D69/PE7 9*/
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{&gpiof, NULL, NULL, 5, NO_CH, nADC}, /* D70/PF5 70*/
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{&gpioe, NULL, NULL, 5, NO_CH, nADC}, /* D71/PE5 1*/
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{&gpioe, NULL, NULL, 8, NO_CH, nADC}, /* D72/PE8 2*/
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{&gpiof, NULL, NULL, 12, NO_CH, nADC}, /* D73/PF12 3*/
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{&gpioe, NULL, NULL, 6, NO_CH, nADC}, /* D74/PE6 4*/
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{&gpioe, &timer1,NULL, 9, TIMER_CH1, nADC}, /* D75/PE9 */
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{&gpiof, NULL, NULL, 13, NO_CH, nADC}, /* D76/PF13 6*/
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{&gpioe, NULL, NULL, 10, NO_CH, nADC}, /* D77/PE10 7*/
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{&gpiof, NULL, NULL, 14, NO_CH, nADC}, /* D78/PF14 8*/
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{&gpiog, NULL, NULL, 9, NO_CH, nADC}, /* D79/PG9 9*/
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{&gpioe, &timer1,NULL, 11, TIMER_CH2, nADC}, /* D80/PE11 */
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{&gpiof, NULL, NULL, 15, NO_CH, nADC}, /* D81/PF15 1*/
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{&gpiog, NULL, NULL, 10, NO_CH, nADC}, /* D82/PG10 2*/
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{&gpioe, NULL, NULL, 12, NO_CH, nADC}, /* D83/PE12 3*/
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{&gpiog, NULL, NULL, 0, NO_CH, nADC}, /* D84/PG0 4*/
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{&gpiod, NULL, NULL, 5, NO_CH, nADC}, /* D85/PD5 5*/
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{&gpioe, &timer1,NULL, 13, TIMER_CH3, nADC}, /* D86/PE13 */
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{&gpiog, NULL, NULL, 1, NO_CH, nADC}, /* D87/PG1 7*/
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{&gpiod, NULL, NULL, 4, NO_CH, nADC}, /* D88/PD4 8*/
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{&gpioe, &timer1,NULL, 14, TIMER_CH4, nADC}, /* D89/PE14 */
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{&gpiog, NULL, NULL, 2, NO_CH, nADC}, /* D90/PG2 90*/
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{&gpioe, NULL, NULL, 1, NO_CH, nADC}, /* D91/PE1 1*/
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{&gpioe, NULL, NULL, 15, NO_CH, nADC}, /* D92/PE15 2*/
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{&gpiog, NULL, NULL, 3, NO_CH, nADC}, /* D93/PG3 3*/
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{&gpioe, NULL, NULL, 0, NO_CH, nADC}, /* D94/PE0 4*/
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{&gpiod, NULL, NULL, 8, NO_CH, nADC}, /* D95/PD8 5*/
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{&gpiog, NULL, NULL, 4, NO_CH, nADC}, /* D96/PG4 6*/
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{&gpiod, NULL, NULL, 9, NO_CH, nADC}, /* D97/PD9 7*/
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{&gpiog, NULL, NULL, 5, NO_CH, nADC}, /* D98/PG5 8*/
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{&gpiod, NULL, NULL, 10, NO_CH, nADC}, /* D99/PD10 9*/
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{&gpiob, NULL, NULL, 11, NO_CH, nADC}, /* D100/PB11 100 USART3_RX/I2C2-SDA */
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{&gpiob, &timer4,NULL, 8, TIMER_CH3, nADC}, /* D101/PB8 I2C1_SCL PPM_IN */
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{&gpioe, NULL, NULL, 2, NO_CH, nADC}, /* D102/PE2 */
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{&gpioa, NULL, NULL, 15, NO_CH, nADC}, /* D103/PA15 CS_OSD */
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{&gpiob, NULL, NULL, 3, NO_CH, nADC}, /* D104/PB3 CS_BARO */
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{&gpiob, NULL, NULL, 4, NO_CH, nADC}, /* D105/PB4 Buzzer */
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{&gpioa, NULL, NULL, 13, NO_CH, nADC}, /* D106/PA13 LED_MOTOR - SWDIO */
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{&gpioa, NULL, NULL, 14, NO_CH, nADC}, /* D107/PA14 */
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{&gpioa, NULL, NULL, 11, NO_CH, nADC}, /* D108/PA11 - USB D- */
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};
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extern const struct TIM_Channel PWM_Channels[] __FLASH__ = {
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//CH1 and CH2 also for PPMSUM / SBUS / DSM
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{ // 0 RC_IN1
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.pin = 101,
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},
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{ // 1 RC_IN2
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.pin = 25,
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},
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{ // 2 RC_IN3
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.pin = 12,
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},
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{ // 3 RC_IN4
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.pin = 13,
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},
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{ // 4 RC_IN5
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.pin = 14,
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},
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{ // 5 RC_IN6
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.pin = 15,
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},
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};
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/*
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DMA modes:
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0 - disable
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1 - enable on large transfers
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2 - enable alaways
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*/
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extern const SPIDesc spi_device_table[] = { // different SPI tables per board subtype
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// name device bus mode cs_pin speed_low speed_high dma priority
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{ BOARD_INS_MPU60x0_NAME, _SPI1, 1, SPI_MODE_0, BOARD_MPU6000_CS_PIN, SPI_1_125MHZ, SPI_9MHZ, SPI_TRANSFER_DMA, DMA_Priority_VeryHigh, 1, 5 },
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{ BOARD_SDCARD_NAME, _SPI2, 2, SPI_MODE_3, 255, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 0 },
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{ HAL_BARO_BMP280_NAME, _SPI3, 3, SPI_MODE_3, BOARD_BMP280_CS_PIN, SPI_1_125MHZ, SPI_9MHZ, SPI_TRANSFER_DMA, DMA_Priority_High, 1, 1 },
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{ BOARD_OSD_NAME, _SPI3, 3, SPI_MODE_0, BOARD_OSD_CS_PIN, SPI_1_125MHZ, SPI_4_5MHZ, SPI_TRANSFER_DMA, DMA_Priority_Low, 2, 2 },
