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ardupilot/libraries/AP_HAL_F4Light/wirish/boards.h

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/******************************************************************************
* The MIT License
(c) 2017 night_ghost@ykoctpa.ru
based on:
*
* Copyright (c) 2010 Bryan Newbold.
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*****************************************************************************/
/**
* @file boards.h
(c) 2017 night_ghost@ykoctpa.ru
based on:
* @author Bryan Newbold <bnewbold@leaflabs.com>,
* Marti Bolivar <mbolivar@leaflabs.com>
* @brief Board-specific pin information.
*
* To add a new board type, add a new pair of files to
* /wirish/boards/, update the section below with a new "BOARD" type,
* and update /wirish/rules.mk to include your boards/your_board.cpp
* file in the top-level Makefile build.
*/
#ifndef _BOARDS_H_
#define _BOARDS_H_
#include <hal.h>
#include <stm32f4xx_conf.h>
#include <hal_types.h>
#include <exti.h>
#include <gpio_hal.h>
#include <timer.h>
#include <adc.h>
#include <usart.h>
#include <pwm_in.h>
/* Set of all possible pin names; not all boards have all these (note
* that we use the Dx convention since all of the Maple's pins are
* "digital" pins (e.g. can be used with digitalRead() and
* digitalWrite()), but not all of them are connected to ADCs. */
enum {
D0=0, D1, D2, D3, D4, D5, D6, D7, D8, D9,
D10, D11, D12, D13, D14, D15, D16, D17, D18, D19,
D20, D21, D22, D23, D24, D25, D26, D27, D28, D29,
D30, D31, D32, D33, D34, D35, D36, D37, D38, D39,
D40, D41, D42, D43, D44, D45, D46, D47, D48, D49,
D50, D51, D52, D53, D54, D55, D56, D57, D58, D59,
D60, D61, D62, D63, D64, D65, D66, D67, D68, D69,
D70, D71, D72, D73, D74, D75, D76, D77, D78, D79,
D80, D81, D82, D83, D84, D85, D86, D87, D88, D89,
D90, D91, D92, D93, D94, D95, D96, D97, D98, D99,
D100, D101, D102, D103, D104, D105, D106, D107, D108, D109,
D110, D111, };
/**
* @brief Stores STM32-specific information related to a given Maple pin.
* @see PIN_MAP
*/
typedef struct stm32_pin_info {
const gpio_dev * const gpio_device; /**< Maple pin's GPIO device */
const timer_dev * const timer_device; /**< Pin's timer device, if any. */
const adc_dev * const adc_device; /**< ADC device, if any. */
uint8_t gpio_bit; /**< Pin's GPIO port bit. */
timer_Channel timer_channel; /**< Timer channel, or 0 if none. */
uint8_t adc_channel; /**< Pin ADC channel, or nADC if none. */
} stm32_pin_info;
/**
* @brief Maps each Maple pin to a corresponding stm32_pin_info.
* @see stm32_pin_info
*/
extern const stm32_pin_info PIN_MAP[];
/**
* @brief Generic board initialization function.
*
* This function is called before main(). It ensures that the clocks
* and peripherals are configured properly for use with wirish, then
* calls boardInit().
*
* @see boardInit()
*/
void init(void);
/**
* @brief Board-specific initialization function.
*
* This function is called from init() after all generic board
* initialization has been performed. Each board is required to
* define its own.
*
* @see init()
*/
extern void boardInit(void);
#ifdef __cplusplus
extern "C" {
#endif
extern void pre_init(void);
void board_set_rtc_register(uint32_t sig, uint16_t reg);
uint32_t board_get_rtc_register(uint16_t reg);
static inline void goDFU();
static inline void goDFU(){ // Reboot to BootROM - to DFU mode
asm volatile("\
ldr r0, =0x1FFF0000\n\
ldr sp,[r0, #0] \n\
ldr r0,[r0, #4] \n\
bx r0 \n\
");
}
extern unsigned __isr_vector_start; // defined by link script
static inline bool is_bare_metal();
static inline bool is_bare_metal() {
return (uint32_t)&__isr_vector_start == 0x08000000;
}
void NMI_Handler();
void emerg_delay(uint32_t n);
extern void SetSysClock(uint8_t oc);
extern voidFuncPtr boardEmergencyHandler;
extern void clock_gettime(uint32_t mode, void *ptr);
extern void systemInit(uint8_t oc);
#ifdef __cplusplus
}
#endif
#ifndef BOARD_NR_GPIO_PINS
#error "Board type has not been selected correctly."
