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AP_HAL_F4light: two new boards: RevoMini with resoldered EEPROM and RevoMini with SD card adapter

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night-ghost 2018-03-04 14:49:45 +05:00 committed by Andrew Tridgell
parent ee8adf9073
commit 99a3cd6de3
34 changed files with 3466 additions and 0 deletions
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89
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/1_read_ME.md Normal file
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I tried to maintain compatibility with the OpenPilot documentation. The main difference - FlexiPort can
be Serial and external I2C port is on pins 7&8 of Input port. But this can be changed by HAL_FLEXI_I2C parameter
Main Port - telemetry, Serial1. As a variant it can be used as SBUS input with hardware inverter (Parameter HAL_UART_SBUS)
FlexiPort - OSD, Serial2
Uart6 (pins 5&6) - GPS
Input Port - PWM input is not supported - this is general trend
pin 1 of Input port is GND
pin 2 of Input port is +5
pin 3 of Input port is 1st PPM/SBUS/DSM/SUMD input or Servo9 (if you use RC via UART)
pin 4 of Input port is 2nd PPM/SBUS/DSM/SUMD input or Servo10, also can work as RX-only UART (for GPS)
pins 5&6 of Input port are Tx and Rx of UART6 (for GPS - Serial3)
pins 7&8 of Input port are SCL and SDA of external I2C (or Tx and Rx for SoftSerial if I2C moved to FlexiPort) - or Servos 7&8
Output Port for MOTORs
Connect to PWM output pins in ArduCopter, CleanFlight or OpenPilot order, and set parameter HAL_MOTOR_LAYOUT accordingly
5&6 PWM Output pins are Rx and Tx of Serial4 - but only for quads (except motor layout 1, see below) or planes
also pins 1&2 of OutputPort can be used as servos, in this case connect motors to pins 3-6 in ArduCopter order
PWM input is not supported - this is general trend
OpLink port
DSM satellite can be connected to Oplink port (hardware Serial5) or to PPM inputs (pins 3&4 of input port)
binding of DSM satellite can be done in 2 ways:
1. with some additional hardware - managed stabilizer 3.3 volts.
2. directly connected to 3.3v, binding will require short power off
Connection to OpLink port (RevoMini)
Pin 1 is Gnd,
pin 2 is +5 (DSM sat requires 3.3!)
pin 3 is PD2 (pin 54) Rx
pin 4 is PA15 (pin 50) Enable for 3.3 stab.
pin 5 is PC10 (pin 51) SCK
pin 6 is PC12 (pin 53) MOSI
pin 7 is PC11 (pin 52) MISO
Also Oplink port can be used as external SPI
Airspeed & RSSI
Pins Servo5 & Servo6 can be used as Analog Input for Airspeed sensor and/or RSSI, connection:
Servo5 = 48
Servo6 = 47
LEDs
All valuable info indicated by 2 LEDs of RevoMini
Blue led: system state
Very fast blinking - initializing
Blinking - ready to arm
Double blinking - pre-arm check failed
Solid - armed
blink slowly (around 2Hz) in flight - battery failsafe
blink fast (around 4Hz) in flight - radio failsafe
blinking (small dark pauses) - autotune complete
double darkening - autotune failed
Green led: GPS state
Dark: no fix
Blinking: number of blinks shows number of sats minus 6, so if there is 10 sats LED will blink in 4 pulses
special modes:
policy lights - ESC calibration or SaveTrim
short blinks by both LEDs - compass calibration
this project got donations from:
* Andrea Belloni
* Sebastian Thoem
* Alexander Malishev
* Alexandr Kuzmitski
* Gediminas Ustinavicius
* Thomas Jorgensen