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};
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extern const uint8_t F4Light_SPI_DEVICE_NUM_DEVICES = ARRAY_SIZE(spi_device_table);
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void boardInit(void) {
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/* we don't use RFM22! this pins are used for other needs so will be initialized in respective places
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// Init RFM22B SC pin and set to HI
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gpio_set_mode( PIN_MAP[BOARD_RFM22B_CS_PIN].gpio_device, PIN_MAP[BOARD_RFM22B_CS_PIN].gpio_bit, GPIO_OUTPUT_PP);
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gpio_write_bit(PIN_MAP[BOARD_RFM22B_CS_PIN].gpio_device, PIN_MAP[BOARD_RFM22B_CS_PIN].gpio_bit, 1);
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// Init RFM22B EXT_INT pin
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gpio_set_mode(PIN_MAP[BOARD_RFM22B_INT_PIN].gpio_device, PIN_MAP[BOARD_RFM22B_INT_PIN].gpio_bit, GPIO_INPUT_PU);
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*/
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#ifdef BOARD_HMC5883_DRDY_PIN
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// Init HMC5883 DRDY EXT_INT pin - but it not used by driver
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gpio_set_mode(PIN_MAP[BOARD_HMC5883_DRDY_PIN].gpio_device, PIN_MAP[BOARD_HMC5883_DRDY_PIN].gpio_bit, GPIO_INPUT_PU);
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#endif
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#ifdef BOARD_MPU6000_DRDY_PIN
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// Init MPU6000 DRDY pin - but it not used by driver
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gpio_set_mode(PIN_MAP[BOARD_MPU6000_DRDY_PIN].gpio_device, PIN_MAP[BOARD_MPU6000_DRDY_PIN].gpio_bit, GPIO_INPUT_PU);
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#endif
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#ifdef BOARD_SBUS_INVERTER_RX
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gpio_set_mode( PIN_MAP[BOARD_SBUS_INVERTER_RX].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER_RX].gpio_bit, GPIO_OUTPUT_PP);
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||||||
|
gpio_write_bit(PIN_MAP[BOARD_SBUS_INVERTER_RX].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER_RX].gpio_bit, 0); // not inverted
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef BOARD_SBUS_INVERTER_TX
|
||||||
|
gpio_set_mode( PIN_MAP[BOARD_SBUS_INVERTER_TX].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER_TX].gpio_bit, GPIO_OUTPUT_PP);
|
||||||
|
gpio_write_bit(PIN_MAP[BOARD_SBUS_INVERTER_TX].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER_TX].gpio_bit, 0); // not inverted
|
||||||
|
#endif
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
@ -0,0 +1,217 @@
|
||||||
|
#ifndef _BOARD_STM32V1F4_H_
|
||||||
|
#define _BOARD_STM32V1F4_H_
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Configuration of the Cortex-M4 Processor and Core Peripherals
|
||||||
|
*/
|
||||||
|
#define __CM4_REV 0x0001 /*!< Core revision r0p1 */
|
||||||
|
#define __MPU_PRESENT 1 /*!< STM32F4XX provides an MPU */
|
||||||
|
#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */
|
||||||
|
#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */
|
||||||
|
#define __FPU_PRESENT 1 /*!< FPU present */
|
||||||
|
|
||||||
|
#define HSE_VALUE (8000000)
|
||||||
|
|
||||||
|
#define CYCLES_PER_MICROSECOND (SystemCoreClock / 1000000)
|
||||||
|
#define SYSTICK_RELOAD_VAL (CYCLES_PER_MICROSECOND*1000-1)
|
||||||
|
|
||||||
|
#undef STM32_PCLK1
|
||||||
|
#undef STM32_PCLK2
|
||||||
|
#define STM32_PCLK1 (CYCLES_PER_MICROSECOND*1000000/4)
|
||||||
|
#define STM32_PCLK2 (CYCLES_PER_MICROSECOND*1000000/2)
|
||||||
|
|
||||||
|
#define BOARD_BUTTON_PIN 254
|
||||||
|
|
||||||
|
#ifndef LOW
|
||||||
|
# define LOW 0
|
||||||
|
#endif
|
||||||
|
#ifndef HIGH
|
||||||
|
# define HIGH 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BOARD_BUZZER_PIN 105
|
||||||
|
#define HAL_BUZZER_ON 1
|
||||||
|
#define HAL_BUZZER_OFF 0
|
||||||
|
|
||||||
|
#define BOARD_NR_USARTS 5
|
||||||
|
#define BOARD_USART1_TX_PIN 23
|
||||||
|
#define BOARD_USART1_RX_PIN 24
|
||||||
|
#define BOARD_USART3_TX_PIN 0
|
||||||
|
#define BOARD_USART3_RX_PIN 100
|
||||||
|
#define BOARD_USART6_TX_PIN 12
|
||||||
|
#define BOARD_USART6_RX_PIN 13
|
||||||
|
|
||||||
|
#define BOARD_USART4_RX_PIN 48
|
||||||
|
#define BOARD_USART4_TX_PIN 47
|
||||||
|
|
||||||
|
//#define BOARD_USART5_RX_PIN 26 // PD2 EXTI_RFM22B / UART5_RX
|
||||||
|
//#define BOARD_BUTTON_PIN 103 // PA15 CS_RFM22B
|
||||||
|
|
||||||
|
#define BOARD_DSM_USART (_USART1)
|
||||||
|
|
||||||
|
#define BOARD_NR_SPI 3
|
||||||
|
#define BOARD_SPI1_SCK_PIN 52
|
||||||
|
#define BOARD_SPI1_MISO_PIN 53
|
||||||
|
#define BOARD_SPI1_MOSI_PIN 54
|
||||||
|
#define BOARD_SPI2_SCK_PIN 3 // PB13
|
||||||
|
#define BOARD_SPI2_MISO_PIN 4 // PB14
|
||||||
|
#define BOARD_SPI2_MOSI_PIN 5 // PB15
|
||||||
|
#define BOARD_SPI3_MOSI_PIN 18
|
||||||
|
#define BOARD_SPI3_MISO_PIN 17
|
||||||
|
#define BOARD_SPI3_SCK_PIN 16
|
||||||
|
|
||||||
|
#define BOARD_MPU6000_CS_PIN 51
|
||||||
|
#define BOARD_MPU6000_DRDY_PIN PC4
|
||||||
|
|
||||||
|
#define BOARD_SBUS_INVERTER_RX PC8
|
||||||
|
#define BOARD_SBUS_INVERTER_TX PC9
|
||||||
|
|
||||||
|
// bus 2 (soft) pins
|
||||||
|
//#define BOARD_SOFT_SCL PC8
|
||||||
|
//#define BOARD_SOFT_SDA PC9
|
||||||
|
|
||||||
|
// SoftSerial pins
|
||||||
|
//#define BOARD_SOFTSERIAL_TX PC8
|
||||||
|
//#define BOARD_SOFTSERIAL_RX PC9
|
||||||
|
|
||||||
|
#define BOARD_USB_SENSE PC5
|
||||||
|
|
||||||
|
|
||||||
|
# define BOARD_BLUE_LED_PIN 36 // BLUE
|
||||||
|
# define BOARD_GREEN_LED_PIN 6 // NC - PC0 pin 8
|
||||||
|
|
||||||
|
# define HAL_GPIO_A_LED_PIN BOARD_BLUE_LED_PIN
|
||||||
|
# define HAL_GPIO_B_LED_PIN BOARD_GREEN_LED_PIN
|
||||||
|
|
||||||
|
# define HAL_GPIO_LED_ON LOW
|
||||||
|
# define HAL_GPIO_LED_OFF HIGH
|
||||||
|
|
||||||
|
|
||||||
|
#define BOARD_NR_GPIO_PINS 109
|
||||||
|
|
||||||
|
//TODO add #define BOARD_HAS_UART3 ?
|
||||||
|
|
||||||
|
#define I2C1_SDA PB9
|
||||||
|
#define I2C1_SCL PB8
|
||||||
|
|
||||||
|
#define I2C2_SDA PB11
|
||||||
|
#define I2C2_SCL PB10
|
||||||
|
|
||||||
|
|
||||||
|
//#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
|
||||||
|
#define BOARD_I2C_BUS_EXT 1 // external I2C
|
||||||
|
#define BOARD_I2C_BUS_SLOW 1 // slow down bus with this number
|
||||||
|
|
||||||
|
#define BOARD_I2C1_DISABLE // lots of drivers tries to scan all buses, spoiling device setup
|
||||||
|
|
||||||
|
#define BOARD_BARO_DEFAULT HAL_BARO_BMP280_SPI
|
||||||
|
#define HAL_BARO_BMP280_NAME "bmp280"
|
||||||
|
#define BOARD_BMP280_CS_PIN 104
|
||||||
|
|
||||||
|
#define HAL_BARO_MS5611_I2C_BUS BOARD_I2C_BUS_EXT
|
||||||
|
#define HAL_BARO_MS5611_I2C_ADDR (0x77)
|
||||||
|
|
||||||
|
#define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843
|
||||||
|
#define BOARD_COMPASS_HMC5843_I2C_ADDR 0x1E
|
||||||
|
