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ardupilot/libraries/AP_HAL_F4Light/wirish/boards.h

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