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libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.cpp Normal file
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#ifndef BOARD_STM32V1F4
#define BOARD_STM32V1F4
#include <boards.h>
#include "../../SPIDevice.h"
#include <AP_Common/AP_Common.h>
using namespace F4Light;
extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] __FLASH__ = {
/*
const gpio_dev * const gpio_device; < Board 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.
uint8_t timer_channel; < Timer channel, or 0 if none.
uint8_t adc_channel; < Pin ADC channel, or nADC if none.
*/
{&gpiob, NULL, NULL, 10, NO_CH, nADC}, /* D0/PB10 0 USART3_TX/I2C2-SCL */
{&gpiob, NULL, NULL, 2, NO_CH, nADC}, /* D1/PB2 1*/
{&gpiob, NULL, NULL, 12, NO_CH, nADC}, /* D2/PB12 2 in0 on REVO */
{&gpiob, NULL, NULL, 13, NO_CH, nADC}, /* D3/PB13 3 in1 on REVO */
{&gpiob,&timer12,NULL, 14, TIMER_CH1, nADC}, /* D4/PB14 4 CH1_IN - PPMSUM */
{&gpiob,&timer12,NULL, 15, TIMER_CH2, nADC}, /* D5/PB15 5 CH2_IN - PPMSUM2 */
{&gpioc, NULL,&_adc1, 0, NO_CH, 10}, /* D6/PC0 6 SBUS invertor output */
{&gpioc, NULL,&_adc1, 1, NO_CH, 11}, /* D7/PC1 7 AMP */
{&gpioc, NULL,&_adc1, 2, NO_CH, 12}, /* D8/PC2 8 Volt/SONAR (connected to 22) */
{&gpioc, NULL,&_adc1, 3, NO_CH, 13}, /* D9/PC3 9 freq sense - resistor to VCC */
{&gpioc, NULL,&_adc1, 4, NO_CH, 14}, /* D10/PC4 10 EXTI_MPU6000 */
{&gpioc, NULL,&_adc1, 5, NO_CH, 15}, /* D11/PC5 1 USB_SENSE */
{&gpioc, &timer8,NULL, 6, TIMER_CH1, nADC}, /* D12/PC6 2 CH3_IN / UART6_TX */
{&gpioc, &timer8,NULL, 7, TIMER_CH2, nADC}, /* D13/PC7 3 CH4_IN / UART6_RX */
{&gpioc, &timer8,NULL, 8, TIMER_CH3, nADC}, /* D14/PC8 4 CH5_IN / S_scl / Servo7 */
{&gpioc, &timer8,NULL, 9, TIMER_CH4, nADC}, /* D15/PC9 5 CH6_IN / S_sda / Servo8 */
{&gpioc, NULL, NULL, 10, NO_CH, nADC}, /* D16/PC10 6 SPI3_SCLK */
{&gpioc, NULL, NULL, 11, NO_CH, nADC}, /* D17/PC11 7 SPI3_MISO */
{&gpioc, NULL, NULL, 12, NO_CH, nADC}, /* D18/PC12 8 SPI3_MOSI */
{&gpioc, NULL, NULL, 13, NO_CH, nADC}, /* D19/PC13 9 NOT CONNECTED */
{&gpioc, NULL, NULL, 14, NO_CH, nADC}, /* D20/PC14 20 NOT CONNECTED */
{&gpioc, NULL, NULL, 15, NO_CH, nADC}, /* D21/PC15 1 NOT CONNECTED */
{&gpioa, &timer1,NULL, 8, TIMER_CH1, nADC}, /* D22/PA8 2 Volt/Sonar double (connected to 8) */
{&gpioa, &timer1,NULL, 9, TIMER_CH2, nADC}, /* D23/PA9 3 USART1_TX */
{&gpioa, &timer1,NULL, 10, TIMER_CH3, nADC}, /* D24/PA10 4 USART1_RX */
{&gpiob, NULL, NULL, 9, TIMER_CH4, nADC}, /* D25/PB9 5 I2C1_SDA */
{&gpiod, NULL, NULL, 2, NO_CH, nADC}, /* D26/PD2 6 EXTI_RFM22B / UART5_RX */
{&gpiod, NULL, NULL, 3, NO_CH, nADC}, /* D27/PD3 7*/
{&gpiod, NULL, NULL, 6, NO_CH, nADC}, /* D28/PD6 8*/
{&gpiog, NULL, NULL, 11, NO_CH, nADC}, /* D29/PG11 9*/
{&gpiog, NULL, NULL, 12, NO_CH, nADC}, /* D30/PG12 30*/
{&gpiog, NULL, NULL, 13, NO_CH, nADC}, /* D31/PG13 1*/
{&gpiog, NULL, NULL, 14, NO_CH, nADC}, /* D32/PG14 2*/
{&gpiog, NULL, NULL, 8, NO_CH, nADC}, /* D33/PG8 3*/
{&gpiog, NULL, NULL, 7, NO_CH, nADC}, /* D34/PG7 4*/
{&gpiog, NULL, NULL, 6, NO_CH, nADC}, /* D35/PG6 5*/
{&gpiob, &timer3,NULL, 5, TIMER_CH2, nADC}, /* D36/PB5 6 LED_BLUE */
{&gpiob, &timer4,NULL, 6, TIMER_CH1, nADC}, /* D37/PB6 7 LED_YELLOW - OPTIONAL, not connected */
{&gpiob, &timer4,NULL, 7, TIMER_CH2, nADC}, /* D38/PB7 8 DRDY_HMC5883 */
{&gpiof, NULL,&_adc3, 6, NO_CH, 4}, /* D39/PF6 9*/
{&gpiof, NULL,&_adc3, 7, NO_CH, 5}, /* D40/PF7 40*/
{&gpiof, NULL,&_adc3, 8, NO_CH, 6}, /* D41/PF8 1*/
{&gpiof, NULL,&_adc3, 9, NO_CH, 7}, /* D42/PF9 2*/
{&gpiof, NULL,&_adc3,10, NO_CH, 8}, /* D43/PF10 3*/
{&gpiof, NULL, NULL, 11, NO_CH, nADC}, /* D44/PF11 4*/
{&gpiob, &timer3,&_adc1,1, TIMER_CH4, 9}, /* D45/PB1 5 SERVO2 */
{&gpiob, &timer3,&_adc1,0, TIMER_CH3, 8}, /* D46/PB0 6 SERVO1 */
{&gpioa, &timer2,&_adc1,0, TIMER_CH1, 0}, /* D47/PA0 7 SERVO6 / UART4_TX Also can be mapped to Timer5 */
{&gpioa, &timer2,&_adc1,1, TIMER_CH2, 1}, /* D48/PA1 8 SERVO5 / UART4_RX */
{&gpioa, &timer2,&_adc1,2, TIMER_CH3, 2}, /* D49/PA2 9 SERVO4 */
{&gpioa, &timer2,&_adc1,3, TIMER_CH4, 3}, /* D50/PA3 50 SERVO3 */
{&gpioa, NULL, &_adc1,4, NO_CH, 4}, /* D51/PA4 1 CS_MPU6000 */
{&gpioa, NULL, &_adc1,5, NO_CH, 5}, /* D52/PA5 2 SPI1_CLK */
{&gpioa, &timer3,&_adc1,6, TIMER_CH1, 6}, /* D53/PA6 3 SPI1_MISO */
{&gpioa, &timer3,&_adc1,7, TIMER_CH2, 7}, /* D54/PA7 4 SPI1_MOSI */
{&gpiof, NULL, NULL, 0, NO_CH, nADC}, /* D55/PF0 5*/
{&gpiod, NULL, NULL, 11, NO_CH, nADC}, /* D56/PD11 6*/
{&gpiod, &timer4,NULL, 14, TIMER_CH3, nADC}, /* D57/PD14 7*/
{&gpiof, NULL, NULL, 1, NO_CH, nADC}, /* D58/PF1 8*/
{&gpiod, &timer4,NULL, 12, TIMER_CH1, nADC}, /* D59/PD12 9*/
{&gpiod, &timer4,NULL, 15, TIMER_CH4, nADC}, /* D60/PD15 60*/
{&gpiof, NULL, NULL, 2, NO_CH, nADC}, /* D61/PF2 1*/
{&gpiod, &timer4,NULL, 13, TIMER_CH2, nADC}, /* D62/PD13 2*/
{&gpiod, NULL, NULL, 0, NO_CH, nADC}, /* D63/PD0 3*/
{&gpiof, NULL, NULL, 3, NO_CH, nADC}, /* D64/PF3 4*/
{&gpioe, NULL, NULL, 3, NO_CH, nADC}, /* D65/PE3 5*/
{&gpiod, NULL, NULL, 1, NO_CH, nADC}, /* D66/PD1 6*/
{&gpiof, NULL, NULL, 4, NO_CH, nADC}, /* D67/PF4 7*/
{&gpioe, NULL, NULL, 4, NO_CH, nADC}, /* D68/PE4 8*/
{&gpioe, NULL, NULL, 7, NO_CH, nADC}, /* D69/PE7 9*/
{&gpiof, NULL, NULL, 5, NO_CH, nADC}, /* D70/PF5 70*/
{&gpioe, NULL, NULL, 5, NO_CH, nADC}, /* D71/PE5 1*/
{&gpioe, NULL, NULL, 8, NO_CH, nADC}, /* D72/PE8 2*/
{&gpiof, NULL, NULL, 12, NO_CH, nADC}, /* D73/PF12 3*/
{&gpioe, NULL, NULL, 6, NO_CH, nADC}, /* D74/PE6 4*/
{&gpioe, &timer1,NULL, 9, TIMER_CH1, nADC}, /* D75/PE9 */
{&gpiof, NULL, NULL, 13, NO_CH, nADC}, /* D76/PF13 6*/
{&gpioe, NULL, NULL, 10, NO_CH, nADC}, /* D77/PE10 7*/
{&gpiof, NULL, NULL, 14, NO_CH, nADC}, /* D78/PF14 8*/
{&gpiog, NULL, NULL, 9, NO_CH, nADC}, /* D79/PG9 9*/
{&gpioe, &timer1,NULL, 11, TIMER_CH2, nADC}, /* D80/PE11 */
{&gpiof, NULL, NULL, 15, NO_CH, nADC}, /* D81/PF15 1*/
{&gpiog, NULL, NULL, 10, NO_CH, nADC}, /* D82/PG10 2*/
{&gpioe, NULL, NULL, 12, NO_CH, nADC}, /* D83/PE12 3*/
{&gpiog, NULL, NULL, 0, NO_CH, nADC}, /* D84/PG0 4*/
{&gpiod, NULL, NULL, 5, NO_CH, nADC}, /* D85/PD5 5*/
{&gpioe, &timer1,NULL, 13, TIMER_CH3, nADC}, /* D86/PE13 */
{&gpiog, NULL, NULL, 1, NO_CH, nADC}, /* D87/PG1 7*/
{&gpiod, NULL, NULL, 4, NO_CH, nADC}, /* D88/PD4 8*/
{&gpioe, &timer1,NULL, 14, TIMER_CH4, nADC}, /* D89/PE14 */
{&gpiog, NULL, NULL, 2, NO_CH, nADC}, /* D90/PG2 90*/
{&gpioe, NULL, NULL, 1, NO_CH, nADC}, /* D91/PE1 1*/
{&gpioe, NULL, NULL, 15, NO_CH, nADC}, /* D92/PE15 2*/
{&gpiog, NULL, NULL, 3, NO_CH, nADC}, /* D93/PG3 3*/
{&gpioe, NULL, NULL, 0, NO_CH, nADC}, /* D94/PE0 4*/
{&gpiod, NULL, NULL, 8, NO_CH, nADC}, /* D95/PD8 5*/
{&gpiog, NULL, NULL, 4, NO_CH, nADC}, /* D96/PG4 6*/
{&gpiod, NULL, NULL, 9, NO_CH, nADC}, /* D97/PD9 7*/
{&gpiog, NULL, NULL, 5, NO_CH, nADC}, /* D98/PG5 8*/
{&gpiod, NULL, NULL, 10, NO_CH, nADC}, /* D99/PD10 9*/
{&gpiob, NULL, NULL, 11, NO_CH, nADC}, /* D100/PB11 100 USART3_RX/I2C2-SDA */
{&gpiob, NULL, NULL, 8, NO_CH, nADC}, /* D101/PB8 I2C1_SCL */
{&gpioe, NULL, NULL, 2, NO_CH, nADC}, /* D102/PE2 */
{&gpioa, NULL, NULL, 15, NO_CH, nADC}, /* D103/PA15 BOARD_SPEKTRUM_PWR_PIN */
{&gpiob, NULL, NULL, 3, NO_CH, nADC}, /* D104/PB3 CS_FLASH */
{&gpiob, NULL, NULL, 4, NO_CH, nADC}, /* D105/PB4 LED_RED */
{&gpioa, NULL, NULL, 13, NO_CH, nADC}, /* D106/PA13 SWDIO */
{&gpioa, NULL, NULL, 14, NO_CH, nADC}, /* D107/PA14 SWCLK */
{&gpioa, NULL, NULL, 11, NO_CH, nADC}, /* D108/PA11 - USB D- */
};
extern const struct TIM_Channel PWM_Channels[] __FLASH__ = {
//CH1 and CH2 also for PPMSUM / SBUS / DSM
{ // 0 RC_IN1
.pin = 4,
},
{ // 1 RC_IN2
.pin = 5,
},
{ // 2 RC_IN3
.pin = 12,
},
{ // 3 RC_IN4
.pin = 13,
},
{ // 4 RC_IN5
.pin = 14,
},
{ // 5 RC_IN6 - also used for SoftUART
.pin = 15,
},
};
extern const SPIDesc spi_device_table[] = { // different SPI tables per board subtype
// name device bus mode cs_pin speed_low speed_high dma priority assert_dly release_dly
{ 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 },
{ BOARD_DATAFLASH_NAME, _SPI3, 3, SPI_MODE_3, 255 /* caller controls CS */, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 0 },
};
extern const uint8_t F4Light_SPI_DEVICE_NUM_DEVICES = ARRAY_SIZE(spi_device_table);
void boardInit(void) {
/* we don't use RFM22! this pins are used for other needs so will be initialized in respective places
const stm32_pin_info &pp = PIN_MAP[BOARD_RFM22B_CS_PIN];
// Init RFM22B SC pin and set to HI
gpio_set_mode( pp.gpio_device, pp.gpio_bit, GPIO_OUTPUT_PP);
gpio_write_bit(pp.gpio_device, pp.gpio_bit, 1);
// Init RFM22B EXT_INT pin
gpio_set_mode(PIN_MAP[BOARD_RFM22B_INT_PIN].gpio_device, PIN_MAP[BOARD_RFM22B_INT_PIN].gpio_bit, GPIO_INPUT_PU);
*/
#ifdef BOARD_HMC5883_DRDY_PIN
{ // Init HMC5883 DRDY EXT_INT pin - but it not used by driver
const stm32_pin_info &pp = PIN_MAP[BOARD_HMC5883_DRDY_PIN];
gpio_set_mode(pp.gpio_device, pp.gpio_bit, GPIO_INPUT_PU);
}
#endif
#ifdef BOARD_MPU6000_DRDY_PIN
{ // Init MPU6000 DRDY pin - but it not used by driver
const stm32_pin_info &pp = PIN_MAP[BOARD_MPU6000_DRDY_PIN];
gpio_set_mode(pp.gpio_device, pp.gpio_bit, GPIO_INPUT_PU);
}
#endif
#ifdef BOARD_SBUS_INVERTER
{ // it is not necessary because of 10K resistor to ground
const stm32_pin_info &pp = PIN_MAP[BOARD_SBUS_INVERTER];
gpio_set_mode( pp.gpio_device, pp.gpio_bit, GPIO_OUTPUT_PP);
gpio_write_bit(pp.gpio_device, pp.gpio_bit, 0); // not inverted
}
#endif
}
#endif

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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 0x10000
#define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes
#if 1// 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