#define BOARD_COMPASS_HMC5843_ROTATION ROTATION_NONE
|
||||||
|
|
||||||
|
#define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_EXT
|
||||||
|
#define HAL_COMPASS_HMC5843_I2C_ADDR BOARD_COMPASS_HMC5843_I2C_ADDR
|
||||||
|
#define HAL_COMPASS_HMC5843_ROTATION BOARD_COMPASS_HMC5843_ROTATION
|
||||||
|
|
||||||
|
|
||||||
|
#define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI
|
||||||
|
#define BOARD_INS_ROTATION ROTATION_YAW_180
|
||||||
|
#define BOARD_INS_MPU60x0_NAME "mpu6000"
|
||||||
|
|
||||||
|
#define BOARD_STORAGE_SIZE 8192 // 4096 // EEPROM size
|
||||||
|
|
||||||
|
|
||||||
|
#define BOARD_SDCARD_NAME "sdcard"
|
||||||
|
#define BOARD_SDCARD_CS_PIN 2
|
||||||
|
#define BOARD_SDCARD_DET_PIN 38 // PB7
|
||||||
|
|
||||||
|
#define BOARD_HAS_SDIO
|
||||||
|
#define HAL_BOARD_LOG_DIRECTORY "0:/APM/LOGS"
|
||||||
|
#define HAL_BOARD_TERRAIN_DIRECTORY "0:/APM/TERRAIN"
|
||||||
|
//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
|
||||||
|
#define USB_MASSSTORAGE
|
||||||
|
|
||||||
|
#define BOARD_OSD_NAME "osd"
|
||||||
|
#define BOARD_OSD_CS_PIN 103
|
||||||
|
#define BOARD_OSD_VSYNC_PIN 9 // PC3, Frequency input
|
||||||
|
#define BOARD_OSD_RESET_PIN 6 // PC0, NC
|
||||||
|
|
||||||
|
|
||||||
|
#define BOARD_OWN_NAME "AirbotV2"
|
||||||
|
|
||||||
|
# define BOARD_PUSHBUTTON_PIN 254
|
||||||
|
# define BOARD_USB_MUX_PIN -1
|
||||||
|
# define BOARD_BATTERY_VOLT_PIN 8 // Battery voltage on A0 (PC2) D8
|
||||||
|
# define BOARD_BATTERY_CURR_PIN 7 // Battery current on A1 (PC1) D7
|
||||||
|
# define BOARD_SONAR_SOURCE_ANALOG_PIN 254
|
||||||
|
|
||||||
|
# define HAL_BATT_VOLT_PIN 8 // ChibiOS compatible defines
|
||||||
|
# define HAL_BATT_CURR_PIN 8
|
||||||
|
# define HAL_BATT_VOLT_SCALE 10.1
|
||||||
|
# define HAL_BATT_CURR_SCALE 17
|
||||||
|
|
||||||
|
|
||||||
|
#define BOARD_USB_DMINUS 108
|
||||||
|
|
||||||
|
#define BOARD_SBUS_UART 1 // can use some UART as hardware inverted input
|
||||||
|
|
||||||
|
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||||
|
|
||||||
|
#define BOARD_UARTS_LAYOUT 3
|
||||||
|
|
||||||
|
// use soft I2C driver instead hardware
|
||||||
|
//#define BOARD_SOFT_I2C
|
||||||
|
|
||||||
|
#define SERVO_PIN_1 46 // PB0
|
||||||
|
#define SERVO_PIN_2 45 // PB1
|
||||||
|
#define SERVO_PIN_3 50 // PA3
|
||||||
|
#define SERVO_PIN_4 49 // PA2
|
||||||
|
#define SERVO_PIN_5 48 // PA1
|
||||||
|
#define SERVO_PIN_6 22 // PA8
|
||||||
|
|
||||||
|
#define MOTOR_LAYOUT_DEFAULT 0
|
||||||
|
|
||||||
|
#if 1
|
||||||
|
#define HAL_CONSOLE USB_Driver // console on USB
|
||||||
|
#define HAL_CONSOLE_PORT 0
|
||||||
|
#else
|
||||||
|
#define HAL_CONSOLE uart1Driver // console on radio
|
||||||
|
#define HAL_CONSOLE_PORT 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/*
|
||||||
|
// @Param: USB_STORAGE
|
||||||
|
// @DisplayName: allows access to SD card at next reboot
|
||||||
|
// @Description: Allows to read/write internal SD card via USB mass-storage protocol. Auto-reset.
|
||||||
|
// @Values: 0:normal, 1:work as USB flash drive
|
||||||
|
// @User: Advanced
|
||||||
|
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
|
||||||
|
|
||||||
|
// @Param: SD_REFORMAT
|
||||||
|
// @DisplayName: Allows to re-format SD card in case of errors in FS
|
||||||
|
// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
|
||||||
|
// @Values: 0: not allow, 1:allow
|
||||||
|
// @User: Advanced
|
||||||
|
AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0),
|
||||||
|
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define BOARD_HAL_VARINFO \
|
||||||
|
AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
|
||||||
|
AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0),
|
||||||
|
|
||||||
|
|
||||||
|
// parameters
|
||||||
|
#define BOARD_HAL_PARAMS \
|
||||||
|
AP_Int8 _usb_storage; \
|
||||||
|
AP_Int8 _sd_format;
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
|
@ -0,0 +1,183 @@
|
||||||
|
/*
|
||||||
|
*****************************************************************************
|
||||||
|
**
|
||||||
|
** File : stm32_flash.ld
|
||||||
|
**
|
||||||
|
** Abstract : Linker script for STM32F407VG Device with
|
||||||
|
** 1024KByte FLASH, 128KByte RAM
|
||||||
|
**
|
||||||
|
** Set heap size, stack size and stack location according
|
||||||
|
** to application requirements.
|
||||||
|
**
|
||||||
|
** Set memory bank area and size if external memory is used.
|
||||||
|
**
|
||||||
|
** Target : STMicroelectronics STM32
|
||||||
|
**
|
||||||
|
** Environment : Atollic TrueSTUDIO(R)
|
||||||
|
**
|
||||||
|
** Distribution: The file is distributed “as is,” without any warranty
|
||||||
|
** of any kind.
|
||||||
|
**
|
||||||
|
** (c)Copyright Atollic AB.
|
||||||
|
** You may use this file as-is or modify it according to the needs of your
|
||||||
|
** project. Distribution of this file (unmodified or modified) is not
|
||||||
|
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
|
||||||
|
** rights to distribute the assembled, compiled & linked contents of this
|
||||||
|
** file as part of an application binary file, provided that it is built
|
||||||
|
** using the Atollic TrueSTUDIO(R) toolchain.
|
||||||
|
**
|
||||||
|
*****************************************************************************
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Entry Point */
|
||||||
|
ENTRY(Reset_Handler)
|
||||||
|
|
||||||
|
/* Highest address of the user mode stack */
|
||||||
|
/* _estack = 0x20020000; */ /* end of 128K RAM */
|
||||||
|
_estack = 0x10010000; /* end of 64k CCM */
|
||||||
|
|
||||||
|
/* Generate a link error if heap and stack don't fit into RAM */
|
||||||
|
_Min_Heap_Size = 0; /* required amount of heap */
|
||||||
|
_Min_Stack_Size = 0x800; /* required amount of stack */
|
||||||
|
|
||||||
|
/* Specify the memory areas */
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
FLASH0 (rx) : ORIGIN = 0x08000000, LENGTH = 32K
|
||||||
|
FLASH (rx) : ORIGIN = 0x08010000, LENGTH = 960K
|
||||||
|
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||||
|
CCM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||||
|
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Define output sections */
|
||||||
|
SECTIONS
|
||||||
|
{
|
||||||
|
/* The startup code goes first into FLASH */
|
||||||
|
.isr_vector :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
__isr_vector_start = .;
|
||||||
|
|
||||||
|
KEEP(*(.isr_vector)) /* Startup code */
|
||||||
|
. = ALIGN(4);
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
/* The program code and other data goes into FLASH */
|
||||||
|
.text :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
*(.text) /* .text sections (code) */
|
||||||
|
*(.text*) /* .text* sections (code) */
|
||||||
|
*(.rodata) /* .rodata sections (constants, strings, etc.) */
|
||||||
|
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
|
||||||
|
*(.glue_7) /* glue arm to thumb code */
|
||||||
|
*(.glue_7t) /* glue thumb to arm code */
|
||||||
|
*(.eh_frame)
|
||||||
|
|
||||||
|
KEEP (*(.init))
|
||||||
|
KEEP (*(.fini))
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_etext = .; /* define a global symbols at end of code */
