#ifndef _BOARD_STM32V1F4_H_ #define _BOARD_STM32V1F4_H_ /* this file included to *ANY* compilation so shouldn't include anything else */ /** * @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 5 // PB15, PWM2 - used as PPM2 #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_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 255 #define BOARD_SPI2_MISO_PIN 255 #define BOARD_SPI2_MOSI_PIN 255 #define BOARD_SPI3_MOSI_PIN 18 #define BOARD_SPI3_MISO_PIN 17 #define BOARD_SPI3_SCK_PIN 16 #define BOARD_DATAFLASH_CS_PIN 104 #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 9 // frequency select - resistor to VCC or ground # 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 // use soft I2C driver instead hardware //#define BOARD_SOFT_I2C2 #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 HAL_BARO_MS5611_I2C_BUS BOARD_I2C_BUS_INT #define HAL_BARO_MS5611_I2C_ADDR (0x77) #define HAL_BARO_BMP280_BUS BOARD_I2C_BUS_INT #define HAL_BARO_BMP280_I2C_ADDR (0x76) #define HAL_BARO_BMP085_BUS BOARD_I2C_BUS_INT #define HAL_BARO_BMP085_I2C_ADDR (0x77) #define HAL_BARO_MS5607_I2C_BUS BOARD_I2C_BUS_INT #define HAL_BARO_MS5607_I2C_ADDR (0x77) #define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843 //#define BOARD_HMC5883_DRDY_PIN 38 // PB7 - but it not used by driver #define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_INT #define HAL_COMPASS_HMC5843_I2C_ADDR (0x1E) #define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE #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_DATAFLASH_NAME "dataflash" #define BOARD_DATAFLASH_PAGES 0x2000 #define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes #if 1// if board's dataflash supports 4k erases then we can use it as FAT and share it via USB #define BOARD_DATAFLASH_FATFS #define BOARD_HAS_SDIO #define USB_MASSSTORAGE #define HAL_BOARD_LOG_DIRECTORY "0:" #define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN" //#define HAL_PARAM_DEFAULTS_PATH "0:/defaults.parm" #else // old dataflash logs #endif #define BOARD_UARTS_LAYOUT 2 #define BOARD_OWN_NAME "Airbot" # 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 BOARD_USB_DMINUS 108 #define USE_SERIAL_4WAY_BLHELI_INTERFACE #define BOARD_SBUS_UART 1 // can use some UART as hardware inverted input // motor layouts #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 HAL_CONSOLE USB_Driver // console on USB //#define HAL_CONSOLE uart1Driver // console on radio #define HAL_CONSOLE_PORT 0 /* // @Param: MOTOR_LAYOUT // @DisplayName: Motor layout scheme // @Description: Selects how motors are numbered // @Values: 0:ArduCopter, 1: Ardupilot with pins 2&3 for servos 2:OpenPilot,3:CleanFlight // @User: Advanced AP_GROUPINFO("_MOTOR_LAYOUT", 0, HAL_F4Light, _motor_layout, 0), // @Param: USE_SOFTSERIAL // @DisplayName: Use SoftwareSerial driver // @Description: Use SoftwareSerial driver instead SoftwareI2C on Input Port pins 7 & 8 // @Values: 0:disabled,1:enabled // @User: Advanced AP_GROUPINFO("_USE_SOFTSERIAL", 1, HAL_F4Light, _use_softserial, 0), // @Param: UART_SBUS // @DisplayName: What UART to use as SBUS input // @Description: Allows to use any UART as SBUS input // @Values: 0:disabled,1:UART1, 2:UART2 etc // @User: Advanced AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \ // @Param: SERVO_MASK // @DisplayName: Servo Mask of Input port // @Description: Enable selected pins of Input port to be used as Servo Out // @Values: 0:disabled,1:enable pin3 (PPM_1), 2: enable pin4 (PPM_2), 4: enable pin5 (UART6_TX) , 8: enable pin6 (UART6_RX), 16: enable pin7, 32: enable pin8 // @User: Advanced AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0) \ // @Param: CONNECT_COM // @DisplayName: connect to COM port // @Description: Allows to connect USB to arbitrary UART, thus allowing to configure devices on that UARTs. Auto-reset. // @Values: 0:disabled, 1:connect to port 1, 2:connect to port 2, etc // @User: Advanced AP_GROUPINFO("CONNECT_COM", 2, AP_Param_Helper, _connect_com, 0) \ // @Param: CONNECT_ESC // @DisplayName: connect to ESC inputs via 4wayIf // @Description: Allows to connect USB to ESC inputs, thus allowing to configure ESC as on 4-wayIf. Auto-reset. // @Values: 0:disabled, 1:connect uartA to ESC, 2: connect