#ifndef _BOARD_STM32V1F4_H_ #define _BOARD_STM32V1F4_H_ #define BOARD_OWN_NAME "F4Light" /** * @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 168 #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) #ifndef LOW # define LOW 0 #endif #ifndef HIGH # define HIGH 1 #endif #define BOARD_BUTTON_PIN 254 // no button //#define BOARD_RFM22B_CS_PIN 103 // PA15 CS_RFM22B //#define BOARD_RFM22B_INT_PIN 26 // PD2 INT_RFM22 //#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_USART5_RX_PIN 26 // PD2 EXTI_RFM22B / UART5_RX #define BOARD_USART5_TX_PIN 255 // RX-only #define BOARD_SPEKTRUM_RX_PIN BOARD_USART5_RX_PIN #define BOARD_SPEKTRUM_PWR_PIN 103 // PA15 CS_RFM22B #define BOARD_SPEKTRUM_PWR_ON 1 #define BOARD_SPEKTRUM_PWR_OFF 0 #define BOARD_DSM_USART _UART5 #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_SBUS_UART 1 // can use some UART as hardware inverted input #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 105 // GREEN //# define BOARD_GPIO_C_LED_PIN 37 // PB6 YELLOW OPTIONAL (not included) //# define BOARD_GPIO_C_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 #define I2C1_SDA PB9 #define I2C1_SCL PB8 #define I2C2_SDA PB11 #define I2C2_SCL PB10 #define BOARD_I2C_BUS_INT 0 // hardware I2C #define BOARD_I2C_BUS_EXT 2 // external soft I2C or flexiPort (by parameter) #define BOARD_I2C_BUS_SLOW 2 // slow down this bus #define BOARD_HAS_UART3 #define BOARD_I2C_FLEXI 1 // I2C can be on Flexi port #define BOARD_BARO_DEFAULT HAL_BARO_MS5611_I2C #define BOARD_BARO_MS5611_I2C_ADDR 0x77 #define HAL_BARO_MS5611_I2C_BUS BOARD_I2C_BUS_INT #define HAL_BARO_MS5611_I2C_ADDR BOARD_BARO_MS5611_I2C_ADDR //#define HAL_BARO_MS5611_I2C_BUS_EXT BOARD_I2C_BUS_EXT // external baro on soft I2C //#define HAL_BARO_BMP280_BUS BOARD_I2C_BUS_EXT // external baro on soft I2C //#define HAL_BARO_BMP280_I2C_ADDR (0x76) #define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843 #define BOARD_COMPASS_HMC5843_I2C_ADDR 0x1E #define BOARD_HMC5883_DRDY_PIN 38 // PB7 - but it not used by driver #define BOARD_COMPASS_HMC5843_ROTATION ROTATION_YAW_270 #define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_INT #define HAL_COMPASS_HMC5843_I2C_EXT_BUS BOARD_I2C_BUS_EXT // external compass on soft I2C #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_DATAFLASH_NAME "dataflash" #define BOARD_DATAFLASH_PAGES 0x2000 #define BOARD_DATAFLASH_ERASE_SIZE (65536)// in bytes #define HAL_BOARD_LOG_DIRECTORY "" // should be defined to logs works #define BOARD_UARTS_LAYOUT 1 #define USE_SOFTSERIAL 1 # define BOARD_PUSHBUTTON_PIN 254 // no pushbutton # define BOARD_USB_MUX_PIN -1 // no USB mux # 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 // no sonar by default # define HAL_BATT_VOLT_PIN 8 // ChibiOS compatible defines # define HAL_BATT_CURR_PIN 7 # define HAL_BATT_VOLT_SCALE 10.1 # define HAL_BATT_CURR_SCALE 17 #define BOARD_USB_DMINUS 108 //#define BOARD_NRF_NAME "nrf24" //#define BOARD_NRF_CS_PIN 103 // PA15 CS_RFM22B // 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 47 // PA0 // input pins as servo outputs #define SERVO_PIN_7 5 // PB15 CH2_IN - PPM2 #define SERVO_PIN_8 12 // PC6 CH3_IN UART6 #define SERVO_PIN_9 13 // PC7 CH4_IN UART6 #define SERVO_PIN_10 14 // PC8 CH5_IN i2c #define SERVO_PIN_11 15 // PC9 CH6_IN i2c #define MOTOR_LAYOUT_DEFAULT 0 #define USE_SERIAL_4WAY_BLHELI_INTERFACE #define HAL_CONSOLE USB_Driver // console on USB #define HAL_CONSOLE_PORT 0 // USB //#define HAL_CONSOLE uart1Driver // console on radio //#define HAL_CONSOLE_PORT 1 // console on radio /* // @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) \ */ #define BOARD_HAL_VARINFO \ AP_GROUPINFO("FLEXI_I2C", 30, AP_Param_Helper, _flexi_i2c, 0), // parameters #define BOARD_HAL_PARAMS \ AP_Int8 _flexi_i2c; #define ERROR_USART _USART1 // main port - telemetry, all panic messages goes there #endif