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
|
||||||
|
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
|
||||||
|
.ARM : {
|
||||||
|
__exidx_start = .;
|
||||||
|
*(.ARM.exidx*)
|
||||||
|
__exidx_end = .;
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
.preinit_array :
|
||||||
|
{
|
||||||
|
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||||
|
KEEP (*(.preinit_array*))
|
||||||
|
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||||
|
} >FLASH
|
||||||
|
.init_array :
|
||||||
|
{
|
||||||
|
PROVIDE_HIDDEN (__init_array_start = .);
|
||||||
|
KEEP (*(SORT(.init_array.*)))
|
||||||
|
KEEP (*(.init_array*))
|
||||||
|
PROVIDE_HIDDEN (__init_array_end = .);
|
||||||
|
} >FLASH
|
||||||
|
.fini_array :
|
||||||
|
{
|
||||||
|
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||||
|
KEEP (*(.fini_array*))
|
||||||
|
KEEP (*(SORT(.fini_array.*)))
|
||||||
|
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
/* used by the startup to initialize data */
|
||||||
|
_sidata = .;
|
||||||
|
|
||||||
|
/* Initialized data sections goes into RAM, load LMA copy after code */
|
||||||
|
.data :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
_sdata = .; /* create a global symbol at data start */
|
||||||
|
*(.data) /* .data sections */
|
||||||
|
*(.data*) /* .data* sections */
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_edata = .; /* define a global symbol at data end */
|
||||||
|
} >RAM AT> FLASH
|
||||||
|
|
||||||
|
/* Uninitialized data section */
|
||||||
|
. = ALIGN(4);
|
||||||
|
.bss (NOLOAD):
|
||||||
|
{
|
||||||
|
/* This is used by the startup in order to initialize the .bss secion */
|
||||||
|
_sbss = .; /* define a global symbol at bss start */
|
||||||
|
__bss_start__ = _sbss;
|
||||||
|
*(.bss)
|
||||||
|
*(.bss*)
|
||||||
|
*(COMMON)
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_ebss = .; /* define a global symbol at bss end */
|
||||||
|
__bss_end__ = _ebss;
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
/* User_heap_stack section, used to check that there is enough RAM left */
|
||||||
|
._user_heap_stack (NOLOAD):
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
PROVIDE ( end = . );
|
||||||
|
PROVIDE ( _end = . );
|
||||||
|
. = . + _Min_Heap_Size;
|
||||||
|
/* . = . + _Min_Stack_Size; */
|
||||||
|
. = ALIGN(4);
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
/* MEMORY_bank1 section, code must be located here explicitly */
|
||||||
|
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
|
||||||
|
.memory_b1_text :
|
||||||
|
{
|
||||||
|
*(.mb1text) /* .mb1text sections (code) */
|
||||||
|
*(.mb1text*) /* .mb1text* sections (code) */
|
||||||
|
*(.mb1rodata) /* read-only data (constants) */
|
||||||
|
*(.mb1rodata*)
|
||||||
|
} >MEMORY_B1
|
||||||
|
|
||||||
|
.ccm (NOLOAD): {
|
||||||
|
. = ALIGN(4);
|
||||||
|
_sccm = .;
|
||||||
|
*(.ccm)
|
||||||
|
. = ALIGN(4);
|
||||||
|
_eccm = .;
|
||||||
|
}>CCM
|
||||||
|
|
||||||
|
/* Remove information from the standard libraries */
|
||||||
|
/DISCARD/ :
|
||||||
|
{
|
||||||
|
libc.a ( * )
|
||||||
|
libm.a ( * )
|
||||||
|
libgcc.a ( * )
|
||||||
|
}
|
||||||
|
|
||||||
|
.ARM.attributes 0 : { *(.ARM.attributes) }
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
flash-10000.ld
|
||||||
|
|
@ -0,0 +1,210 @@
|
||||||
|
/*
|
||||||
|
*****************************************************************************
|
||||||
|
**
|
||||||
|
** File : stm32_flash.ld
|
||||||
|
**
|
||||||
|
** Abstract : Linker script for STM32F407VG Device with
|
||||||
|
** 1024KByte FLASH, 128KByte RAM
|
||||||
|
**
|
||||||
|
** Set heap size, stack size and stack location according
|
||||||
|
** to application requirements.
|
||||||
|
**
|
||||||
|
** Set memory bank area and size if external memory is used.
|
||||||
|
**
|
||||||
|
** Target : STMicroelectronics STM32
|
||||||
|
**
|
||||||
|
** Environment : Atollic TrueSTUDIO(R)
|
||||||
|
**
|
||||||
|
** Distribution: The file is distributed “as is,” without any warranty
|
||||||
|
** of any kind.
|
||||||
|
**
|
||||||
|
** (c)Copyright Atollic AB.
|
||||||
|
** You may use this file as-is or modify it according to the needs of your
|
||||||
|
** project. Distribution of this file (unmodified or modified) is not
|
||||||
|
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
|
||||||
|
** rights to distribute the assembled, compiled & linked contents of this
|
||||||
|
** file as part of an application binary file, provided that it is built
|
||||||
|
** using the Atollic TrueSTUDIO(R) toolchain.
|
||||||
|
**
|
||||||
|
*****************************************************************************
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Entry Point */
|
||||||
|
ENTRY(Reset_Handler)
|
||||||
|
|
||||||
|
/* Highest address of the user mode stack */
|
||||||
|
/* _estack = 0x20020000; */ /* end of 128K RAM */
|
||||||
|
_estack = 0x10010000; /* end of 64k CCM */
|
||||||
|
|
||||||
|
/* Generate a link error if heap and stack don't fit into RAM */
|
||||||
|
_Min_Heap_Size = 0; /* required amount of heap */
|
||||||
|
_Min_Stack_Size = 0x800; /* required amount of stack */
|
||||||
|
|
||||||
|
|
||||||
|
/* Specify the memory areas */
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
FLASH0 (rx) : ORIGIN = 0x08000000, LENGTH = 64K
|
||||||
|
FLASH (rx) : ORIGIN = 0x08010000, LENGTH = 960K
|
||||||
|
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||||
|
CCM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||||
|
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Define output sections */
|
||||||
|
SECTIONS
|
||||||
|
{
|
||||||
|
|
||||||
|
|
||||||
|
/* The startup code goes first into FLASH */
|
||||||
|
/*.isr_vector :*/
|
||||||
|
.text0 :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
__isr_vector_start = .;
|
||||||
|
KEEP(*(.isr_vector)) /* Startup code */
|
||||||
|
FILL(0xffff)
|
||||||
|
. = ALIGN(4);
|
||||||
|
} >FLASH0
|
||||||
|
|
||||||
|
/* The program code and other data goes into FLASH */
|
||||||
|
.text :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
*(.text) /* .text sections (code) */
|
||||||
|
*(.text*) /* .text* sections (code) */
|
||||||
|
*(.rodata) /* .rodata sections (constants, strings, etc.) */
|
||||||
|
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
|
||||||
|
*(.glue_7) /* glue arm to thumb code */
|
||||||
|
*(.glue_7t) /* glue thumb to arm code */
|
||||||
|
*(.eh_frame)
|
||||||
|
|
||||||
|
KEEP (*(.init))
|
||||||
|
KEEP (*(.fini))
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_etext = .; /* define a global symbols at end of code */
|
||||||
|
FILL(0xffff)
|
||||||
|
} >FLASH =0xFF
|
||||||
|
|
||||||
|
|
||||||
|
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
|
||||||
|
.ARM : {
|
||||||
|
__exidx_start = .;
|
||||||
|
*(.ARM.exidx*)
|
||||||
|
__exidx_end = .;
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
.preinit_array :
|
||||||
|
{
|
||||||
|
PROVIDE_HIDDEN (__preinit_array_start = .);
|
||||||
|
KEEP (*(.preinit_array*))
|
||||||
|
