mirror of https://github.com/ArduPilot/ardupilot
218 lines
5.7 KiB
C
218 lines
5.7 KiB
C
#ifndef _BOARD_STM32V1F4_H_
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#define _BOARD_STM32V1F4_H_
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/*
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this file included to *ANY* compilation so shouldn't include anything else
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*/
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/**
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* @brief Configuration of the Cortex-M4 Processor and Core Peripherals
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*/
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#define __CM4_REV 0x0001 /*!< Core revision r0p1 */
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#define __MPU_PRESENT 1 /*!< STM32F4XX provides an MPU */
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#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */
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#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */
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#define __FPU_PRESENT 1 /*!< FPU present */
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#define HSE_VALUE (8000000)
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#define CYCLES_PER_MICROSECOND (SystemCoreClock / 1000000)
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#define SYSTICK_RELOAD_VAL (CYCLES_PER_MICROSECOND*1000-1)
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#undef STM32_PCLK1
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#undef STM32_PCLK2
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#define STM32_PCLK1 (CYCLES_PER_MICROSECOND*1000000/4)
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#define STM32_PCLK2 (CYCLES_PER_MICROSECOND*1000000/2)
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#define BOARD_BUTTON_PIN 254
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#ifndef LOW
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# define LOW 0
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#endif
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#ifndef HIGH
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# define HIGH 1
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#endif
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//#define BOARD_BUZZER_PIN 5 // PB15, PWM2 - used as PPM2
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#define HAL_BUZZER_ON 1
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#define HAL_BUZZER_OFF 0
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#define BOARD_NR_USARTS 5
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#define BOARD_USART1_TX_PIN 23
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#define BOARD_USART1_RX_PIN 24
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#define BOARD_USART3_TX_PIN 0
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#define BOARD_USART3_RX_PIN 100
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#define BOARD_USART6_TX_PIN 12
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#define BOARD_USART6_RX_PIN 13
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#define BOARD_USART4_RX_PIN 48
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#define BOARD_USART4_TX_PIN 47
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#define BOARD_DSM_USART (_USART1)
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#define BOARD_NR_SPI 3
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#define BOARD_SPI1_SCK_PIN 52
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#define BOARD_SPI1_MISO_PIN 53
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#define BOARD_SPI1_MOSI_PIN 54
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#define BOARD_SPI2_SCK_PIN 255
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#define BOARD_SPI2_MISO_PIN 255
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#define BOARD_SPI2_MOSI_PIN 255
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#define BOARD_SPI3_MOSI_PIN 18
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#define BOARD_SPI3_MISO_PIN 17
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#define BOARD_SPI3_SCK_PIN 16
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#define BOARD_DATAFLASH_CS_PIN 104
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#define BOARD_MPU6000_CS_PIN 51
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#define BOARD_MPU6000_DRDY_PIN 10 // PC4
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//#define BOARD_SBUS_INVERTER 6
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#define BOARD_USB_SENSE 11 // PC5
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// bus 2 (soft) pins
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#define BOARD_SOFT_SCL 14
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#define BOARD_SOFT_SDA 15
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// SoftSerial pins
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//#define BOARD_SOFTSERIAL_TX 14
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//#define BOARD_SOFTSERIAL_RX 15
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# define BOARD_BLUE_LED_PIN 36 // BLUE
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# define BOARD_GREEN_LED_PIN 9 // frequency select - resistor to VCC or ground
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# define HAL_GPIO_A_LED_PIN BOARD_BLUE_LED_PIN
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# define HAL_GPIO_B_LED_PIN BOARD_GREEN_LED_PIN
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# define HAL_GPIO_LED_ON LOW
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# define HAL_GPIO_LED_OFF HIGH
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#define BOARD_NR_GPIO_PINS 109
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#define I2C1_SDA PB9
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#define I2C1_SCL PB8
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#define I2C2_SDA PB11
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#define I2C2_SCL PB10
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// use soft I2C driver instead hardware
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//#define BOARD_SOFT_I2C2
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//#define BOARD_I2C_BUS_INT 1 // hardware internal I2C