uartB to ESC, etc // @User: Advanced AP_GROUPINFO("CONNECT_ESC", 2, AP_Param_Helper, _connect_esc, 0) \ // @Param: FLEXI_I2C // @DisplayName: use FlexiPort as I2C, not USART // @Description: Allows to switch FlexiPort usage between USART and I2C modes // @Values: 0:USART, 1:I2C // @User: Advanced AP_GROUPINFO("FLEXI_I2C", 6, AP_Param_Helper, _flexi_i2c, 0) \ // @Param: PWM_TYPE // @DisplayName: PWM protocol used // @Description: Allows to ignore MOT_PWM_TYPE param and set PWM protocol independently // @Values: 0:use MOT_PWM_TYPE, 1:OneShot 2:OneShot125 3:OneShot42 4:PWM125 // @User: Advanced AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0) // @Param: RC_INPUT // @DisplayName: Type of RC input // @Description: allows to force specified RC input port // @Values: 0:auto, 1:PPM1 (pin3), 2: PPM2 (pin4) etc // @User: Advanced AP_GROUPINFO("RC_INPUT", 9, AP_Param_Helper, _rc_input, 0) // @Param: AIBAO_FS // @DisplayName: Support FailSafe for Walkera Aibao RC // @Description: Allows to translate of Walkera Aibao RC FailSafe to Ardupilot's failsafe // @Values: 0: not translate, 1:translate // @User: Advanced AP_GROUPINFO("AIBAO_FS", 7, AP_Param_Helper, _aibao_fs, 0) // @Param: RC_FS // @DisplayName: Set time of RC failsafe // @Description: if none of RC channel changes in that time, then failsafe triggers // @Values: 0: turned off, >0 - time in seconds. Good values are starting 60s for digital protocols // @User: Advanced AP_GROUPINFO("RC_FS", 17, AP_Param_Helper, _rc_fs, 0) */ #ifdef USB_MASSSTORAGE #define BOARD_HAL_VARINFO \ AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \ AP_GROUPINFO("SOFTSERIAL", 2, AP_Param_Helper, _use_softserial, 0), \ AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \ AP_GROUPINFO("SERVO_MASK", 4, AP_Param_Helper, _servo_mask, 0), \ AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \ AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0), \ AP_GROUPINFO("CONNECT_ESC", 6, AP_Param_Helper, _connect_esc, 0), \ AP_GROUPINFO("DBG_WAYBACK", 8, AP_Param_Helper, _dbg_wayback, 0), \ AP_GROUPINFO("USB_STORAGE", 9, AP_Param_Helper, _usb_storage, 0), \ AP_GROUPINFO("TIME_OFFSET", 10, AP_Param_Helper, _time_offset, 0), \ AP_GROUPINFO("CONSOLE_UART", 11, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \ AP_GROUPINFO("EE_DEFERRED", 12, AP_Param_Helper, _eeprom_deferred, 0), \ AP_GROUPINFO("RC_INPUT", 13, AP_Param_Helper, _rc_input, 0), \ AP_GROUPINFO("AIBAO_FS", 14, AP_Param_Helper, _aibao_fs, 0), \ AP_GROUPINFO("OVERCLOCK", 15, AP_Param_Helper, _overclock, 0), \ AP_GROUPINFO("CORRECT_GYRO", 16, AP_Param_Helper, _correct_gyro, 0), \ AP_GROUPINFO("RC_FS", 17, AP_Param_Helper, _rc_fs, 0) #else #define BOARD_HAL_VARINFO \ AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \ AP_GROUPINFO("SOFTSERIAL", 2, AP_Param_Helper, _use_softserial, 0), \ AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \ AP_GROUPINFO("SERVO_MASK", 4, AP_Param_Helper, _servo_mask, 0), \ AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \ AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0), \ AP_GROUPINFO("CONNECT_ESC", 6, AP_Param_Helper, _connect_esc, 0), \ AP_GROUPINFO("DBG_WAYBACK", 8, AP_Param_Helper, _dbg_wayback, 0), \ AP_GROUPINFO("TIME_OFFSET", 9, AP_Param_Helper, _time_offset, 0), \ AP_GROUPINFO("CONSOLE_UART", 10, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \ AP_GROUPINFO("EE_DEFERRED", 11, AP_Param_Helper, _eeprom_deferred, 0), \ AP_GROUPINFO("RC_INPUT", 12, AP_Param_Helper, _rc_input, 0), \ AP_GROUPINFO("AIBAO_FS", 13, AP_Param_Helper, _aibao_fs, 0), \ AP_GROUPINFO("OVERCLOCK", 14, AP_Param_Helper, _overclock, 0), \ AP_GROUPINFO("CORRECT_GYRO", 15, AP_Param_Helper, _correct_gyro, 0), \ AP_GROUPINFO("RC_FS", 16, AP_Param_Helper, _rc_fs, 0) #endif // parameters #define BOARD_HAL_PARAMS \ AP_Int8 _motor_layout; \ AP_Int8 _uart_sbus; \ AP_Int8 _use_softserial; \ AP_Int8 _servo_mask; \ AP_Int8 _connect_com; \ AP_Int8 _connect_esc; \ AP_Int8 _pwm_type; \ AP_Int8 _dbg_wayback; \ AP_Int8 _usb_storage; \ AP_Int8 _time_offset; \ AP_Int8 _console_uart; \ AP_Int8 _eeprom_deferred; \ AP_Int8 _rc_input; \ AP_Int8 _aibao_fs; \ AP_Int8 _overclock; \ AP_Int8 _correct_gyro; \ AP_Int8 _rc_fs; #define WAYBACK_DEBUG #endif