PROVIDE_HIDDEN (__preinit_array_end = .);
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
.init_array :
|
||||||
|
{
|
||||||
|
PROVIDE_HIDDEN (__init_array_start = .);
|
||||||
|
KEEP (*(SORT(.init_array.*)))
|
||||||
|
KEEP (*(.init_array*))
|
||||||
|
PROVIDE_HIDDEN (__init_array_end = .);
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
.fini_array :
|
||||||
|
{
|
||||||
|
PROVIDE_HIDDEN (__fini_array_start = .);
|
||||||
|
KEEP (*(.fini_array*))
|
||||||
|
KEEP (*(SORT(.fini_array.*)))
|
||||||
|
PROVIDE_HIDDEN (__fini_array_end = .);
|
||||||
|
} >FLASH
|
||||||
|
|
||||||
|
/* used by the startup to initialize data */
|
||||||
|
_sidata = .;
|
||||||
|
|
||||||
|
/* Initialized data sections goes into RAM, load LMA copy after code */
|
||||||
|
.data :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
_sdata = .; /* create a global symbol at data start */
|
||||||
|
*(.data) /* .data sections */
|
||||||
|
*(.data*) /* .data* sections */
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_edata = .; /* define a global symbol at data end */
|
||||||
|
FILL(0xffff)
|
||||||
|
} >RAM AT> FLASH
|
||||||
|
|
||||||
|
/* Uninitialized data section */
|
||||||
|
. = ALIGN(4);
|
||||||
|
.bss :
|
||||||
|
{
|
||||||
|
/* This is used by the startup in order to initialize the .bss secion */
|
||||||
|
_sbss = .; /* define a global symbol at bss start */
|
||||||
|
__bss_start__ = _sbss;
|
||||||
|
*(.bss)
|
||||||
|
*(.bss*)
|
||||||
|
*(COMMON)
|
||||||
|
|
||||||
|
. = ALIGN(4);
|
||||||
|
_ebss = .; /* define a global symbol at bss end */
|
||||||
|
__bss_end__ = _ebss;
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
/* User_heap_stack section, used to check that there is enough RAM left */
|
||||||
|
._user_heap_stack :
|
||||||
|
{
|
||||||
|
. = ALIGN(4);
|
||||||
|
PROVIDE ( end = . );
|
||||||
|
PROVIDE ( _end = . );
|
||||||
|
. = . + _Min_Heap_Size;
|
||||||
|
. = . + _Min_Stack_Size;
|
||||||
|
. = ALIGN(4);
|
||||||
|
} >RAM
|
||||||
|
|
||||||
|
|
||||||
|
/* used by the startup to initialize data */
|
||||||
|
_siccm = .;
|
||||||
|
|
||||||
|
/* initialized CCM sections
|
||||||
|
.ccm (): {
|
||||||
|
. = ALIGN(4);
|
||||||
|
_sccm = .;
|
||||||
|
*(.ccm)
|
||||||
|
*(.ccm*)
|
||||||
|
. = ALIGN(4);
|
||||||
|
_eccm = .;
|
||||||
|
}>CCM AT> FLASH
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/* empty CCM sections */
|
||||||
|
.ccm (NOLOAD): {
|
||||||
|
. = ALIGN(4);
|
||||||
|
_sccm = .;
|
||||||
|
*(.ccm)
|
||||||
|
*(.ccm*)
|
||||||
|
. = ALIGN(4);
|
||||||
|
_eccm = .;
|
||||||
|
}>CCM
|
||||||
|
|
||||||
|
|
||||||
|
/* MEMORY_bank1 section, code must be located here explicitly */
|
||||||
|
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
|
||||||
|
.memory_b1_text :
|
||||||
|
{
|
||||||
|
*(.mb1text) /* .mb1text sections (code) */
|
||||||
|
*(.mb1text*) /* .mb1text* sections (code) */
|
||||||
|
*(.mb1rodata) /* read-only data (constants) */
|
||||||
|
*(.mb1rodata*)
|
||||||
|
} >MEMORY_B1
|
||||||
|
|
||||||
|
/* Remove information from the standard libraries */
|
||||||
|
/DISCARD/ :
|
||||||
|
{
|
||||||
|
libc.a ( * )
|
||||||
|
libm.a ( * )
|
||||||
|
libgcc.a ( * )
|
||||||
|
}
|
||||||
|
|
||||||
|
.ARM.attributes 0 : { *(.ARM.attributes) }
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,56 @@
|
||||||
|
# additional features for board
|
||||||
|
|
||||||
|
# Standard things
|
||||||
|
sp := $(sp).x
|
||||||
|
dirstack_$(sp) := $(d)
|
||||||
|
d := $(dir)
|
||||||
|
BUILDDIRS += $(BUILD_PATH)/$(d)
|
||||||
|
#BUILDDIRS += $(BUILD_PATH)/$(d)/comm
|
||||||
|
BUILDDIRS += $(BUILD_PATH)/$(d)/../boards/$(BOARD)
|
||||||
|
|
||||||
|
WIR := AP_HAL_F4Light/wirish
|
||||||
|
BRD := AP_HAL_F4Light/boards
|
||||||
|
|
||||||
|
LIBRARY_INCLUDES += -I$(BRD)/$(BOARD)
|
||||||
|
|
||||||
|
# Local flags
|
||||||
|
# always include board #defines
|
||||||
|
CFLAGS_$(d) := -Wall -Werror -include $(BRD)/$(BOARD)/board.h
|
||||||
|
|
||||||
|
|
||||||
|
# Local rules and targets
|
||||||
|
cSRCS_$(d) :=
|
||||||
|
cSRCS_$(d) += $(BRD)/$(BOARD)/system_stm32f4xx.c # C startup code
|
||||||
|
|
||||||
|
cppSRCS_$(d) :=
|
||||||
|
cppSRCS_$(d) += $(BRD)/$(BOARD)/board.cpp
|
||||||
|
cppSRCS_$(d) += $(WIR)/boards.cpp
|
||||||
|
|
||||||
|
sSRCS_$(d) :=
|
||||||
|
sSRCS_$(d) += $(WIR)/startup.S # early startup code
|
||||||
|
sSRCS_$(d) += $(WIR)/exc.S # exception handling and task switching code
|
||||||
|
|
||||||
|
|
||||||
|
cFILES_$(d) := $(cSRCS_$(d):%=$(d)/%)
|
||||||
|
cppFILES_$(d) := $(cppSRCS_$(d):%=$(d)/%)
|
||||||
|
sFILES_$(d) := $(sSRCS_$(d):%=$(d)/%)
|
||||||
|
|
||||||
|
OBJS_$(d) := $(cFILES_$(d):%.c=$(LIBRARIES_PATH)/%.o)
|
||||||
|
OBJS_$(d) += $(cppFILES_$(d):%.cpp=$(LIBRARIES_PATH)/%.o)
|
||||||
|
OBJS_$(d) += $(sFILES_$(d):%.S=$(LIBRARIES_PATH)/%.o)
|
||||||
|
|
||||||
|
DEPS_$(d) := $(OBJS_$(d):%.o=%.d)
|
||||||
|
|
||||||
|
|
||||||
|
$(OBJS_$(d)): TGT_CFLAGS := $(CFLAGS_$(d))
|
||||||
|
|
||||||
|
TGT_BIN += $(OBJS_$(d))
|
||||||
|
|
||||||
|
# Standard things
|
||||||
|
-include $(DEPS_$(d))
|
||||||
|
d := $(dirstack_$(sp))
|
||||||
|
sp := $(basename $(sp))
|
||||||
|
|
||||||
|
|
||||||
|
include $(HARDWARE_PATH)/osd/rules.mk
|
||||||
|
include $(HARDWARE_PATH)/massstorage/rules.mk
|
||||||
|
|
@ -0,0 +1,82 @@
|
||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @file Project/STM32F4xx_StdPeriph_Templates/stm32f4xx_conf.h
|
||||||
|
* @author MCD Application Team
|
||||||
|
* @version V1.0.0
|
||||||
|
* @date 30-September-2011
|
||||||
|
* @brief Library configuration file.
|
||||||
|
******************************************************************************
|
||||||
|
* @attention
|
||||||
|
*
|
||||||
|
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||||
|
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
|
||||||
|
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
|
||||||
|
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
|
||||||
|
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
|
||||||
|
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||||
|
*
|
||||||
|
* <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2>
|
||||||
|
******************************************************************************
|
||||||
|
*/
|
||||||
|
|
||||||
|
/* Define to prevent recursive inclusion -------------------------------------*/
|
||||||
|
#ifndef __STM32F4xx_CONF_H
|
||||||
|
#define __STM32F4xx_CONF_H
|
||||||
|
|
||||||
|
/* Uncomment the line below to expanse the "assert_param" macro in the
|
||||||
|
Standard Peripheral Library drivers code */
|
||||||
|
/* #define USE_FULL_ASSERT 1 */
|
||||||
|
|
||||||
|
/* Exported macro ------------------------------------------------------------*/
|
||||||
|
#ifdef USE_FULL_ASSERT
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief The assert_param macro is used for function's parameters check.
|
||||||
|
* @param expr: If expr is false, it calls assert_failed function
|
||||||
|
* which reports the name of the source file and the source
|
||||||
|
* line number of the call that failed.
|
||||||
|
* If expr is true, it returns no value.
