mirror of https://github.com/ArduPilot/ardupilot
184 lines
10 KiB
C++
184 lines
10 KiB
C++
#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] = {
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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 nADC 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 in0 on REVO */
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{&gpiob, NULL, NULL, 13, NO_CH, nADC}, /* D3/PB13 3 in1 on REVO */
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{&gpiob,&timer12,NULL, 14, TIMER_CH1, nADC}, /* D4/PB14 4 CH1_IN - PPMSUM */
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{&gpiob,&timer12,NULL, 15, TIMER_CH2, nADC}, /* D5/PB15 5 CH2_IN - PPMSUM2 */
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{&gpioc, NULL,&_adc1, 0, NO_CH, 10}, /* D6/PC0 6 SBUS invertor output */
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{&gpioc, NULL,&_adc1, 1, NO_CH, 11}, /* D7/PC1 7 VOLT */
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{&gpioc, NULL,&_adc1, 2, NO_CH, 12}, /* D8/PC2 8 AMP/SONAR */
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{&gpioc, NULL,&_adc1, 3, NO_CH, 13}, /* D9/PC3 9 freq sense - resistor to VCC */
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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 Tamper */
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{&gpioc, NULL, NULL, 14, NO_CH, nADC}, /* D20/PC14 20 NOT CONNECTED LSE in */
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{&gpioc, NULL, NULL, 15, NO_CH, nADC}, /* D21/PC15 1 NOT CONNECTED LSE out */
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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 I2C1_SDA */
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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 LED_YELLOW - OPTIONAL*/
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{&gpiob, &timer4,NULL, 7, TIMER_CH2, nADC}, /* D38/PB7 8 DRDY_HMC5883 */
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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 */
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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_RFM22B */
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{&gpiob, NULL, NULL, 3, NO_CH, nADC}, /* D104/PB3 CS_FLASH */
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{&gpiob, NULL, NULL, 4, NO_CH, nADC}, /* D105/PB4 LED_RED / 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[] = {
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//CH1 and CH2 also for PPMSUM / SBUS / DSM
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{ .pin = 4, },// 0 RC_IN1
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{ .pin = 5, },// 1 RC_IN2
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{ .pin = 12, },// 2 RC_IN3
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{ .pin = 13, },// 3 RC_IN4
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{ .pin = 14, },// 4 RC_IN5
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{ .pin = 15, },// 5 RC_IN6
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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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// different SPI tables per board subtype
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extern const SPIDesc spi_device_table[] = {
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// name device bus mode cs_pin speed_low speed_high mode priority assert_dly release_dly
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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_DATAFLASH_NAME, _SPI3, 3, SPI_MODE_3, 254 /* device controls CS */ , SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 1, 1 },
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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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#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
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// it is not necessary because of 10K resistor to ground
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gpio_set_mode( PIN_MAP[BOARD_SBUS_INVERTER].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER].gpio_bit, GPIO_OUTPUT_PP);
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gpio_write_bit(PIN_MAP[BOARD_SBUS_INVERTER].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER].gpio_bit, 0); // not inverted
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#endif
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}
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#endif
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