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ardupilot/libraries/AP_HAL_F4Light/boards/f4light_MatekF405_CTR/board.cpp

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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;
/*
LQFP64
PA0-15
PB0-15
PC0-12
PD2
*/
extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] __FLASH__ = {
/* Top header */
/*
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.
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 MAX7456_SPI_CS_PIN */
{&gpiob, NULL, NULL, 2, NO_CH, nADC}, /* D1/PB2 1 (BOOT1) */
{&gpiob, NULL, NULL, 12, NO_CH, nADC}, /* D2/PB12 2 SDCARD CS pin */
{&gpiob, NULL, NULL, 13, NO_CH, nADC}, /* D3/PB13 3 SPI2_SCK */
{&gpiob,&timer12,NULL, 14, TIMER_CH1, nADC}, /* D4/PB14 4 SPI2_MOSI */
{&gpiob,&timer12,NULL, 15, TIMER_CH2, nADC}, /* D5/PB15 5 SPI2_MISO */
{&gpioc, NULL,&_adc1, 0, NO_CH, 10}, /* D6/PC0 6 */
{&gpioc, NULL,&_adc1, 1, NO_CH, 11}, /* D7/PC1 7 SD CS */
{&gpioc, NULL,&_adc1, 2, NO_CH, 12}, /* D8/PC2 8 CS_MPU6000 */
{&gpioc, NULL,&_adc1, 3, NO_CH, 13}, /* D9/PC3 9 EXTI_MPU6000 */
{&gpioc, NULL,&_adc1, 4, NO_CH, 14}, /* D10/PC4 10 Current */
{&gpioc, NULL,&_adc1, 5, NO_CH, 15}, /* D11/PC5 1 Vbat */
{&gpioc, &timer8,NULL, 6, TIMER_CH1, nADC}, /* D12/PC6 2 SERVO_1 */
{&gpioc, &timer8,NULL, 7, TIMER_CH2, nADC}, /* D13/PC7 3 SERVO_2 */
{&gpioc, &timer8,NULL, 8, TIMER_CH3, nADC}, /* D14/PC8 4 SERVO_3 */
{&gpioc, &timer8,NULL, 9, TIMER_CH4, nADC}, /* D15/PC9 5 SERVO_4 */
{&gpioc, NULL, NULL, 10, NO_CH, nADC}, /* D16/PC10 6 UART3 RX */
{&gpioc, NULL, NULL, 11, NO_CH, nADC}, /* D17/PC11 7 UART3 TX */
{&gpioc, NULL, NULL, 12, NO_CH, nADC}, /* D18/PC12 8 UART5_TX */
{&gpioc, NULL, NULL, 13, NO_CH, nADC}, /* D19/PC13 9 Buzzer */
{&gpioc, NULL, NULL, 14, NO_CH, nADC}, /* D20/PC14 20 n/a */
{&gpioc, NULL, NULL, 15, NO_CH, nADC}, /* D21/PC15 1 n/a */
{&gpioa, &timer1,NULL, 8, TIMER_CH1, nADC}, /* D22/PA8 2 SERVO_6 */
{&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, &timer4,NULL, 9, TIMER_CH4, nADC}, /* D25/PB9 5 LED */
{&gpiod, NULL, NULL, 2, NO_CH, nADC}, /* D26/PD2 6 UART5_RX */
{&gpiod, NULL, NULL, 3, NO_CH, nADC}, /* D27/PD3 7 n/a */
{&gpiod, NULL, NULL, 6, NO_CH, nADC}, /* D28/PD6 8 n/a */
{&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 SPI3 MOSI */
{&gpiob, &timer4,NULL, 6, TIMER_CH1, nADC}, /* D37/PB6 7 SCL pad */
{&gpiob, &timer4,NULL, 7, TIMER_CH2, nADC}, /* D38/PB7 8 SDA pad */
{&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 RSSI */
{&gpiob, &timer3,&_adc1,0, TIMER_CH3, 8}, /* D46/PB0 6 */
{&gpioa, &timer2,&_adc1,0, TIMER_CH1, 0}, /* D47/PA0 7 UART4 TX (wkup)*/
{&gpioa, &timer2,&_adc1,1, TIMER_CH2, 1}, /* D48/PA1 8 UART4_RX */
{&gpioa, &timer2,&_adc1,2, TIMER_CH3, 2}, /* D49/PA2 9 PPM_IN 2 */
{&gpioa, &timer2,&_adc1,3, TIMER_CH4, 3}, /* D50/PA3 50 PPM_IN 1 */
{&gpioa, NULL, &_adc1,4, NO_CH, 4}, /* D51/PA4 1 */
{&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 */
{&gpiob, &timer4,NULL, 8, TIMER_CH3, nADC}, /* D101/PB8 */
{&gpioe, NULL, NULL, 2, NO_CH, nADC}, /* D102/PE2 */
{&gpioa, &timer2,NULL, 15, TIMER_CH1, nADC}, /* D103/PA15 SERVO_5 */
{&gpiob, NULL, NULL, 3, NO_CH, nADC}, /* D104/PB3 SPI3 SCK */
{&gpiob, NULL, NULL, 4, NO_CH, nADC}, /* D105/PB4 SPI3 MISO */
{&gpioa, NULL, NULL, 13, NO_CH, nADC}, /* D106/PA13 SWDIO */
{&gpioa, NULL, NULL, 14, NO_CH, nADC}, /* D107/PA14 SWCLK LED */
{&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 = PA3, // UART2 RX
},
{ // 1 RC_IN2
.pin = PA2, // UART2 TX
},
};
/*
DMA modes:
0 - disable
1 - enable on large transfers
2 - enable alaways
*/
extern const SPIDesc spi_device_table[] = { // different SPI tables per board subtype
// name device bus mode cs_pin speed_low speed_high dma priority
{ 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_SDCARD_NAME, _SPI3, 3, SPI_MODE_3, 255, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 0 },
{ BOARD_OSD_NAME, _SPI2, 2, SPI_MODE_0, BOARD_OSD_CS_PIN, SPI_1_125MHZ, SPI_4_5MHZ, SPI_TRANSFER_DMA, DMA_Priority_Low, 2, 2 },
// { BOARD_DATAFLASH_NAME, _SPI3, 3, SPI_MODE_3, 255/*device controls CS*/,SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_High, 1, 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
gpio_set_mode(PIN_MAP[BOARD_HMC5883_DRDY_PIN].gpio_device, PIN_MAP[BOARD_HMC5883_DRDY_PIN].gpio_bit, GPIO_INPUT_PU);
#endif
#ifdef BOARD_MPU6000_DRDY_PIN
// Init MPU6000 DRDY pin - but it not used by driver
gpio_set_mode(PIN_MAP[BOARD_MPU6000_DRDY_PIN].gpio_device, PIN_MAP[BOARD_MPU6000_DRDY_PIN].gpio_bit, GPIO_INPUT_PU);
#endif
#ifdef BOARD_SBUS_INVERTER
// it is not necessary because of 10K resistor to ground
gpio_set_mode( PIN_MAP[BOARD_SBUS_INVERTER].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER].gpio_bit, GPIO_OUTPUT_PP);
gpio_write_bit(PIN_MAP[BOARD_SBUS_INVERTER].gpio_device, PIN_MAP[BOARD_SBUS_INVERTER].gpio_bit, 0); // not inverted
#endif
}
#endif