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
|
||||||
|
/* Exported functions ------------------------------------------------------- */
|
||||||
|
void assert(uint8_t* file, uint32_t line);
|
||||||
|
#else
|
||||||
|
#define assert_param(expr) ((void)0)
|
||||||
|
#endif /* USE_FULL_ASSERT */
|
||||||
|
|
||||||
|
|
||||||
|
/* Includes ------------------------------------------------------------------*/
|
||||||
|
/* Uncomment the line below to enable peripheral header file inclusion */
|
||||||
|
#include "stm32f4xx_adc.h"
|
||||||
|
#include "stm32f4xx_can.h"
|
||||||
|
#include "stm32f4xx_dbgmcu.h"
|
||||||
|
#include "stm32f4xx_dma.h"
|
||||||
|
#include "stm32f4xx_exti.h"
|
||||||
|
#include "stm32f4xx_flash.h"
|
||||||
|
#include "stm32f4xx_gpio.h"
|
||||||
|
#include "stm32f4xx_i2c.h"
|
||||||
|
#include "stm32f4xx_iwdg.h"
|
||||||
|
#include "stm32f4xx_pwr.h"
|
||||||
|
#include "stm32f4xx_rcc.h"
|
||||||
|
#include "stm32f4xx_rtc.h"
|
||||||
|
#include "stm32f4xx_spi.h"
|
||||||
|
#include "stm32f4xx_syscfg.h"
|
||||||
|
#include "stm32f4xx_tim.h"
|
||||||
|
#include "stm32f4xx_usart.h"
|
||||||
|
#include "stm32f4xx_wwdg.h"
|
||||||
|
#include "stm32f4xx_nvic.h" /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */
|
||||||
|
|
||||||
|
/* Exported types ------------------------------------------------------------*/
|
||||||
|
/* Exported constants --------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* If an external clock source is used, then the value of the following define
|
||||||
|
should be set to the value of the external clock source, else, if no external
|
||||||
|
clock is used, keep this define commented */
|
||||||
|
/*#define I2S_EXTERNAL_CLOCK_VAL 12288000 */ /* Value of the external clock in Hz */
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* __STM32F4xx_CONF_H */
|
||||||
|
|
||||||
|
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
|
||||||
|
|
@ -0,0 +1,5 @@
|
||||||
|
#!/bin/sh
|
||||||
|
|
||||||
|
/usr/local/stlink/st-util -m
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,21 @@
|
||||||
|
#git submodule init && git submodule update
|
||||||
|
export TOOLCHAIN
|
||||||
|
|
||||||
|
ROOT=`cd ../../../../..; pwd`
|
||||||
|
|
||||||
|
export PATH=/usr/local/bin:$PATH
|
||||||
|
|
||||||
|
echo $ROOT
|
||||||
|
|
||||||
|
|
||||||
|
( # AirBotF4 board
|
||||||
|
cd $ROOT/ArduCopter
|
||||||
|
make f4light-clean
|
||||||
|
make f4light VERBOSE=1 BOARD=f4light_OmnibusV3
|
||||||
|
) && (
|
||||||
|
cd $ROOT/ArduPlane
|
||||||
|
make f4light-clean
|
||||||
|
make f4light VERBOSE=1 BOARD=f4light_OmnibusV3
|
||||||
|
)
|
||||||
|
|
||||||
|
# at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc
|
||||||
|
|
@ -0,0 +1,7 @@
|
||||||
|
#!/bin/sh
|
||||||
|
|
||||||
|
#production binary for bootloader
|
||||||
|
dfu-util -a 0 --dfuse-address 0x08010000:unprotect:force -D ../../../../../ArduCopter/f4light_OmnibusV3.bin -R
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,9 @@
|
||||||
|
#!/bin/sh
|
||||||
|
|
||||||
|
# production binary with bootloader
|
||||||
|
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
|
||||||
|
|
||||||
|
#bare metal binary
|
||||||
|
|
||||||
|
/usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_OmnibusV3.bin 0x08010000 && \
|
||||||
|
/usr/local/stlink/st-util -m
|
||||||
|
|
@ -0,0 +1,9 @@
|
||||||
|
#!/bin/sh
|
||||||
|
|
||||||
|
# production binary with bootloader
|
||||||
|
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
|
||||||
|
|
||||||
|
#bare metal binary
|
||||||
|
|
||||||
|
/usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_OmnibusV3.bin 0x08010000 && \
|
||||||
|
/usr/local/stlink/st-util -m
|
||||||
|
|
@ -0,0 +1,12 @@
|
||||||
|
#!/bin/sh
|
||||||
|
|
||||||
|
# production binary without bootloader
|
||||||
|
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
|
||||||
|
|
||||||
|
#bare metal binary or binary with bootloader
|
||||||
|
/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \
|
||||||
|
/usr/local/stlink/st-flash --reset write ../../../../../../ArduCopter/f4light_OmnibusV3_bl.bin 0x08000000 && \
|
||||||
|
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 && \
|
||||||
|
/usr/local/stlink/st-util -m
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,10 @@
|
||||||
|
#!/bin/sh
|
||||||
|
|
||||||
|
# production binary without bootloader
|
||||||
|
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
|
||||||
|
|
||||||
|
#bare metal binary or binary with bootloader
|
||||||
|
/usr/local/stlink/st-flash --reset write ../../../../../../ArduCopter/f4light_OmnibusV3_bl.bin 0x08000000 && \
|
||||||
|
/usr/local/stlink/st-util -m
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,12 @@
|
||||||
|
#!/bin/sh
|
||||||
|
|
||||||
|
# production binary with bootloader
|
||||||
|
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
|
||||||
|
|
||||||
|
#bare metal binary
|
||||||
|
/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \
|
||||||
|
/usr/local/stlink/st-flash --reset write ../../../../../../ArduPlane/f4light_OmnibusV3_bl.bin 0x08000000
|
||||||
|
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000
|
||||||
|
/usr/local/stlink/st-util -m
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,489 @@
|
||||||
|
/**
|
||||||
|
******************************************************************************
|
||||||
|
* @file system_stm32f4xx.c
|
||||||
|
* @author MCD Application Team
|
||||||
|
* @version V1.0.0
|
||||||
|
* @date 19-September-2011
|
||||||
|
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
|
||||||
|
* This file contains the system clock configuration for STM32F4xx devices,
|
||||||
|
* and is generated by the clock configuration tool
|
||||||
|
* stm32f4xx_Clock_Configuration_V1.0.0.xls
|
||||||
|
*
|
||||||
|
* 1. This file provides two functions and one global variable to be called from
|
||||||
|
* user application:
|
||||||
|
* - systemInit(oc): Setups the system clock (System clock source, PLL Multiplier
|
||||||
|
* and Divider factors, AHB/APBx prescalers and Flash settings),
|
||||||
|
* depending on the configuration made in the clock xls tool.
|
||||||
|
* This function is called at startup just after reset and
|
||||||
|
* before branch to main program. This call is made inside
|
||||||
|
* the "startup_stm32f4xx.s" file.
|
||||||
|
*
|
||||||
|
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
|
||||||
|
* by the user application to setup the SysTick
|
||||||
|
* timer or configure other parameters.
|
||||||
|
*
|
||||||
|
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
|
||||||
|
* be called whenever the core clock is changed
|
||||||
|
* during program execution.
|
||||||
|
*
|
||||||
|
* 2. After each device reset the HSI (16 MHz) is used as system clock source.
|
||||||
|
* Then systemInit() function is called, in "startup_stm32f4xx.s" file, to
|
||||||
|
* configure the system clock before to branch to main program.
|
||||||
|
*
|
||||||
|
* 3. If the system clock source selected by user fails to startup, the systemInit()
|
||||||
|
* function will do nothing and HSI still used as system clock source. User can
|
||||||
|
* add some code to deal with this issue inside the SetSysClock() function.
|
||||||
|
*
|
||||||
|
* 4. The default value of HSE crystal is set to 8 MHz, refer to "HSE_VALUE" define
|
||||||
|
* in "stm32f4xx.h" file. When HSE is used as system clock source, directly or
|
||||||
|
* through PLL, and you are using different crystal you have to adapt the HSE
|
||||||
|
* value to your own configuration.
|
||||||
|
*
|
||||||
|
* 5. This file configures the system clock as follows:
|
||||||
|
*=============================================================================
|
||||||
|
*=============================================================================
|
||||||
|
* Supported STM32F4xx device revision | Rev A
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* System Clock source | PLL (HSE)
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* SYSCLK(Hz) | 168000000
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* HCLK(Hz) | 168000000
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* AHB Prescaler | 1
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* APB1 Prescaler | 4
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* APB2 Prescaler | 2
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* HSE Frequency(Hz) | 8000000
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* PLL_M | 8
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* PLL_N | 336
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* PLL_P | 2
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* PLL_Q | 7
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* PLLI2S_N | 192
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* PLLI2S_R | 5
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* I2S input clock(Hz) | 38400000
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* VDD(V) | 3.3
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* High Performance mode | Enabled
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* Flash Latency(WS) | 5
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* Prefetch Buffer | OFF
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* Instruction cache | ON
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* Data cache | ON
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
* Require 48MHz for USB OTG FS, | Enabled
|
||||||
|
* SDIO and RNG clock |
|
||||||
|
*-----------------------------------------------------------------------------
|
||||||
|
*=============================================================================
|
||||||
|
******************************************************************************
|
||||||
|
* @attention
|
||||||
|
*
|
||||||
|
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
|
||||||
|
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
|
||||||
|
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
|
||||||
|
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
|
||||||
|
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
|
||||||
|
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
|
||||||
|
*
|
||||||
|
* <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2>
|
||||||
|
******************************************************************************
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
M N Q P MHz
|
||||||
|
4 168 7 2 168
|
||||||
|
4 360 15 4 180
|
||||||
|
4 192 8 2 192
|
||||||
|
4 216 9 2 216
|
||||||
|
4 240 10 2 240
|
||||||
|
4 264 11 2 264
|
||||||
|
|
||||||
|
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** @addtogroup CMSIS
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** @addtogroup stm32f4xx_system
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** @addtogroup STM32F4xx_System_Private_Includes
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "stm32f4xx.h"
|
||||||
|
|
||||||
|
void systemInit(uint8_t oc);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** @addtogroup STM32F4xx_System_Private_Defines
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/*!< Uncomment the following line if you need to relocate your vector Table in
|
||||||
|
Internal SRAM. */
|
||||||
|
/* #define VECT_TAB_SRAM */
|
||||||
|
#define VECT_TAB_OFFSET FLASH_OFFSET /*!< Vector Table base offset field.
