#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 10 // PC4 //#define BOARD_SBUS_INVERTER 6 #define BOARD_USB_SENSE 11 // PC5 // bus 2 (soft) pins #define BOARD_SOFT_SCL 14 #define BOARD_SOFT_SDA 15 // SoftSerial pins //#define BOARD_SOFTSERIAL_TX 14 //#define BOARD_SOFTSERIAL_RX 15 # 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