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ardupilot/libraries/AP_HAL_F4Light/boards/f4light_Revolution/board.h

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#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_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 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
#if 0// use it as FAT and share it via USB
#define BOARD_DATAFLASH_FATFS
#define USB_MASSSTORAGE
#define HAL_BOARD_LOG_DIRECTORY "0:/"
#define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN"
//#define HAL_PARAM_DEFAULTS_PATH "0:/APM/defaults.parm"
#else
// old dataflash logs
#endif
#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 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
#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: 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: UART_SBUS
// @DisplayName: What UART to use as SBUS input
// @Description: Allows to use any UART as SBUS input
// @Values: 0:disabled,1:UART1(Main port)
// @User: Advanced
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 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: 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 Serial Port, thus allowing to configure devices on that Serial Ports. Auto-reset.
// @Values: 0:disabled, 1:connect to Serial1, 2:connect to Serial2, 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: TIME_OFFSET
// @DisplayName: offset from GMT time
// @Description: Allows to see local date & time in logs
// @Values: -11..+11
AP_GROUPINFO("TIME_OFFSET", 10, AP_Param_Helper, _time_offset, 0), \
// @Param: CONSOLE_UART
// @DisplayName: number of port to use as console
// @Description: Allows to specify console port
// @Values: 0:USB, 1:connect to UART 1, 2:connect to UART 2, etc
AP_GROUPINFO("CONSOLE_UART", 11, AP_Param_Helper, _console_uart, 0), \
// @Param: RC_INPUT
// @DisplayName: Type of RC input
// @Description: allows to force specified RC input poty
// @Values: 0:auto, 1:PPM1 (pin3), 2: PPM2 (pin4) etc
// @User: Advanced
AP_GROUPINFO("RC_INPUT", 9, AP_Param_Helper, _rc_input, 0)
// @Param: EE_DEFERRED
// @DisplayName: Emulated EEPROM write mode
// @Description: Allows to control when changes to EEPROM are saved - ASAP or on disarm
// @Values: 0: save changes ASAP, 1:save changes on disarm. All changes will be lost in case of crash!
// @User: Advanced
AP_GROUPINFO("EE_DEFERRED", 7, AP_Param_Helper, _eeprom_deferred, 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: OVERCLOCK
// @DisplayName: Set CPU frequency
// @Description: Allows to set overclocking frequency for CPU. If anything went wrong then normal freq will be restored after reboot
// @Values: 0: standard 168MHz, 1:180MHz, 2:192MHz, 3:216MHz, 4:240MHz(*), 5:264MHz
// @User: Advanced
AP_GROUPINFO("OVERCLOCK", 7, AP_Param_Helper, _overclock, 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)
*/
#define BOARD_HAL_VARINFO \
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0), \
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
AP_GROUPINFO("SOFTSERIAL", 4, AP_Param_Helper, _use_softserial, 0), \
AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \
AP_GROUPINFO("CONNECT_ESC", 6, AP_Param_Helper, _connect_esc, 0), \
AP_GROUPINFO("FLEXI_I2C", 7, AP_Param_Helper, _flexi_i2c, 0), \
AP_GROUPINFO("PWM_TYPE", 8, AP_Param_Helper, _pwm_type, 0), \
AP_GROUPINFO("USB_STORAGE", 10, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("TIME_OFFSET", 11, AP_Param_Helper, _time_offset, 0), \
AP_GROUPINFO("CONSOLE_UART", 12, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \
AP_GROUPINFO("EE_DEFERRED", 13, AP_Param_Helper, _eeprom_deferred, 0), \
AP_GROUPINFO("RC_INPUT", 14, AP_Param_Helper, _rc_input, 0), \
AP_GROUPINFO("AIBAO_FS", 15, AP_Param_Helper, _aibao_fs, 0), \
AP_GROUPINFO("OVERCLOCK", 16, AP_Param_Helper, _overclock, 0), \
AP_GROUPINFO("CORRECT_GYRO", 17, AP_Param_Helper, _correct_gyro, 0), \
AP_GROUPINFO("RC_FS", 18, AP_Param_Helper, _rc_fs, 0)
// parameters
#define BOARD_HAL_PARAMS \
AP_Int8 _motor_layout; \
AP_Int8 _use_softserial; \
AP_Int8 _servo_mask; \
AP_Int8 _connect_com; \
AP_Int8 _connect_esc; \
AP_Int8 _uart_sbus; \
AP_Int8 _flexi_i2c; \
AP_Int8 _pwm_type; \
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 ERROR_USART _USART1 // main port - telemetry, all panic messages goes there
#endif
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