|
||||||
|
This value must be a multiple of 0x200. */
|
||||||
|
|
||||||
|
|
||||||
|
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
|
||||||
|
#define PLL_M 4
|
||||||
|
#define PLL_N 168
|
||||||
|
|
||||||
|
/* SYSCLK = PLL_VCO / PLL_P */
|
||||||
|
#define PLL_P 2
|
||||||
|
|
||||||
|
/* USB OTG FS, SDIO and RNG Clock = PLL_VCO / PLLQ */
|
||||||
|
#define PLL_Q 7
|
||||||
|
|
||||||
|
/* PLLI2S_VCO = (HSE_VALUE Or HSI_VALUE / PLL_M) * PLLI2S_N
|
||||||
|
I2SCLK = PLLI2S_VCO / PLLI2S_R */
|
||||||
|
#define PLLI2S_N 192
|
||||||
|
#define PLLI2S_R 5
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** @addtogroup STM32F4xx_System_Private_Macros
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** @addtogroup STM32F4xx_System_Private_Variables
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
uint32_t SystemCoreClock = 168000000;
|
||||||
|
|
||||||
|
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
void SetSysClock(uint8_t oc);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @}
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** @addtogroup STM32F4xx_System_Private_Functions
|
||||||
|
* @{
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Setup the microcontroller system
|
||||||
|
* Initialize the Embedded Flash Interface, the PLL and update the
|
||||||
|
* SystemFrequency variable.
|
||||||
|
* @param None
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void systemInit(uint8_t oc)
|
||||||
|
{
|
||||||
|
//SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
|
||||||
|
/* Reset the RCC clock configuration to the default reset state ------------*/
|
||||||
|
/* Set HSION bit */
|
||||||
|
RCC->CR |= (uint32_t)0x00000001;
|
||||||
|
|
||||||
|
/* Reset CFGR register */
|
||||||
|
RCC->CFGR = 0x00000000;
|
||||||
|
|
||||||
|
/* Reset HSEON, CSSON and PLLON bits */
|
||||||
|
RCC->CR &= (uint32_t)0xFEF6FFFF;
|
||||||
|
|
||||||
|
/* Reset PLLCFGR register */
|
||||||
|
RCC->PLLCFGR = 0x24003010;
|
||||||
|
|
||||||
|
/* Reset HSEBYP bit */
|
||||||
|
RCC->CR &= (uint32_t)0xFFFBFFFF;
|
||||||
|
|
||||||
|
/* Disable all interrupts */
|
||||||
|
RCC->CIR = 0x00000000;
|
||||||
|
|
||||||
|
|
||||||
|
/* Configure the System clock source, PLL Multiplier and Divider factors,
|
||||||
|
AHB/APBx prescalers and Flash settings ----------------------------------*/
|
||||||
|
SetSysClock(oc);
|
||||||
|
|
||||||
|
// Configure the Vector Table location add offset address ------------------
|
||||||
|
extern unsigned __isr_vector_start; // from linker
|
||||||
|
SCB->VTOR = (uint32_t)&__isr_vector_start;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Update SystemCoreClock variable according to Clock Register Values.
|
||||||
|
* The SystemCoreClock variable contains the core clock (HCLK), it can
|
||||||
|
* be used by the user application to setup the SysTick timer or configure
|
||||||
|
* other parameters.
|
||||||
|
*
|
||||||
|
* @note Each time the core clock (HCLK) changes, this function must be called
|
||||||
|
* to update SystemCoreClock variable value. Otherwise, any configuration
|
||||||
|
* based on this variable will be incorrect.
|
||||||
|
*
|
||||||
|
* @note - The system frequency computed by this function is not the real
|
||||||
|
* frequency in the chip. It is calculated based on the predefined
|
||||||
|
* constant and the selected clock source:
|
||||||
|
*
|
||||||
|
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
|
||||||
|
*
|
||||||
|
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
|
||||||
|
*
|
||||||
|
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
|
||||||
|
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
|
||||||
|
*
|
||||||
|
* (*) HSI_VALUE is a constant defined in stm32f4xx.h file (default value
|
||||||
|
* 16 MHz) but the real value may vary depending on the variations
|
||||||
|
* in voltage and temperature.
|
||||||
|
*
|
||||||
|
* (**) HSE_VALUE is a constant defined in stm32f4xx.h file (default value
|
||||||
|
* 25 MHz), user has to ensure that HSE_VALUE is same as the real
|
||||||
|
* frequency of the crystal used. Otherwise, this function may
|
||||||
|
* have wrong result.
|
||||||
|
*
|
||||||
|
* - The result of this function could be not correct when using fractional
|
||||||
|
* value for HSE crystal.
|
||||||
|
*
|
||||||
|
* @param None
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void SystemCoreClockUpdate(void)
|
||||||
|
{
|
||||||
|
uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
|
||||||
|
|
||||||
|
/* Get SYSCLK source -------------------------------------------------------*/
|
||||||
|
tmp = RCC->CFGR & RCC_CFGR_SWS;
|
||||||
|
|
||||||
|
switch (tmp)
|
||||||
|
{
|
||||||
|
case 0x00: /* HSI used as system clock source */
|
||||||
|
SystemCoreClock = HSI_VALUE;
|
||||||
|
break;
|
||||||
|
case 0x04: /* HSE used as system clock source */
|
||||||
|
SystemCoreClock = HSE_VALUE;
|
||||||
|
break;
|
||||||
|
case 0x08: /* PLL used as system clock source */
|
||||||
|
|
||||||
|
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
|
||||||
|
SYSCLK = PLL_VCO / PLL_P
|
||||||
|
*/
|
||||||
|
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
|
||||||
|
pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
|
||||||
|
|
||||||
|
if (pllsource != 0)
|
||||||
|
{
|
||||||
|
/* HSE used as PLL clock source */
|
||||||
|
pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
/* HSI used as PLL clock source */
|
||||||
|
pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
|
||||||
|
}
|
||||||
|
|
||||||
|
pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
|
||||||
|
SystemCoreClock = pllvco/pllp;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
SystemCoreClock = HSI_VALUE;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
/* Compute HCLK frequency --------------------------------------------------*/
|
||||||
|
/* Get HCLK prescaler */
|
||||||
|
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
|
||||||
|
/* HCLK frequency */
|
||||||
|
SystemCoreClock >>= tmp;
|
||||||
|
}
|
||||||
|
|
||||||
|
extern void __error(uint32_t num, uint32_t pc, uint32_t lr, uint32_t flag);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Configures the System clock source, PLL Multiplier and Divider factors,
|
||||||
|
* AHB/APBx prescalers and Flash settings
|
||||||
|
* @Note This function should be called only once the RCC clock configuration
|
||||||
|
* is reset to the default reset state (done in systemInit() function).