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#define BOARD_I2C_BUS_EXT 1 // external I2C
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#define BOARD_I2C_BUS_SLOW 1 // slow down bus with this number
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#define HAL_BARO_MS5611_I2C_BUS BOARD_I2C_BUS_EXT
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#define HAL_BARO_MS5611_I2C_ADDR (0x77)
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#define HAL_BARO_BMP280_BUS BOARD_I2C_BUS_EXT
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#define HAL_BARO_BMP280_I2C_ADDR (0x76)
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#define HAL_BARO_BMP085_BUS BOARD_I2C_BUS_EXT
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#define HAL_BARO_BMP085_I2C_ADDR (0x77)
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#define HAL_BARO_MS5607_I2C_BUS BOARD_I2C_BUS_EXT
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#define HAL_BARO_MS5607_I2C_ADDR (0x77)
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#define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843
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//#define BOARD_HMC5883_DRDY_PIN 38 // PB7 - but it not used by driver
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#define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_EXT
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#define HAL_COMPASS_HMC5843_I2C_ADDR (0x1E)
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#define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE
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#define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI
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#define BOARD_INS_ROTATION ROTATION_YAW_180
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#define BOARD_INS_MPU60x0_NAME "mpu6000"
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#define BOARD_STORAGE_SIZE 8192 //4096 // EEPROM size
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#define BOARD_DATAFLASH_NAME "dataflash"
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#define BOARD_DATAFLASH_PAGES 0x10000
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#define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes
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// if board's dataflash supports 4k erases then we can use it as FAT and share it via USB
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#define BOARD_DATAFLASH_FATFS
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#define BOARD_HAS_SDIO
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#define USB_MASSSTORAGE
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#define HAL_BOARD_LOG_DIRECTORY "0:"
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#define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN"
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//#define HAL_PARAM_DEFAULTS_PATH "0:/defaults.parm"
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#define BOARD_UARTS_LAYOUT 2
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#define BOARD_OWN_NAME "Airbot"
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# define BOARD_PUSHBUTTON_PIN 254
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# define BOARD_USB_MUX_PIN -1
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# define BOARD_BATTERY_VOLT_PIN 8 // Battery voltage on A0 (PC2) D8
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# define BOARD_BATTERY_CURR_PIN 7 // Battery current on A1 (PC1) D7
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# define BOARD_SONAR_SOURCE_ANALOG_PIN 254
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# define HAL_BATT_VOLT_PIN 8 // ChibiOS compatible defines
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# define HAL_BATT_CURR_PIN 7
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# define HAL_BATT_VOLT_SCALE 10.1
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# define HAL_BATT_CURR_SCALE 17
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#define BOARD_USB_DMINUS 108
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE
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#define BOARD_SBUS_UART 1 // can use some UART as hardware inverted input
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// motor layouts
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#define SERVO_PIN_1 46 // PB0
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#define SERVO_PIN_2 45 // PB1
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#define SERVO_PIN_3 50 // PA3
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#define SERVO_PIN_4 49 // PA2
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#define SERVO_PIN_5 48 // PA1
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#define SERVO_PIN_6 22 // PA8
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#define MOTOR_LAYOUT_DEFAULT 0
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#define HAL_CONSOLE USB_Driver // console on USB
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//#define HAL_CONSOLE uart1Driver // console on radio
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#define HAL_CONSOLE_PORT 0
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/*
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*/
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#ifdef USB_MASSSTORAGE
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#define BOARD_HAL_VARINFO \
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AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
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AP_GROUPINFO("DBG_WAYBACK", 31, AP_Param_Helper, _dbg_wayback, 0),
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#else
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#define BOARD_HAL_VARINFO \
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AP_GROUPINFO("DBG_WAYBACK", 30, AP_Param_Helper, _dbg_wayback, 0),
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#endif
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// parameters
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#define BOARD_HAL_PARAMS \
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AP_Int8 _dbg_wayback; \
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AP_Int8 _usb_storage;
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#define WAYBACK_DEBUG
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#endif
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