#endif
// pin names, see PIN_MAP array
enum {
PB10 =0,
PB2 =1,
PB12 =2,
PB13 =3,
PB14 =4,
PB15 =5,
PC0 =6,
PC1 =7,
PC2 =8,
PC3 =9,
PC4 =10,
PC5 =11,
PC6 =12,
PC7 =13,
PC8 =14,
PC9 =15,
PC10 =16,
PC11 =17,
PC12 =18,
PC13 =19,
PC14 =20,
PC15 =21,
PA8 =22,
PA9 =23,
PA10 =24,
PB9 =25,
PD2 =26,
PD3 =27,
PD6 =28,
PG11 =29,
PG12 =30,
PG13 =31,
PG14 =32,
PG8 =33,
PG7 =34,
PG6 =35,
PB5 =36,
PB6 =37,
PB7 =38,
PF6 =39,
PF7 =40,
PF8 =41,
PF9 =42,
PF10 =43,
PF11 =44,
PB1 =45,
PB0 =46,
PA0 =47,
PA1 =48,
PA2 =49,
PA3 =50,
PA4 =51,
PA5 =52,
PA6 =53,
PA7 =54,
PF0 =55,
PD11 =56,
PD14 =57,
PF1 =58,
PD12 =59,
PD15 =60,
PF2 =61,
PD13 =62,
PD0 =63,
PF3 =64,
PE3 =65,
PD1 =66,
PF4 =67,
PE4 =68,
PE7 =69,
PF5 =70,
PE5 =71,
PE8 =72,
PF12 =73,
PE6 =74,
PE9 =75,
PF13 =76,
PE10 =77,
PF14 =78,
PG9 =79,
PE11 =80,
PF15 =81,
PG10 =82,
PE12 =83,
PG0 =84,
PD5 =85,
PE13 =86,
PG1 =87,
PD4 =88,
PE14 =89,
PG2 =90,
PE1 =91,
PE15 =92,
PG3 =93,
PE0 =94,
PD8 =95,
PG4 =96,
PD9 =97,
PG5 =98,
PD10 =99,
PB11 =100,
PB8 =101,
PE2 =102,
PA15 =103,
PB3 =104,
PB4 =105,
PA13 =106,
PA14 =107,
PA11 =108,
};
/* Set derived definitions */
#define CLOCK_SPEED_MHZ CYCLES_PER_MICROSECOND
#define CLOCK_SPEED_HZ (CLOCK_SPEED_MHZ * 1000000UL)
// PX4 writes as
// *(uint32_t *)0x40002850 = 0xb007b007;
#define BOOT_RTC_SIGNATURE 0xb007b007
#define DFU_RTC_SIGNATURE 0xDEADBEEF
#define FORCE_APP_RTC_SIGNATURE 0x4000AbbA
#define DSM_BIND_SIGNATURE 0xD82B14D0 // "DSMBIND" last nibble for DSM code
#define DSM_BIND_SIGN_MASK 0xF // mask for last nibble - DSM code
#define CONSOLE_PORT_SIGNATURE 0xC07501e0 // "console" last nibble for port number
#define CONSOLE_PORT_MASK 0xF // mask for last nibble - port number
#define MASS_STORAGE_SIGNATURE 0x5106a8ed // "storaged"
#define OVERCLOCK_SIGNATURE 0xFACED1A0 // "FaceDia" last nibble for mode
#define OVERCLOCK_SIG_MASK 0xF // mode mask
#define OV_GUARD_SIGNATURE 0xBABEFACE //
#define OV_GUARD_FAIL_SIGNATURE 0xBABEFA17
// Backup SRAM registers usage
#define RTC_SIGNATURE_REG 0
#define RTC_DSM_BIND_REG 1
#define RTC_MASS_STORAGE_REG 2
#define RTC_CONSOLE_REG 3
#define RTC_OVERCLOCK_REG 4
#define RTC_OV_GUARD_REG 5
#define digitalPinToPort(P) ( PIN_MAP[P].gpio_device )
#define digitalPinToBitMask(P) ( BIT(PIN_MAP[P].gpio_bit) )
#define portOutputRegister(port) ( &(port->regs->ODR) )
#define portInputRegister(port) ( &(port->regs->IDR) )
#define portSetRegister(pin) ( &(PIN_MAP[pin].gpio_device->regs->BSRR) )
#define portClearRegister(pin) ( &(PIN_MAP[pin].gpio_device->regs->BRR) )
#define portConfigRegister(pin) ( &(PIN_MAP[pin].gpio_device->regs->CRL) )
#endif
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