183
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/ld/flash-10000.ld Normal file
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/*
*****************************************************************************
**
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F407VG Device with
** 1024KByte FLASH, 128KByte RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Environment : Atollic TrueSTUDIO(R)
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
** (c)Copyright Atollic AB.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the Atollic TrueSTUDIO(R) toolchain.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
/* _estack = 0x20020000; */ /* end of 128K RAM */
_estack = 0x10010000; /* end of 64k CCM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x800; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
FLASH0 (rx) : ORIGIN = 0x08000000, LENGTH = 32K
FLASH (rx) : ORIGIN = 0x08010000, LENGTH = 960K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
CCM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
__isr_vector_start = .;
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT> FLASH
/* Uninitialized data section */
. = ALIGN(4);
.bss (NOLOAD):
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack (NOLOAD):
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
/* . = . + _Min_Stack_Size; */
. = ALIGN(4);
} >RAM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text (NOLOAD):
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
.ccm (NOLOAD): {
. = ALIGN(4);
_sccm = .;
*(.ccm)
. = ALIGN(4);
_eccm = .;
}>CCM
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}

1
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/ld/flash.ld Symbolic link
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flash-10000.ld

210
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/ld/flash_8000000.ld Normal file
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/*
*****************************************************************************
**
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F407VG Device with
** 1024KByte FLASH, 128KByte RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Environment : Atollic TrueSTUDIO(R)
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
** (c)Copyright Atollic AB.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the Atollic TrueSTUDIO(R) toolchain.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
/* _estack = 0x20020000; */ /* end of 128K RAM */
_estack = 0x10010000; /* end of 64k CCM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x800; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
FLASH0 (rx) : ORIGIN = 0x08000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08010000, LENGTH = 960K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
CCM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
/*.isr_vector :*/
.text0 :
{
. = ALIGN(4);
__isr_vector_start = .;
KEEP(*(.isr_vector)) /* Startup code */
FILL(0xffff)
. = ALIGN(4);
} >FLASH0
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
FILL(0xffff)
} >FLASH =0xFF
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
FILL(0xffff)
} >RAM AT> FLASH
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >RAM
/* used by the startup to initialize data */
_siccm = .;
/* initialized CCM sections
.ccm (): {
. = ALIGN(4);
_sccm = .;
*(.ccm)
*(.ccm*)
. = ALIGN(4);
_eccm = .;
}>CCM AT> FLASH
*/
/* empty CCM sections */
.ccm (NOLOAD): {
. = ALIGN(4);
_sccm = .;
*(.ccm)
*(.ccm*)
. = ALIGN(4);
_eccm = .;
}>CCM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text :
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}

52
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/rules.mk Normal file
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# Standard things
sp := $(sp).x
dirstack_$(sp) := $(d)
d := $(dir)
BUILDDIRS += $(BUILD_PATH)/$(d)
#BUILDDIRS += $(BUILD_PATH)/$(d)/comm
BUILDDIRS += $(BUILD_PATH)/$(d)/../boards/$(BOARD)
WIR := AP_HAL_F4Light/wirish
BRD := AP_HAL_F4Light/boards
LIBRARY_INCLUDES += -I$(BRD)/$(BOARD)
# Local flags
# always include board #defines
CFLAGS_$(d) := -Wall -Werror -include $(BRD)/$(BOARD)/board.h
# Local rules and targets
cSRCS_$(d) :=
cSRCS_$(d) += $(BRD)/$(BOARD)/system_stm32f4xx.c # C startup code
cppSRCS_$(d) :=
cppSRCS_$(d) += $(BRD)/$(BOARD)/board.cpp
cppSRCS_$(d) += $(WIR)/boards.cpp
sSRCS_$(d) :=
sSRCS_$(d) += $(WIR)/startup.S # early startup code
sSRCS_$(d) += $(WIR)/exc.S # exception handling and task switching code
cFILES_$(d) := $(cSRCS_$(d):%=$(d)/%)
cppFILES_$(d) := $(cppSRCS_$(d):%=$(d)/%)
sFILES_$(d) := $(sSRCS_$(d):%=$(d)/%)
OBJS_$(d) := $(cFILES_$(d):%.c=$(LIBRARIES_PATH)/%.o)
OBJS_$(d) += $(cppFILES_$(d):%.cpp=$(LIBRARIES_PATH)/%.o)
OBJS_$(d) += $(sFILES_$(d):%.S=$(LIBRARIES_PATH)/%.o)
DEPS_$(d) := $(OBJS_$(d):%.o=%.d)
$(OBJS_$(d)): TGT_CFLAGS := $(CFLAGS_$(d))
TGT_BIN += $(OBJS_$(d))
# Standard things
-include $(DEPS_$(d))
d := $(dirstack_$(sp))
sp := $(basename $(sp))
include $(HARDWARE_PATH)/massstorage/rules.mk

78
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/stm32f4xx_conf.h Normal file
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/**
******************************************************************************
* @file Project/STM32F4xx_StdPeriph_Templates/stm32f4xx_conf.h
* @author MCD Application Team
* @version V1.0.0
* @date 30-September-2011
* @brief Library configuration file.
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_CONF_H
#define __STM32F4xx_CONF_H
/* Uncomment the line below to expanse the "assert_param" macro in the
Standard Peripheral Library drivers code */
/* #define USE_FULL_ASSERT 1 */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert(uint8_t* file, uint32_t line);
#else
#define assert_param(expr) ((void)0)
#endif /* USE_FULL_ASSERT */
/* Includes ------------------------------------------------------------------*/
/* Uncomment the line below to enable peripheral header file inclusion */
#include "stm32f4xx_adc.h"
#include "stm32f4xx_can.h"
#include "stm32f4xx_dbgmcu.h"
#include "stm32f4xx_dma.h"
#include "stm32f4xx_exti.h"
#include "stm32f4xx_flash.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_i2c.h"
#include "stm32f4xx_iwdg.h"
#include "stm32f4xx_pwr.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_rtc.h"
#include "stm32f4xx_spi.h"
#include "stm32f4xx_syscfg.h"
#include "stm32f4xx_tim.h"
#include "stm32f4xx_usart.h"
#include "stm32f4xx_wwdg.h"
#include "stm32f4xx_nvic.h" /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
#endif /* __STM32F4xx_CONF_H */
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

6
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/DEBUG-STLINK.sh Executable file
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#!/bin/sh
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/revomini_Revolution.bin 0x08010000
/usr/local/stlink/st-util -m

5
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/GO_DFU.sh Executable file
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#!/bin/sh
mavproxy.py --master=/dev/ttyACM0 --baud=115200 --console <<<EOF
long MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 3 0 0 0 0 0 0
EOF

21
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/Rebuild.sh Executable file
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#git submodule init && git submodule update
export TOOLCHAIN
ROOT=`cd ../../../../..; pwd`
export PATH=/usr/local/bin:$PATH
echo $ROOT
( # AirBotF4 board
cd $ROOT/ArduCopter
make f4light-clean
make f4light BOARD=f4light_Revolution_EE128
) && (
cd $ROOT/ArduPlane
make f4light-clean
make f4light BOARD=f4light_Revolution_EE128
)
# at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc

9
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-DFU-plane.sh Executable file
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#!/bin/sh
#production binary for bootloader
#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_Revolution.bin
# bare metal binary
#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduPlane/f4light_Revolution.bin -R

9
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-DFU.sh Executable file
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#!/bin/sh
#production binary for bootloader
#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_Revolution.bin
# bare metal binary
#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution_EE128_bl.bin -R

7
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-STLINK.sh Executable file
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#!/bin/sh
/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \
/usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_Revolution_EE128_bl.bin 0x08000000
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000
/usr/local/stlink/st-util -m

6
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-plane-STLINK.sh Executable file
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#!/bin/sh
/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \
/usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_Revolution_EE128_bl.bin 0x08000000
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000
/usr/local/stlink/st-util -m

489
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/system_stm32f4xx.c Normal file
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/**
******************************************************************************
* @file system_stm32f4xx.c
* @author MCD Application Team
* @version V1.0.0
* @date 19-September-2011
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
* This file contains the system clock configuration for STM32F4xx devices,
* and is generated by the clock configuration tool
* stm32f4xx_Clock_Configuration_V1.0.0.xls
*
* 1. This file provides two functions and one global variable to be called from
* user application:
* - systemInit(oc): Setups the system clock (System clock source, PLL Multiplier
* and Divider factors, AHB/APBx prescalers and Flash settings),
* depending on the configuration made in the clock xls tool.
* This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f4xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* 2. After each device reset the HSI (16 MHz) is used as system clock source.
* Then systemInit() function is called, in "startup_stm32f4xx.s" file, to
* configure the system clock before to branch to main program.
*
* 3. If the system clock source selected by user fails to startup, the systemInit()
* function will do nothing and HSI still used as system clock source. User can
* add some code to deal with this issue inside the SetSysClock() function.
*
* 4. The default value of HSE crystal is set to 8 MHz, refer to "HSE_VALUE" define
* in "stm32f4xx.h" file. When HSE is used as system clock source, directly or
* through PLL, and you are using different crystal you have to adapt the HSE
* value to your own configuration.
*
* 5. This file configures the system clock as follows:
*=============================================================================
*=============================================================================
* Supported STM32F4xx device revision | Rev A
*-----------------------------------------------------------------------------
* System Clock source | PLL (HSE)
*-----------------------------------------------------------------------------
* SYSCLK(Hz) | 168000000
*-----------------------------------------------------------------------------
* HCLK(Hz) | 168000000
*-----------------------------------------------------------------------------
* AHB Prescaler | 1
*-----------------------------------------------------------------------------
* APB1 Prescaler | 4
*-----------------------------------------------------------------------------
* APB2 Prescaler | 2
*-----------------------------------------------------------------------------
* HSE Frequency(Hz) | 8000000
*-----------------------------------------------------------------------------
* PLL_M | 8
*-----------------------------------------------------------------------------
* PLL_N | 336
*-----------------------------------------------------------------------------
* PLL_P | 2
*-----------------------------------------------------------------------------
* PLL_Q | 7
*-----------------------------------------------------------------------------
* PLLI2S_N | 192
*-----------------------------------------------------------------------------
* PLLI2S_R | 5
*-----------------------------------------------------------------------------
* I2S input clock(Hz) | 38400000
*-----------------------------------------------------------------------------
* VDD(V) | 3.3
*-----------------------------------------------------------------------------
* High Performance mode | Enabled
*-----------------------------------------------------------------------------
* Flash Latency(WS) | 5
*-----------------------------------------------------------------------------
* Prefetch Buffer | OFF
*-----------------------------------------------------------------------------
* Instruction cache | ON
*-----------------------------------------------------------------------------
* Data cache | ON
*-----------------------------------------------------------------------------
* Require 48MHz for USB OTG FS, | Enabled
* SDIO and RNG clock |
*-----------------------------------------------------------------------------
*=============================================================================
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/*
M N Q P MHz
4 168 7 2 168
4 360 15 4 180
4 192 8 2 192
4 216 9 2 216
4 240 10 2 240
4 264 11 2 264
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/** @addtogroup STM32F4xx_System_Private_Includes
* @{
*/
#include "stm32f4xx.h"
void systemInit(uint8_t oc);
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Defines
* @{
*/
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET FLASH_OFFSET /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
#define PLL_M 4
#define PLL_N 168
/* SYSCLK = PLL_VCO / PLL_P */
#define PLL_P 2
/* USB OTG FS, SDIO and RNG Clock = PLL_VCO / PLLQ */
#define PLL_Q 7
/* PLLI2S_VCO = (HSE_VALUE Or HSI_VALUE / PLL_M) * PLLI2S_N
I2SCLK = PLLI2S_VCO / PLLI2S_R */
#define PLLI2S_N 192
#define PLLI2S_R 5
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Variables
* @{
*/
uint32_t SystemCoreClock = 168000000;
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
* @{
*/
void SetSysClock(uint8_t oc);
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the Embedded Flash Interface, the PLL and update the
* SystemFrequency variable.
* @param None
* @retval None
*/
void systemInit(uint8_t oc)
{
//SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset CFGR register */
RCC->CFGR = 0x00000000;
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset PLLCFGR register */
RCC->PLLCFGR = 0x24003010;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Disable all interrupts */
RCC->CIR = 0x00000000;
/* Configure the System clock source, PLL Multiplier and Divider factors,
AHB/APBx prescalers and Flash settings ----------------------------------*/
SetSysClock(oc);
// Configure the Vector Table location add offset address ------------------
extern unsigned __isr_vector_start; // from linker
SCB->VTOR = (uint32_t)&__isr_vector_start;
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32f4xx.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f4xx.h file (default value
* 25 MHz), user has to ensure that HSE_VALUE is same as the real
* frequency of the crystal used. Otherwise, this function may
* have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @param None
* @retval None
*/
void SystemCoreClockUpdate(void)
{
uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x04: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x08: /* PLL used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
SYSCLK = PLL_VCO / PLL_P
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
if (pllsource != 0)
{
/* HSE used as PLL clock source */
pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
else
{
/* HSI used as PLL clock source */
pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
SystemCoreClock = pllvco/pllp;
break;
default:
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK frequency --------------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK frequency */
SystemCoreClock >>= tmp;
}
extern void __error(uint32_t num, uint32_t pc, uint32_t lr);
/**
* @brief Configures the System clock source, PLL Multiplier and Divider factors,
* AHB/APBx prescalers and Flash settings
* @Note This function should be called only once the RCC clock configuration
* is reset to the default reset state (done in systemInit() function).
* @param None
* @retval None
*/
void SetSysClock(uint8_t oc)
{
/******************************************************************************/
/* PLL (clocked by HSE) used as System clock source */
/******************************************************************************/
__IO uint32_t StartUpCounter = 0, HSEStatus = 0;
/* Enable HSE */
RCC->CR |= ((uint32_t)RCC_CR_HSEON);
/* Wait till HSE is ready and if Time out is reached exit */
do
{
HSEStatus = RCC->CR & RCC_CR_HSERDY;
StartUpCounter++;
} while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
{
HSEStatus = (uint32_t)0x01;
}
else
{
HSEStatus = (uint32_t)0x00;
}
if (HSEStatus == (uint32_t)0x01)
{
/* Enable high performance mode, System frequency up to 168 MHz */
RCC->APB1ENR |= RCC_APB1ENR_PWREN;
PWR->CR |= PWR_CR_PMODE;
/* HCLK = SYSCLK / 1*/
RCC->CFGR |= RCC_CFGR_HPRE_DIV1;
/* PCLK2 = HCLK / 2*/
RCC->CFGR |= RCC_CFGR_PPRE2_DIV2;
/* PCLK1 = HCLK / 4*/
RCC->CFGR |= RCC_CFGR_PPRE1_DIV4;
/*
M N Q P MHz
0 4 168 7 2 168
1 4 360 15 4 180
2 4 192 8 2 192
3 4 216 9 2 216
4 4 240 10 2 240
5 4 264 11 2 264
*/
uint8_t pll_m=4, pll_q, pll_p=2;
uint16_t pll_n;
uint8_t flash_latency;
uint32_t cr_flags = RCC_CR_CSSON;
switch(oc) {
case 0:
default:
pll_n=168; pll_q=7;
flash_latency = FLASH_ACR_LATENCY_5WS;
SystemCoreClock = 168000000;
break;
case 1:
pll_n=360; pll_q=15; pll_p=4;
flash_latency = FLASH_ACR_LATENCY_5WS;
SystemCoreClock = 180000000;
// cr_flags = 0; // CSS don't support this mode
break;
case 2:
pll_n=192; pll_q=8;
flash_latency = FLASH_ACR_LATENCY_6WS;
SystemCoreClock = 192000000;
break;
case 3:
pll_n=216; pll_q=9;
flash_latency = FLASH_ACR_LATENCY_6WS;
SystemCoreClock = 216000000;
break;
case 4:
pll_n=240; pll_q=10;
flash_latency = FLASH_ACR_LATENCY_7WS;
SystemCoreClock = 240000000;
break;
case 5:
pll_n=264; pll_q=11;
flash_latency = FLASH_ACR_LATENCY_7WS;
SystemCoreClock = 264000000;
break;
}
/* Configure the main PLL */
/* RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
(RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24); */
RCC->PLLCFGR = pll_m | (pll_n << 6) | (((pll_p >> 1) -1) << 16) |
(RCC_PLLCFGR_PLLSRC_HSE) | (pll_q << 24);
/* Enable the main PLL */
RCC->CR |= RCC_CR_PLLON | cr_flags;
/* Wait till the main PLL is ready */
while((RCC->CR & RCC_CR_PLLRDY) == 0) { }
/* Configure Flash no-prefetch, Instruction cache, Data cache and wait state */
FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN | flash_latency;
/* Select the main PLL as system clock source */
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
RCC->CFGR |= RCC_CFGR_SW_PLL;
/* Wait till the main PLL is used as system clock source */
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL) {}
// FLASH->ACR |= FLASH_ACR_PRFTEN; // enable prefetch. this greatly increases both noice and speed
// also see http://radiokot.ru/forum/viewtopic.php?f=59&t=117260
}
else
{ /* If HSE fails to start-up, the application will have wrong clock
configuration. User can add here some code to deal with this error */
__error(12,0,0);
}
/******************************************************************************/
/* I2S clock configuration */
/******************************************************************************/
/* PLLI2S clock used as I2S clock source */
RCC->CFGR &= ~RCC_CFGR_I2SSRC;
/* Configure PLLI2S */
RCC->PLLI2SCFGR = (PLLI2S_N << 6) | (PLLI2S_R << 28);
#if 0 // we don't use I2S
/* Enable PLLI2S */
RCC->CR |= ((uint32_t)RCC_CR_PLLI2SON);
/* Wait till PLLI2S is ready */
while((RCC->CR & RCC_CR_PLLI2SRDY) == 0) { }
#endif
}

25
libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/target-config.mk Normal file
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# Board-specific configuration values. Flash and SRAM sizes in bytes.
MCU := STM32F405RG
PRODUCT_ID := 0003
DENSITY := STM32_HIGH_DENSITY
FLASH_SIZE := 1048576
SRAM_SIZE := 131072
BOARD_TYPE := 70
BOARD_REV := 6
BOOTLOADER := revo405_bl
# Memory target-specific configuration values
ifeq ($(MEMORY_TARGET), ram)
LDSCRIPT := ram.ld
VECT_BASE_ADDR := VECT_TAB_RAM
endif
ifeq ($(MEMORY_TARGET), flash)
LDSCRIPT := flash.ld
VECT_BASE_ADDR := VECT_TAB_FLASH
endif
ifeq ($(MEMORY_TARGET), jtag)
LDSCRIPT := jtag.ld
VECT_BASE_ADDR := VECT_TAB_BASE
endif

89
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/1_read_ME.md Normal file
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I tried to maintain compatibility with the OpenPilot documentation. The main difference - FlexiPort can
be Serial and external I2C port is on pins 7&8 of Input port. But this can be changed by HAL_FLEXI_I2C parameter
Main Port - telemetry, Serial1. As a variant it can be used as SBUS input with hardware inverter (Parameter HAL_UART_SBUS)
FlexiPort - OSD, Serial2
Uart6 (pins 5&6) - GPS
Input Port - PWM input is not supported - this is general trend
pin 1 of Input port is GND
pin 2 of Input port is +5
pin 3 of Input port is 1st PPM/SBUS/DSM/SUMD input or Servo9 (if you use RC via UART)
pin 4 of Input port is 2nd PPM/SBUS/DSM/SUMD input or Servo10, also can work as RX-only UART (for GPS)
pins 5&6 of Input port are Tx and Rx of UART6 (for GPS - Serial3)
pins 7&8 of Input port are SCL and SDA of external I2C (or Tx and Rx for SoftSerial if I2C moved to FlexiPort) - or Servos 7&8
Output Port for MOTORs
Connect to PWM output pins in ArduCopter, CleanFlight or OpenPilot order, and set parameter HAL_MOTOR_LAYOUT accordingly
5&6 PWM Output pins are Rx and Tx of Serial4 - but only for quads (except motor layout 1, see below) or planes
also pins 1&2 of OutputPort can be used as servos, in this case connect motors to pins 3-6 in ArduCopter order
PWM input is not supported - this is general trend
OpLink port
DSM satellite can be connected to Oplink port (hardware Serial5) or to PPM inputs (pins 3&4 of input port)
binding of DSM satellite can be done in 2 ways:
1. with some additional hardware - managed stabilizer 3.3 volts.
2. directly connected to 3.3v, binding will require short power off
Connection to OpLink port (RevoMini)
Pin 1 is Gnd,
pin 2 is +5 (DSM sat requires 3.3!)
pin 3 is PD2 (pin 54) Rx
pin 4 is PA15 (pin 50) Enable for 3.3 stab.
pin 5 is PC10 (pin 51) SCK
pin 6 is PC12 (pin 53) MOSI
pin 7 is PC11 (pin 52) MISO
Also Oplink port can be used as external SPI
Airspeed & RSSI
Pins Servo5 & Servo6 can be used as Analog Input for Airspeed sensor and/or RSSI, connection:
Servo5 = 48
Servo6 = 47
LEDs
All valuable info indicated by 2 LEDs of RevoMini
Blue led: system state
Very fast blinking - initializing
Blinking - ready to arm
Double blinking - pre-arm check failed
Solid - armed
blink slowly (around 2Hz) in flight - battery failsafe
blink fast (around 4Hz) in flight - radio failsafe
blinking (small dark pauses) - autotune complete
double darkening - autotune failed
Green led: GPS state
Dark: no fix
Blinking: number of blinks shows number of sats minus 6, so if there is 10 sats LED will blink in 4 pulses
special modes:
policy lights - ESC calibration or SaveTrim
short blinks by both LEDs - compass calibration
this project got donations from:
* Andrea Belloni
* Sebastian Thoem
* Alexander Malishev
* Alexandr Kuzmitski
* Gediminas Ustinavicius
* Thomas Jorgensen

193
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/board.cpp Normal file
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#ifndef BOARD_STM32V1F4
#define BOARD_STM32V1F4
#include <boards.h>
#include "../../SPIDevice.h"
#include <AP_Common/AP_Common.h>
using namespace F4Light;
extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] __FLASH__ = {
/*
const gpio_dev * const gpio_device; < Board 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.
uint8_t timer_channel; < Timer channel, or 0 if none.
uint8_t adc_channel; < Pin ADC channel, or nADC if none.
*/
{&gpiob, NULL, NULL, 10, NO_CH, nADC}, /* D0/PB10 0 USART3_TX/I2C2-SCL */
{&gpiob, NULL, NULL, 2, NO_CH, nADC}, /* D1/PB2 1*/
{&gpiob, NULL, NULL, 12, NO_CH, nADC}, /* D2/PB12 2 in0 on REVO */
{&gpiob, NULL, NULL, 13, NO_CH, nADC}, /* D3/PB13 3 in1 on REVO */
{&gpiob,&timer12,NULL, 14, TIMER_CH1, nADC}, /* D4/PB14 4 CH1_IN - PPMSUM */
{&gpiob,&timer12,NULL, 15, TIMER_CH2, nADC}, /* D5/PB15 5 CH2_IN - PPMSUM2 */
{&gpioc, NULL,&_adc1, 0, NO_CH, 10}, /* D6/PC0 6 SBUS invertor output */
{&gpioc, NULL,&_adc1, 1, NO_CH, 11}, /* D7/PC1 7 AMP */
{&gpioc, NULL,&_adc1, 2, NO_CH, 12}, /* D8/PC2 8 Volt/SONAR (connected to 22) */
{&gpioc, NULL,&_adc1, 3, NO_CH, 13}, /* D9/PC3 9 freq sense - resistor to VCC */
{&gpioc, NULL,&_adc1, 4, NO_CH, 14}, /* D10/PC4 10 EXTI_MPU6000 */
{&gpioc, NULL,&_adc1, 5, NO_CH, 15}, /* D11/PC5 1 USB_SENSE */
{&gpioc, &timer8,NULL, 6, TIMER_CH1, nADC}, /* D12/PC6 2 CH3_IN / UART6_TX */
{&gpioc, &timer8,NULL, 7, TIMER_CH2, nADC}, /* D13/PC7 3 CH4_IN / UART6_RX */
{&gpioc, &timer8,NULL, 8, TIMER_CH3, nADC}, /* D14/PC8 4 CH5_IN / S_scl / Servo7 */
{&gpioc, &timer8,NULL, 9, TIMER_CH4, nADC}, /* D15/PC9 5 CH6_IN / S_sda / Servo8 */
{&gpioc, NULL, NULL, 10, NO_CH, nADC}, /* D16/PC10 6 SPI3_SCLK */
{&gpioc, NULL, NULL, 11, NO_CH, nADC}, /* D17/PC11 7 SPI3_MISO */
{&gpioc, NULL, NULL, 12, NO_CH, nADC}, /* D18/PC12 8 SPI3_MOSI */
{&gpioc, NULL, NULL, 13, NO_CH, nADC}, /* D19/PC13 9 NOT CONNECTED */
{&gpioc, NULL, NULL, 14, NO_CH, nADC}, /* D20/PC14 20 NOT CONNECTED */
{&gpioc, NULL, NULL, 15, NO_CH, nADC}, /* D21/PC15 1 NOT CONNECTED */
{&gpioa, &timer1,NULL, 8, TIMER_CH1, nADC}, /* D22/PA8 2 Volt/Sonar double (connected to 8) */
{&gpioa, &timer1,NULL, 9, TIMER_CH2, nADC}, /* D23/PA9 3 USART1_TX */
{&gpioa, &timer1,NULL, 10, TIMER_CH3, nADC}, /* D24/PA10 4 USART1_RX */
{&gpiob, NULL, NULL, 9, TIMER_CH4, nADC}, /* D25/PB9 5 I2C1_SDA */
{&gpiod, NULL, NULL, 2, NO_CH, nADC}, /* D26/PD2 6 EXTI_RFM22B / UART5_RX */
{&gpiod, NULL, NULL, 3, NO_CH, nADC}, /* D27/PD3 7*/
{&gpiod, NULL, NULL, 6, NO_CH, nADC}, /* D28/PD6 8*/
{&gpiog, NULL, NULL, 11, NO_CH, nADC}, /* D29/PG11 9*/
{&gpiog, NULL, NULL, 12, NO_CH, nADC}, /* D30/PG12 30*/
{&gpiog, NULL, NULL, 13, NO_CH, nADC}, /* D31/PG13 1*/
{&gpiog, NULL, NULL, 14, NO_CH, nADC}, /* D32/PG14 2*/
{&gpiog, NULL, NULL, 8, NO_CH, nADC}, /* D33/PG8 3*/
{&gpiog, NULL, NULL, 7, NO_CH, nADC}, /* D34/PG7 4*/
{&gpiog, NULL, NULL, 6, NO_CH, nADC}, /* D35/PG6 5*/
{&gpiob, &timer3,NULL, 5, TIMER_CH2, nADC}, /* D36/PB5 6 LED_BLUE */
{&gpiob, &timer4,NULL, 6, TIMER_CH1, nADC}, /* D37/PB6 7 LED_YELLOW - OPTIONAL, not connected */
{&gpiob, &timer4,NULL, 7, TIMER_CH2, nADC}, /* D38/PB7 8 DRDY_HMC5883 */
{&gpiof, NULL,&_adc3, 6, NO_CH, 4}, /* D39/PF6 9*/
{&gpiof, NULL,&_adc3, 7, NO_CH, 5}, /* D40/PF7 40*/
{&gpiof, NULL,&_adc3, 8, NO_CH, 6}, /* D41/PF8 1*/
{&gpiof, NULL,&_adc3, 9, NO_CH, 7}, /* D42/PF9 2*/
{&gpiof, NULL,&_adc3,10, NO_CH, 8}, /* D43/PF10 3*/
{&gpiof, NULL, NULL, 11, NO_CH, nADC}, /* D44/PF11 4*/
{&gpiob, &timer3,&_adc1,1, TIMER_CH4, 9}, /* D45/PB1 5 SERVO2 */
{&gpiob, &timer3,&_adc1,0, TIMER_CH3, 8}, /* D46/PB0 6 SERVO1 */
{&gpioa, &timer2,&_adc1,0, TIMER_CH1, 0}, /* D47/PA0 7 SERVO6 / UART4_TX Also can be mapped to Timer5 */
{&gpioa, &timer2,&_adc1,1, TIMER_CH2, 1}, /* D48/PA1 8 SERVO5 / UART4_RX */
{&gpioa, &timer2,&_adc1,2, TIMER_CH3, 2}, /* D49/PA2 9 SERVO4 */
{&gpioa, &timer2,&_adc1,3, TIMER_CH4, 3}, /* D50/PA3 50 SERVO3 */
{&gpioa, NULL, &_adc1,4, NO_CH, 4}, /* D51/PA4 1 CS_MPU6000 */
{&gpioa, NULL, &_adc1,5, NO_CH, 5}, /* D52/PA5 2 SPI1_CLK */
{&gpioa, &timer3,&_adc1,6, TIMER_CH1, 6}, /* D53/PA6 3 SPI1_MISO */
{&gpioa, &timer3,&_adc1,7, TIMER_CH2, 7}, /* D54/PA7 4 SPI1_MOSI */
{&gpiof, NULL, NULL, 0, NO_CH, nADC}, /* D55/PF0 5*/
{&gpiod, NULL, NULL, 11, NO_CH, nADC}, /* D56/PD11 6*/
{&gpiod, &timer4,NULL, 14, TIMER_CH3, nADC}, /* D57/PD14 7*/
{&gpiof, NULL, NULL, 1, NO_CH, nADC}, /* D58/PF1 8*/
{&gpiod, &timer4,NULL, 12, TIMER_CH1, nADC}, /* D59/PD12 9*/
{&gpiod, &timer4,NULL, 15, TIMER_CH4, nADC}, /* D60/PD15 60*/
{&gpiof, NULL, NULL, 2, NO_CH, nADC}, /* D61/PF2 1*/
{&gpiod, &timer4,NULL, 13, TIMER_CH2, nADC}, /* D62/PD13 2*/
{&gpiod, NULL, NULL, 0, NO_CH, nADC}, /* D63/PD0 3*/
{&gpiof, NULL, NULL, 3, NO_CH, nADC}, /* D64/PF3 4*/
{&gpioe, NULL, NULL, 3, NO_CH, nADC}, /* D65/PE3 5*/
{&gpiod, NULL, NULL, 1, NO_CH, nADC}, /* D66/PD1 6*/
{&gpiof, NULL, NULL, 4, NO_CH, nADC}, /* D67/PF4 7*/
{&gpioe, NULL, NULL, 4, NO_CH, nADC}, /* D68/PE4 8*/
{&gpioe, NULL, NULL, 7, NO_CH, nADC}, /* D69/PE7 9*/
{&gpiof, NULL, NULL, 5, NO_CH, nADC}, /* D70/PF5 70*/
{&gpioe, NULL, NULL, 5, NO_CH, nADC}, /* D71/PE5 1*/
{&gpioe, NULL, NULL, 8, NO_CH, nADC}, /* D72/PE8 2*/
{&gpiof, NULL, NULL, 12, NO_CH, nADC}, /* D73/PF12 3*/
{&gpioe, NULL, NULL, 6, NO_CH, nADC}, /* D74/PE6 4*/
{&gpioe, &timer1,NULL, 9, TIMER_CH1, nADC}, /* D75/PE9 */
{&gpiof, NULL, NULL, 13, NO_CH, nADC}, /* D76/PF13 6*/
{&gpioe, NULL, NULL, 10, NO_CH, nADC}, /* D77/PE10 7*/
{&gpiof, NULL, NULL, 14, NO_CH, nADC}, /* D78/PF14 8*/
{&gpiog, NULL, NULL, 9, NO_CH, nADC}, /* D79/PG9 9*/
{&gpioe, &timer1,NULL, 11, TIMER_CH2, nADC}, /* D80/PE11 */
{&gpiof, NULL, NULL, 15, NO_CH, nADC}, /* D81/PF15 1*/
{&gpiog, NULL, NULL, 10, NO_CH, nADC}, /* D82/PG10 2*/
{&gpioe, NULL, NULL, 12, NO_CH, nADC}, /* D83/PE12 3*/
{&gpiog, NULL, NULL, 0, NO_CH, nADC}, /* D84/PG0 4*/
{&gpiod, NULL, NULL, 5, NO_CH, nADC}, /* D85/PD5 5*/
{&gpioe, &timer1,NULL, 13, TIMER_CH3, nADC}, /* D86/PE13 */
{&gpiog, NULL, NULL, 1, NO_CH, nADC}, /* D87/PG1 7*/
{&gpiod, NULL, NULL, 4, NO_CH, nADC}, /* D88/PD4 8*/
{&gpioe, &timer1,NULL, 14, TIMER_CH4, nADC}, /* D89/PE14 */
{&gpiog, NULL, NULL, 2, NO_CH, nADC}, /* D90/PG2 90*/
{&gpioe, NULL, NULL, 1, NO_CH, nADC}, /* D91/PE1 1*/
{&gpioe, NULL, NULL, 15, NO_CH, nADC}, /* D92/PE15 2*/
{&gpiog, NULL, NULL, 3, NO_CH, nADC}, /* D93/PG3 3*/
{&gpioe, NULL, NULL, 0, NO_CH, nADC}, /* D94/PE0 4*/
{&gpiod, NULL, NULL, 8, NO_CH, nADC}, /* D95/PD8 5*/
{&gpiog, NULL, NULL, 4, NO_CH, nADC}, /* D96/PG4 6*/
{&gpiod, NULL, NULL, 9, NO_CH, nADC}, /* D97/PD9 7*/
{&gpiog, NULL, NULL, 5, NO_CH, nADC}, /* D98/PG5 8*/
{&gpiod, NULL, NULL, 10, NO_CH, nADC}, /* D99/PD10 9*/
{&gpiob, NULL, NULL, 11, NO_CH, nADC}, /* D100/PB11 100 USART3_RX/I2C2-SDA */
{&gpiob, NULL, NULL, 8, NO_CH, nADC}, /* D101/PB8 I2C1_SCL */
{&gpioe, NULL, NULL, 2, NO_CH, nADC}, /* D102/PE2 */
{&gpioa, NULL, NULL, 15, NO_CH, nADC}, /* D103/PA15 BOARD_SPEKTRUM_PWR_PIN */
{&gpiob, NULL, NULL, 3, NO_CH, nADC}, /* D104/PB3 CS_FLASH */
{&gpiob, NULL, NULL, 4, NO_CH, nADC}, /* D105/PB4 LED_RED */
{&gpioa, NULL, NULL, 13, NO_CH, nADC}, /* D106/PA13 SWDIO */
{&gpioa, NULL, NULL, 14, NO_CH, nADC}, /* D107/PA14 SWCLK */
{&gpioa, NULL, NULL, 11, NO_CH, nADC}, /* D108/PA11 - USB D- */
};
extern const struct TIM_Channel PWM_Channels[] __FLASH__ = {
//CH1 and CH2 also for PPMSUM / SBUS / DSM
{ // 0 RC_IN1
.pin = 4,
},
{ // 1 RC_IN2
.pin = 5,
},
{ // 2 RC_IN3
.pin = 12,
},
{ // 3 RC_IN4
.pin = 13,
},
{ // 4 RC_IN5
.pin = 14,
},
{ // 5 RC_IN6 - also used for SoftUART
.pin = 15,
},
};
extern const SPIDesc spi_device_table[] = { // different SPI tables per board subtype
// name device bus mode cs_pin speed_low speed_high dma priority assert_dly release_dly
{ 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 },
// { BOARD_DATAFLASH_NAME, _SPI3, 3, SPI_MODE_3, 255 /* caller controls CS */, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 1 }, // we can use dataflash as EEPROM
{ BOARD_SDCARD_NAME, _SPI2, 2, SPI_MODE_0, 255, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 1 },
};
extern const uint8_t F4Light_SPI_DEVICE_NUM_DEVICES = ARRAY_SIZE(spi_device_table);
void boardInit(void) {
#ifdef BOARD_HMC5883_DRDY_PIN
{ // Init HMC5883 DRDY EXT_INT pin - but it not used by driver
const stm32_pin_info &pp = PIN_MAP[BOARD_HMC5883_DRDY_PIN];
gpio_set_mode(pp.gpio_device, pp.gpio_bit, GPIO_INPUT_PU);
}
#endif
#ifdef BOARD_MPU6000_DRDY_PIN
{ // Init MPU6000 DRDY pin
const stm32_pin_info &pp = PIN_MAP[BOARD_MPU6000_DRDY_PIN];
gpio_set_mode(pp.gpio_device, pp.gpio_bit, GPIO_INPUT_PU);
}
#endif
#ifdef BOARD_SBUS_INVERTER
{ // it is not necessary because of 10K resistor to ground
const stm32_pin_info &pp = PIN_MAP[BOARD_SBUS_INVERTER];
gpio_set_mode( pp.gpio_device, pp.gpio_bit, GPIO_OUTPUT_PP);
gpio_write_bit(pp.gpio_device, pp.gpio_bit, 0); // not inverted
}
#endif
}
#endif

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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_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
//#define BOARD_DATAFLASH_EEPROM 1 // use dataflash as EEPROM - TODO
#define BOARD_SDCARD_NAME "sdcard"
#define BOARD_SDCARD_CS_PIN 103 // PA15 CS_RFM22B
#define BOARD_SDCARD_DET_PIN 26 // PD2 EXTI_RFM22B / UART5_RX
#define USB_MASSSTORAGE
#define HAL_BOARD_LOG_DIRECTORY "0:/"
#define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN"
#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

183
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/ld/flash-10000.ld Normal file
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/*
*****************************************************************************
**
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F407VG Device with
** 1024KByte FLASH, 128KByte RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Environment : Atollic TrueSTUDIO(R)
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
** (c)Copyright Atollic AB.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the Atollic TrueSTUDIO(R) toolchain.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
/* _estack = 0x20020000; */ /* end of 128K RAM */
_estack = 0x10010000; /* end of 64k CCM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x800; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
FLASH0 (rx) : ORIGIN = 0x08000000, LENGTH = 32K
FLASH (rx) : ORIGIN = 0x08010000, LENGTH = 960K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
CCM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
__isr_vector_start = .;
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT> FLASH
/* Uninitialized data section */
. = ALIGN(4);
.bss (NOLOAD):
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack (NOLOAD):
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
/* . = . + _Min_Stack_Size; */
. = ALIGN(4);
} >RAM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text :
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
.ccm (NOLOAD): {
. = ALIGN(4);
_sccm = .;
*(.ccm)
. = ALIGN(4);
_eccm = .;
}>CCM
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}

1
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/ld/flash.ld Symbolic link
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flash-10000.ld