|
||||||
|
* @param None
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void SetSysClock(uint8_t oc)
|
||||||
|
{
|
||||||
|
/******************************************************************************/
|
||||||
|
/* PLL (clocked by HSE) used as System clock source */
|
||||||
|
/******************************************************************************/
|
||||||
|
__IO uint32_t StartUpCounter = 0, HSEStatus = 0;
|
||||||
|
|
||||||
|
/* Enable HSE */
|
||||||
|
RCC->CR |= ((uint32_t)RCC_CR_HSEON);
|
||||||
|
|
||||||
|
/* Wait till HSE is ready and if Time out is reached exit */
|
||||||
|
do
|
||||||
|
{
|
||||||
|
HSEStatus = RCC->CR & RCC_CR_HSERDY;
|
||||||
|
StartUpCounter++;
|
||||||
|
} while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
|
||||||
|
|
||||||
|
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
|
||||||
|
{
|
||||||
|
HSEStatus = (uint32_t)0x01;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
HSEStatus = (uint32_t)0x00;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (HSEStatus == (uint32_t)0x01)
|
||||||
|
{
|
||||||
|
/* Enable high performance mode, System frequency up to 168 MHz */
|
||||||
|
RCC->APB1ENR |= RCC_APB1ENR_PWREN;
|
||||||
|
PWR->CR |= PWR_CR_PMODE;
|
||||||
|
|
||||||
|
/* HCLK = SYSCLK / 1*/
|
||||||
|
RCC->CFGR |= RCC_CFGR_HPRE_DIV1;
|
||||||
|
|
||||||
|
/* PCLK2 = HCLK / 2*/
|
||||||
|
RCC->CFGR |= RCC_CFGR_PPRE2_DIV2;
|
||||||
|
|
||||||
|
/* PCLK1 = HCLK / 4*/
|
||||||
|
RCC->CFGR |= RCC_CFGR_PPRE1_DIV4;
|
||||||
|
|
||||||
|
/*
|
||||||
|
M N Q P MHz
|
||||||
|
0 4 168 7 2 168
|
||||||
|
1 4 360 15 4 180
|
||||||
|
2 4 192 8 2 192
|
||||||
|
3 4 216 9 2 216
|
||||||
|
4 4 240 10 2 240
|
||||||
|
5 4 264 11 2 264
|
||||||
|
|
||||||
|
*/
|
||||||
|
uint8_t pll_m=4, pll_q, pll_p=2;
|
||||||
|
uint16_t pll_n;
|
||||||
|
uint8_t flash_latency;
|
||||||
|
uint32_t cr_flags = RCC_CR_CSSON;
|
||||||
|
switch(oc) {
|
||||||
|
case 0:
|
||||||
|
default:
|
||||||
|
pll_n=168; pll_q=7;
|
||||||
|
flash_latency = FLASH_ACR_LATENCY_5WS;
|
||||||
|
SystemCoreClock = 168000000;
|
||||||
|
break;
|
||||||
|
case 1:
|
||||||
|
pll_n=360; pll_q=15; pll_p=4;
|
||||||
|
flash_latency = FLASH_ACR_LATENCY_5WS;
|
||||||
|
SystemCoreClock = 180000000;
|
||||||
|
// cr_flags = 0; // CSS don't support this mode
|
||||||
|
break;
|
||||||
|
case 2:
|
||||||
|
pll_n=192; pll_q=8;
|
||||||
|
flash_latency = FLASH_ACR_LATENCY_6WS;
|
||||||
|
SystemCoreClock = 192000000;
|
||||||
|
break;
|
||||||
|
case 3:
|
||||||
|
pll_n=216; pll_q=9;
|
||||||
|
flash_latency = FLASH_ACR_LATENCY_6WS;
|
||||||
|
SystemCoreClock = 216000000;
|
||||||
|
break;
|
||||||
|
case 4:
|
||||||
|
pll_n=240; pll_q=10;
|
||||||
|
flash_latency = FLASH_ACR_LATENCY_7WS;
|
||||||
|
SystemCoreClock = 240000000;
|
||||||
|
break;
|
||||||
|
case 5:
|
||||||
|
pll_n=264; pll_q=11;
|
||||||
|
flash_latency = FLASH_ACR_LATENCY_7WS;
|
||||||
|
SystemCoreClock = 264000000;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Configure the main PLL */
|
||||||
|
/* RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
|
||||||
|
(RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24); */
|
||||||
|
|
||||||
|
RCC->PLLCFGR = pll_m | (pll_n << 6) | (((pll_p >> 1) -1) << 16) |
|
||||||
|
(RCC_PLLCFGR_PLLSRC_HSE) | (pll_q << 24);
|
||||||
|
|
||||||
|
/* Enable the main PLL */
|
||||||
|
RCC->CR |= RCC_CR_PLLON | cr_flags;
|
||||||
|
|
||||||
|
|
||||||
|
/* Wait till the main PLL is ready */
|
||||||
|
while((RCC->CR & RCC_CR_PLLRDY) == 0) { }
|
||||||
|
|
||||||
|
|
||||||
|
/* Configure Flash no-prefetch, Instruction cache, Data cache and wait state */
|
||||||
|
FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN | flash_latency;
|
||||||
|
|
||||||
|
/* Select the main PLL as system clock source */
|
||||||
|
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
|
||||||
|
RCC->CFGR |= RCC_CFGR_SW_PLL;
|
||||||
|
|
||||||
|
/* Wait till the main PLL is used as system clock source */
|
||||||
|
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL) {}
|
||||||
|
|
||||||
|
FLASH->ACR |= FLASH_ACR_PRFTEN; // enable prefetch. this greatly increases both noice and speed
|
||||||
|
|
||||||
|
// also see http://radiokot.ru/forum/viewtopic.php?f=59&t=117260
|
||||||
|
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{ /* If HSE fails to start-up, the application will have wrong clock
|
||||||
|
configuration. User can add here some code to deal with this error */
|
||||||
|
__error(12,0,0,0);
|
||||||
|
}
|
||||||
|
|
||||||
|
/******************************************************************************/
|
||||||
|
/* I2S clock configuration */
|
||||||
|
/******************************************************************************/
|
||||||
|
/* PLLI2S clock used as I2S clock source */
|
||||||
|
RCC->CFGR &= ~RCC_CFGR_I2SSRC;
|
||||||
|
|
||||||
|
/* Configure PLLI2S */
|
||||||
|
RCC->PLLI2SCFGR = (PLLI2S_N << 6) | (PLLI2S_R << 28);
|
||||||
|
#if 0 // we don't use I2S
|
||||||
|
/* Enable PLLI2S */
|
||||||
|
RCC->CR |= ((uint32_t)RCC_CR_PLLI2SON);
|
||||||
|
|
||||||
|
/* Wait till PLLI2S is ready */
|
||||||
|
while((RCC->CR & RCC_CR_PLLI2SRDY) == 0) { }
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,26 @@
|
||||||
|
# Board-specific configuration values. Flash and SRAM sizes in bytes.
|
||||||
|
|
||||||
|
MCU := STM32F405RG
|
||||||
|
PRODUCT_ID := 0003
|
||||||
|
DENSITY := STM32_HIGH_DENSITY
|
||||||
|
FLASH_SIZE := 1048576
|
||||||
|
SRAM_SIZE := 131072
|
||||||
|
|
||||||
|
BOARD_TYPE := 70
|
||||||
|
BOARD_REV := 1
|
||||||
|
BOOTLOADER := revo405_bl
|
||||||
|
|
||||||
|
# Memory target-specific configuration values
|
||||||
|
|
||||||
|
ifeq ($(MEMORY_TARGET), ram)
|
||||||
|
LDSCRIPT := ram.ld
|
||||||
|
VECT_BASE_ADDR := VECT_TAB_RAM
|
||||||
|
endif
|
||||||
|
ifeq ($(MEMORY_TARGET), flash)
|
||||||
|
LDSCRIPT := flash.ld
|
||||||
|
VECT_BASE_ADDR := VECT_TAB_FLASH
|
||||||
|
endif
|
||||||
|
ifeq ($(MEMORY_TARGET), jtag)
|
||||||
|
LDSCRIPT := jtag.ld
|
||||||
|
VECT_BASE_ADDR := VECT_TAB_BASE
|
||||||
|
endif
|
||||||
|
|
@ -54,6 +54,9 @@ make_plane(){
|
||||||
) && ( # AirBotV2 board
|
) && ( # AirBotV2 board
|
||||||
make_copter "f4light_AirbotV2" && \
|
make_copter "f4light_AirbotV2" && \
|
||||||
make_plane "f4light_AirbotV2"
|
make_plane "f4light_AirbotV2"
|
||||||
|
) && ( # OmnibusV3 board
|
||||||
|
make_copter "f4light_OmnibusV3" && \
|
||||||
|
make_plane "f4light_OmnibusV3"
|
||||||
) && ( # RevoMini board with SD card
|
) && ( # RevoMini board with SD card
|
||||||
make_copter "f4light_Revolution_SD" && \
|
make_copter "f4light_Revolution_SD" && \
|
||||||
make_plane "f4light_Revolution_SD"
|
make_plane "f4light_Revolution_SD"
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue