forked from Archive/PX4-Autopilot
369 lines
13 KiB
C
Executable File
369 lines
13 KiB
C
Executable File
/************************************************************************************
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* nuttx-configs/px4fmu-v2/include/board.h
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* include/arch/board/board.h
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*
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* Copyright (C) 2009 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#ifndef __ARCH_BOARD_BOARD_H
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#define __ARCH_BOARD_BOARD_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#ifndef __ASSEMBLY__
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# include <stdint.h>
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#endif
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#include <stm32.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* The PX4FMUV2 uses a 24MHz crystal connected to the HSE.
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*
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* This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
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* System Clock source : PLL (HSE)
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* SYSCLK(Hz) : 168000000 Determined by PLL configuration
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* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
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* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
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* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
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* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
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* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
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* PLLM : 24 (STM32_PLLCFG_PLLM)
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* PLLN : 336 (STM32_PLLCFG_PLLN)
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* PLLP : 2 (STM32_PLLCFG_PLLP)
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* PLLQ : 7 (STM32_PLLCFG_PPQ)
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* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
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* Flash Latency(WS) : 5
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* Prefetch Buffer : OFF
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* Instruction cache : ON
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* Data cache : ON
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* Require 48MHz for USB OTG FS, : Enabled
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* SDIO and RNG clock
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*/
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/* HSI - 16 MHz RC factory-trimmed
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* LSI - 32 KHz RC
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* HSE - On-board crystal frequency is 24MHz
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* LSE - not installed
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*/
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#define STM32_BOARD_XTAL 24000000ul
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#define STM32_HSI_FREQUENCY 16000000ul
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#define STM32_LSI_FREQUENCY 32000
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#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
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//#define STM32_LSE_FREQUENCY 32768
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/* Main PLL Configuration.
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*
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* PLL source is HSE
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* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
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* = (25,000,000 / 25) * 336
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* = 336,000,000
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* SYSCLK = PLL_VCO / PLLP
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* = 336,000,000 / 2 = 168,000,000
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* USB OTG FS, SDIO and RNG Clock
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* = PLL_VCO / PLLQ
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* = 48,000,000
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*/
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#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
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#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
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#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
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#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
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#define STM32_SYSCLK_FREQUENCY 168000000ul
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/* AHB clock (HCLK) is SYSCLK (168MHz) */
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#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
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#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
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#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
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/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
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#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
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/* Timers driven from APB1 will be twice PCLK1 */
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#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
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/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
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#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
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#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
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/* Timers driven from APB2 will be twice PCLK2 */
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#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
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* otherwise frequency is 2xAPBx.
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* Note: TIM1,8-11 are on APB2, others on APB1
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*/
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
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#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
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#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
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#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
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#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
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#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
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#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
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#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
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/* SDIO dividers. Note that slower clocking is required when DMA is disabled
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* in order to avoid RX overrun/TX underrun errors due to delayed responses
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* to service FIFOs in interrupt driven mode. These values have not been
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* tuned!!!
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*
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* SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
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*/
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#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
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/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
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* DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
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*/
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#ifdef CONFIG_SDIO_DMA
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# define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
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#else
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# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
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#endif
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/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
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* DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
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*/
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#ifdef CONFIG_SDIO_DMA
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# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
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#else
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# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
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#endif
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/* DMA Channl/Stream Selections *****************************************************/
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/* Stream selections are arbitrary for now but might become important in the future
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* is we set aside more DMA channels/streams.
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*
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* SDIO DMA
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* DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
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* DMAMAP_SDIO_2 = Channel 4, Stream 6
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*/
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#define DMAMAP_SDIO DMAMAP_SDIO_1
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/* Alternate function pin selections ************************************************/
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/* UARTs */
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#define GPIO_USART1_RX GPIO_USART1_RX_1 /* Console in from IO */
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#define GPIO_USART1_TX 0 /* USART1 is RX-only */
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#define GPIO_USART2_RX GPIO_USART2_RX_2
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#define GPIO_USART2_TX GPIO_USART2_TX_2
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2
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#define GPIO_USART2_CTS GPIO_USART2_CTS_2
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#define GPIO_USART3_RX GPIO_USART3_RX_3
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#define GPIO_USART3_TX GPIO_USART3_TX_3
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#define GPIO_USART3_RTS GPIO_USART3_RTS_2
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#define GPIO_USART3_CTS GPIO_USART3_CTS_2
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#define GPIO_UART4_RX GPIO_UART4_RX_1
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#define GPIO_UART4_TX GPIO_UART4_TX_1
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#define GPIO_USART6_RX GPIO_USART6_RX_1
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#define GPIO_USART6_TX GPIO_USART6_TX_1
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#define GPIO_UART7_RX GPIO_UART7_RX_1
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#define GPIO_UART7_TX GPIO_UART7_TX_1
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/* UART8 has no alternate pin config */
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/* UART RX DMA configurations */
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#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
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#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
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/* CAN
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*
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* CAN1 is routed to the onboard transceiver.
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* CAN2 is routed to the expansion connector.
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*/
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#define GPIO_CAN1_RX GPIO_CAN1_RX_3
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#define GPIO_CAN1_TX GPIO_CAN1_TX_3
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#define GPIO_CAN2_RX GPIO_CAN2_RX_1
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#define GPIO_CAN2_TX GPIO_CAN2_TX_2
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/* I2C
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*
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* The optional _GPIO configurations allow the I2C driver to manually
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* reset the bus to clear stuck slaves. They match the pin configuration,
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* but are normally-high GPIOs.
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*/
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#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
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#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
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#define GPIO_I2C1_SCL_GPIO \
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(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
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#define GPIO_I2C1_SDA_GPIO \
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(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
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#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
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#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
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#define GPIO_I2C2_SCL_GPIO \
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(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
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#define GPIO_I2C2_SDA_GPIO \
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(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
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/* SPI
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*
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* There are sensors on SPI1, and SPI2 is connected to the FRAM.
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*/
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#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
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#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
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#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
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#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
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#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
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#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1
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#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1
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#define GPIO_SPI4_SCK GPIO_SPI4_SCK_1
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/* LED Definitions. Needed if CONFIG_ARCH_LEDs is defined */
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#define LED_STARTED 0
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#define LED_HEAPALLOCATE 0
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#define LED_IRQSENABLED 0
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#define LED_STACKCREATED 1
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#define LED_INIRQ 1
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#define LED_SIGNAL 1
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#define LED_ASSERTION 1
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#define LED_PANIC 1
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/* Board provides GPIO or other Hardware for signaling to timing analyzer */
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#if defined(CONFIG_BOARD_USE_PROBES)
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# define PROBE_N(n) (1<<((n)-1))
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# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
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# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
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# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
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# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
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# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
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# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
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# define PROBE_INIT(mask) \
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do { \
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if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
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if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
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if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
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if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
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if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
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if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
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} while(0)
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# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
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# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
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#else
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# define PROBE_INIT(mask)
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# define PROBE(n,s)
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# define PROBE_MARK(n)
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#endif
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/************************************************************************************
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* Public Data
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************************************************************************************/
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#ifndef __ASSEMBLY__
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C" {
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#else
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#define EXTERN extern
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#endif
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/************************************************************************************
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* Public Function Prototypes
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************************************************************************************/
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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* Description:
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* All STM32 architectures must provide the following entry point. This entry point
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* is called early in the initialization -- after all memory has been configured
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* and mapped but before any devices have been initialized.
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*
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************************************************************************************/
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EXTERN void stm32_boardinitialize(void);
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#undef EXTERN
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __ARCH_BOARD_BOARD_H */
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