210
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/ld/flash_8000000.ld Normal file
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/*
*****************************************************************************
**
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F407VG Device with
** 1024KByte FLASH, 128KByte RAM
**
** Set heap size, stack size and stack location according
** to application requirements.
**
** Set memory bank area and size if external memory is used.
**
** Target : STMicroelectronics STM32
**
** Environment : Atollic TrueSTUDIO(R)
**
** Distribution: The file is distributed “as is,” without any warranty
** of any kind.
**
** (c)Copyright Atollic AB.
** You may use this file as-is or modify it according to the needs of your
** project. Distribution of this file (unmodified or modified) is not
** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
** rights to distribute the assembled, compiled & linked contents of this
** file as part of an application binary file, provided that it is built
** using the Atollic TrueSTUDIO(R) toolchain.
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
/* _estack = 0x20020000; */ /* end of 128K RAM */
_estack = 0x10010000; /* end of 64k CCM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x800; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
FLASH0 (rx) : ORIGIN = 0x08000000, LENGTH = 64K
FLASH (rx) : ORIGIN = 0x08010000, LENGTH = 960K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
CCM (rw) : ORIGIN = 0x10000000, LENGTH = 64K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
/*.isr_vector :*/
.text0 :
{
. = ALIGN(4);
__isr_vector_start = .;
KEEP(*(.isr_vector)) /* Startup code */
FILL(0xffff)
. = ALIGN(4);
} >FLASH0
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
FILL(0xffff)
} >FLASH =0xFF
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
FILL(0xffff)
} >RAM AT> FLASH
/* Uninitialized data section */
. = ALIGN(4);
.bss (NOLOAD):
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack (NOLOAD):
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >RAM
/* used by the startup to initialize data */
_siccm = .;
/* initialized CCM sections
.ccm (): {
. = ALIGN(4);
_sccm = .;
*(.ccm)
*(.ccm*)
. = ALIGN(4);
_eccm = .;
}>CCM AT> FLASH
*/
/* empty CCM sections */
.ccm (NOLOAD): {
. = ALIGN(4);
_sccm = .;
*(.ccm)
*(.ccm*)
. = ALIGN(4);
_eccm = .;
}>CCM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text :
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}

51
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/rules.mk Normal file
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# Standard things
sp := $(sp).x
dirstack_$(sp) := $(d)
d := $(dir)
BUILDDIRS += $(BUILD_PATH)/$(d)
#BUILDDIRS += $(BUILD_PATH)/$(d)/comm
BUILDDIRS += $(BUILD_PATH)/$(d)/../boards/$(BOARD)
WIR := AP_HAL_F4Light/wirish
BRD := AP_HAL_F4Light/boards
LIBRARY_INCLUDES += -I$(BRD)/$(BOARD)
# Local flags
# always include board #defines
CFLAGS_$(d) := -Wall -Werror -include $(BRD)/$(BOARD)/board.h
# Local rules and targets
cSRCS_$(d) :=
cSRCS_$(d) += $(BRD)/$(BOARD)/system_stm32f4xx.c # C startup code
cppSRCS_$(d) :=
cppSRCS_$(d) += $(BRD)/$(BOARD)/board.cpp
cppSRCS_$(d) += $(WIR)/boards.cpp
sSRCS_$(d) :=
sSRCS_$(d) += $(WIR)/startup.S # early startup code
sSRCS_$(d) += $(WIR)/exc.S # exception handling and task switching code
cFILES_$(d) := $(cSRCS_$(d):%=$(d)/%)
cppFILES_$(d) := $(cppSRCS_$(d):%=$(d)/%)
sFILES_$(d) := $(sSRCS_$(d):%=$(d)/%)
OBJS_$(d) := $(cFILES_$(d):%.c=$(LIBRARIES_PATH)/%.o)
OBJS_$(d) += $(cppFILES_$(d):%.cpp=$(LIBRARIES_PATH)/%.o)
OBJS_$(d) += $(sFILES_$(d):%.S=$(LIBRARIES_PATH)/%.o)
DEPS_$(d) := $(OBJS_$(d):%.o=%.d)
$(OBJS_$(d)): TGT_CFLAGS := $(CFLAGS_$(d))
TGT_BIN += $(OBJS_$(d))
# Standard things
-include $(DEPS_$(d))
d := $(dirstack_$(sp))
sp := $(basename $(sp))

78
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/stm32f4xx_conf.h Normal file
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/**
******************************************************************************
* @file Project/STM32F4xx_StdPeriph_Templates/stm32f4xx_conf.h
* @author MCD Application Team
* @version V1.0.0
* @date 30-September-2011
* @brief Library configuration file.
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32F4xx_CONF_H
#define __STM32F4xx_CONF_H
/* Uncomment the line below to expanse the "assert_param" macro in the
Standard Peripheral Library drivers code */
/* #define USE_FULL_ASSERT 1 */
/* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT
/**
* @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function
* which reports the name of the source file and the source
* line number of the call that failed.
* If expr is true, it returns no value.
* @retval None
*/
#define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
/* Exported functions ------------------------------------------------------- */
void assert(uint8_t* file, uint32_t line);
#else
#define assert_param(expr) ((void)0)
#endif /* USE_FULL_ASSERT */
/* Includes ------------------------------------------------------------------*/
/* Uncomment the line below to enable peripheral header file inclusion */
#include "stm32f4xx_adc.h"
#include "stm32f4xx_can.h"
#include "stm32f4xx_dbgmcu.h"
#include "stm32f4xx_dma.h"
#include "stm32f4xx_exti.h"
#include "stm32f4xx_flash.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_i2c.h"
#include "stm32f4xx_iwdg.h"
#include "stm32f4xx_pwr.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_rtc.h"
#include "stm32f4xx_spi.h"
#include "stm32f4xx_syscfg.h"
#include "stm32f4xx_tim.h"
#include "stm32f4xx_usart.h"
#include "stm32f4xx_wwdg.h"
#include "stm32f4xx_nvic.h" /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
#endif /* __STM32F4xx_CONF_H */
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

6
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/DEBUG-STLINK.sh Executable file
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#!/bin/sh
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/revomini_Revolution.bin 0x08010000
/usr/local/stlink/st-util -m

5
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/GO_DFU.sh Executable file
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#!/bin/sh
mavproxy.py --master=/dev/ttyACM0 --baud=115200 --console <<<EOF
long MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN 3 0 0 0 0 0 0
EOF

21
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/Rebuild.sh Executable file
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#git submodule init && git submodule update
export TOOLCHAIN
ROOT=`cd ../../../../..; pwd`
export PATH=/usr/local/bin:$PATH
echo $ROOT
( # AirBotF4 board
cd $ROOT/ArduCopter
make f4light-clean
make f4light BOARD=f4light_Revolution_SD
) && (
cd $ROOT/ArduPlane
make f4light-clean
make f4light BOARD=f4light_Revolution_SD
)
# at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc

8
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-DFU-plane.sh Executable file
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#!/bin/sh
# bare metal binary
#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
#production binary for bootloader
dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduPlane/f4light_Revolution_SD.bin -R

9
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-DFU.sh Executable file
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#!/bin/sh
#production binary for bootloader
#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_Revolution.bin
# bare metal binary
#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
dfu-util -a 0 --dfuse-address 0x08010000:leave -D ../../../../../ArduCopter/f4light_Revolution_SD.bin -R

12
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-STLINK.sh Executable file
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#!/bin/sh
# production binary without bootloader
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
#bare metal binary or binary with bootloader
/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \
/usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_Revolution_SD_bl.bin 0x08000000 && \
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 && \
/usr/local/stlink/st-util -m

12
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/support/UPLOAD-plane-STLINK.sh Executable file
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#!/bin/sh
# production binary with bootloader
#/usr/local/stlink/st-flash --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
#bare metal binary
/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \
/usr/local/stlink/st-flash --reset write ../../../../../ArduPlane/f4light_Revolution_SD_bl.bin 0x08000000
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000
/usr/local/stlink/st-util -m

489
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/system_stm32f4xx.c Normal file
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/**
******************************************************************************
* @file system_stm32f4xx.c
* @author MCD Application Team
* @version V1.0.0
* @date 19-September-2011
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
* This file contains the system clock configuration for STM32F4xx devices,
* and is generated by the clock configuration tool
* stm32f4xx_Clock_Configuration_V1.0.0.xls
*
* 1. This file provides two functions and one global variable to be called from
* user application:
* - systemInit(oc): Setups the system clock (System clock source, PLL Multiplier
* and Divider factors, AHB/APBx prescalers and Flash settings),
* depending on the configuration made in the clock xls tool.
* This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32f4xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* 2. After each device reset the HSI (16 MHz) is used as system clock source.
* Then systemInit() function is called, in "startup_stm32f4xx.s" file, to
* configure the system clock before to branch to main program.
*
* 3. If the system clock source selected by user fails to startup, the systemInit()
* function will do nothing and HSI still used as system clock source. User can
* add some code to deal with this issue inside the SetSysClock() function.
*
* 4. The default value of HSE crystal is set to 8 MHz, refer to "HSE_VALUE" define
* in "stm32f4xx.h" file. When HSE is used as system clock source, directly or
* through PLL, and you are using different crystal you have to adapt the HSE
* value to your own configuration.
*
* 5. This file configures the system clock as follows:
*=============================================================================
*=============================================================================
* Supported STM32F4xx device revision | Rev A
*-----------------------------------------------------------------------------
* System Clock source | PLL (HSE)
*-----------------------------------------------------------------------------
* SYSCLK(Hz) | 168000000
*-----------------------------------------------------------------------------
* HCLK(Hz) | 168000000
*-----------------------------------------------------------------------------
* AHB Prescaler | 1
*-----------------------------------------------------------------------------
* APB1 Prescaler | 4
*-----------------------------------------------------------------------------
* APB2 Prescaler | 2
*-----------------------------------------------------------------------------
* HSE Frequency(Hz) | 8000000
*-----------------------------------------------------------------------------
* PLL_M | 8
*-----------------------------------------------------------------------------
* PLL_N | 336
*-----------------------------------------------------------------------------
* PLL_P | 2
*-----------------------------------------------------------------------------
* PLL_Q | 7
*-----------------------------------------------------------------------------
* PLLI2S_N | 192
*-----------------------------------------------------------------------------
* PLLI2S_R | 5
*-----------------------------------------------------------------------------
* I2S input clock(Hz) | 38400000
*-----------------------------------------------------------------------------
* VDD(V) | 3.3
*-----------------------------------------------------------------------------
* High Performance mode | Enabled
*-----------------------------------------------------------------------------
* Flash Latency(WS) | 5
*-----------------------------------------------------------------------------
* Prefetch Buffer | OFF
*-----------------------------------------------------------------------------
* Instruction cache | ON
*-----------------------------------------------------------------------------
* Data cache | ON
*-----------------------------------------------------------------------------
* Require 48MHz for USB OTG FS, | Enabled
* SDIO and RNG clock |
*-----------------------------------------------------------------------------
*=============================================================================
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/*
M N Q P MHz
4 168 7 2 168
4 360 15 4 180
4 192 8 2 192
4 216 9 2 216
4 240 10 2 240
4 264 11 2 264
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32f4xx_system
* @{
*/
/** @addtogroup STM32F4xx_System_Private_Includes
* @{
*/
#include "stm32f4xx.h"
void systemInit(uint8_t oc);
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Defines
* @{
*/
/*!< Uncomment the following line if you need to relocate your vector Table in
Internal SRAM. */
/* #define VECT_TAB_SRAM */
#define VECT_TAB_OFFSET FLASH_OFFSET /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
#define PLL_M 4
#define PLL_N 168
/* SYSCLK = PLL_VCO / PLL_P */
#define PLL_P 2
/* USB OTG FS, SDIO and RNG Clock = PLL_VCO / PLLQ */
#define PLL_Q 7
/* PLLI2S_VCO = (HSE_VALUE Or HSI_VALUE / PLL_M) * PLLI2S_N
I2SCLK = PLLI2S_VCO / PLLI2S_R */
#define PLLI2S_N 192
#define PLLI2S_R 5
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Variables
* @{
*/
uint32_t SystemCoreClock = 168000000;
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes
* @{
*/
void SetSysClock(uint8_t oc);
/**
* @}
*/
/** @addtogroup STM32F4xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system
* Initialize the Embedded Flash Interface, the PLL and update the
* SystemFrequency variable.
* @param None
* @retval None
*/
void systemInit(uint8_t oc)
{
//SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
/* Reset the RCC clock configuration to the default reset state ------------*/
/* Set HSION bit */
RCC->CR |= (uint32_t)0x00000001;
/* Reset CFGR register */
RCC->CFGR = 0x00000000;
/* Reset HSEON, CSSON and PLLON bits */
RCC->CR &= (uint32_t)0xFEF6FFFF;
/* Reset PLLCFGR register */
RCC->PLLCFGR = 0x24003010;
/* Reset HSEBYP bit */
RCC->CR &= (uint32_t)0xFFFBFFFF;
/* Disable all interrupts */
RCC->CIR = 0x00000000;
/* Configure the System clock source, PLL Multiplier and Divider factors,
AHB/APBx prescalers and Flash settings ----------------------------------*/
SetSysClock(oc);
// Configure the Vector Table location add offset address ------------------
extern unsigned __isr_vector_start; // from linker
SCB->VTOR = (uint32_t)&__isr_vector_start;
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (*) HSI_VALUE is a constant defined in stm32f4xx.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (**) HSE_VALUE is a constant defined in stm32f4xx.h file (default value
* 25 MHz), user has to ensure that HSE_VALUE is same as the real
* frequency of the crystal used. Otherwise, this function may
* have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @param None
* @retval None
*/
void SystemCoreClockUpdate(void)
{
uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2;
/* Get SYSCLK source -------------------------------------------------------*/
tmp = RCC->CFGR & RCC_CFGR_SWS;
switch (tmp)
{
case 0x00: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x04: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x08: /* PLL used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N
SYSCLK = PLL_VCO / PLL_P
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22;
pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM;
if (pllsource != 0)
{
/* HSE used as PLL clock source */
pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
else
{
/* HSI used as PLL clock source */
pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6);
}
pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2;
SystemCoreClock = pllvco/pllp;
break;
default:
SystemCoreClock = HSI_VALUE;
break;
}
/* Compute HCLK frequency --------------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK frequency */
SystemCoreClock >>= tmp;
}
extern void __error(uint32_t num, uint32_t pc, uint32_t lr);
/**
* @brief Configures the System clock source, PLL Multiplier and Divider factors,
* AHB/APBx prescalers and Flash settings
* @Note This function should be called only once the RCC clock configuration
* is reset to the default reset state (done in systemInit() function).
* @param None
* @retval None
*/
void SetSysClock(uint8_t oc)
{
/******************************************************************************/
/* PLL (clocked by HSE) used as System clock source */
/******************************************************************************/
__IO uint32_t StartUpCounter = 0, HSEStatus = 0;
/* Enable HSE */
RCC->CR |= ((uint32_t)RCC_CR_HSEON);
/* Wait till HSE is ready and if Time out is reached exit */
do
{
HSEStatus = RCC->CR & RCC_CR_HSERDY;
StartUpCounter++;
} while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
{
HSEStatus = (uint32_t)0x01;
}
else
{
HSEStatus = (uint32_t)0x00;
}
if (HSEStatus == (uint32_t)0x01)
{
/* Enable high performance mode, System frequency up to 168 MHz */
RCC->APB1ENR |= RCC_APB1ENR_PWREN;
PWR->CR |= PWR_CR_PMODE;
/* HCLK = SYSCLK / 1*/
RCC->CFGR |= RCC_CFGR_HPRE_DIV1;
/* PCLK2 = HCLK / 2*/
RCC->CFGR |= RCC_CFGR_PPRE2_DIV2;
/* PCLK1 = HCLK / 4*/
RCC->CFGR |= RCC_CFGR_PPRE1_DIV4;
/*
M N Q P MHz
0 4 168 7 2 168
1 4 360 15 4 180
2 4 192 8 2 192
3 4 216 9 2 216
4 4 240 10 2 240
5 4 264 11 2 264
*/
uint8_t pll_m=4, pll_q, pll_p=2;
uint16_t pll_n;
uint8_t flash_latency;
uint32_t cr_flags = RCC_CR_CSSON;
switch(oc) {
case 0:
default:
pll_n=168; pll_q=7;
flash_latency = FLASH_ACR_LATENCY_5WS;
SystemCoreClock = 168000000;
break;
case 1:
pll_n=360; pll_q=15; pll_p=4;
flash_latency = FLASH_ACR_LATENCY_5WS;
SystemCoreClock = 180000000;
// cr_flags = 0; // CSS don't support this mode
break;
case 2:
pll_n=192; pll_q=8;
flash_latency = FLASH_ACR_LATENCY_6WS;
SystemCoreClock = 192000000;
break;
case 3:
pll_n=216; pll_q=9;
flash_latency = FLASH_ACR_LATENCY_6WS;
SystemCoreClock = 216000000;
break;
case 4:
pll_n=240; pll_q=10;
flash_latency = FLASH_ACR_LATENCY_7WS;
SystemCoreClock = 240000000;
break;
case 5:
pll_n=264; pll_q=11;
flash_latency = FLASH_ACR_LATENCY_7WS;
SystemCoreClock = 264000000;
break;
}
/* Configure the main PLL */
/* RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) |
(RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24); */
RCC->PLLCFGR = pll_m | (pll_n << 6) | (((pll_p >> 1) -1) << 16) |
(RCC_PLLCFGR_PLLSRC_HSE) | (pll_q << 24);
/* Enable the main PLL */
RCC->CR |= RCC_CR_PLLON | cr_flags;
/* Wait till the main PLL is ready */
while((RCC->CR & RCC_CR_PLLRDY) == 0) { }
/* Configure Flash no-prefetch, Instruction cache, Data cache and wait state */
FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN | flash_latency;
/* Select the main PLL as system clock source */
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
RCC->CFGR |= RCC_CFGR_SW_PLL;
/* Wait till the main PLL is used as system clock source */
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL) {}
// FLASH->ACR |= FLASH_ACR_PRFTEN; // enable prefetch. this greatly increases both noice and speed
// also see http://radiokot.ru/forum/viewtopic.php?f=59&t=117260
}
else
{ /* If HSE fails to start-up, the application will have wrong clock
configuration. User can add here some code to deal with this error */
__error(12,0,0);
}
/******************************************************************************/
/* I2S clock configuration */
/******************************************************************************/
/* PLLI2S clock used as I2S clock source */
RCC->CFGR &= ~RCC_CFGR_I2SSRC;
/* Configure PLLI2S */
RCC->PLLI2SCFGR = (PLLI2S_N << 6) | (PLLI2S_R << 28);
#if 0 // we don't use I2S
/* Enable PLLI2S */
RCC->CR |= ((uint32_t)RCC_CR_PLLI2SON);
/* Wait till PLLI2S is ready */
while((RCC->CR & RCC_CR_PLLI2SRDY) == 0) { }
#endif
}

26
libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/target-config.mk Normal file
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@ -0,0 +1,26 @@
# Board-specific configuration values. Flash and SRAM sizes in bytes.
MCU := STM32F405RG
PRODUCT_ID := 0003
DENSITY := STM32_HIGH_DENSITY
FLASH_SIZE := 1048576
SRAM_SIZE := 131072
BOARD_TYPE := 70
BOARD_REV := 4
BOOTLOADER := revo405_bl
# Memory target-specific configuration values
ifeq ($(MEMORY_TARGET), ram)
LDSCRIPT := ram.ld
VECT_BASE_ADDR := VECT_TAB_RAM
endif
ifeq ($(MEMORY_TARGET), flash)
LDSCRIPT := flash.ld
VECT_BASE_ADDR := VECT_TAB_FLASH
endif
ifeq ($(MEMORY_TARGET), jtag)
LDSCRIPT := jtag.ld
VECT_BASE_ADDR := VECT_TAB_BASE
endif