/************************************************************************************ * nuttx-configs/px4fmu-v5/include/board.h * * Copyright (C) 2016 Gregory Nutt. All rights reserved. * Authors: David Sidrane * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ************************************************************************************/ #ifndef __NUTTX_CONFIG_PX4FMU_V5_INCLUDE_BOARD_H #define __NUTTX_CONFIG_PX4FMU_V5_INCLUDE_BOARD_H /************************************************************************************ * Included Files ************************************************************************************/ #include #ifndef __ASSEMBLY__ # include #endif #include "stm32_rcc.h" #include "stm32_sdmmc.h" /************************************************************************************ * Pre-processor Definitions ************************************************************************************/ /* Clocking *************************************************************************/ /* The px4fmu-v5 board provides the following clock sources: * * X301: 16 MHz crystal for HSE * * So we have these clock source available within the STM32 * * HSI: 16 MHz RC factory-trimmed * HSE: 16 MHz crystal for HSE */ #define STM32_BOARD_XTAL 16000000ul #define STM32_HSI_FREQUENCY 16000000ul #define STM32_LSI_FREQUENCY 32000 #define STM32_HSE_FREQUENCY STM32_BOARD_XTAL #define STM32_LSE_FREQUENCY 0 /* Main PLL Configuration. * * PLL source is HSE = 16,000,000 * * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN * Subject to: * * 2 <= PLLM <= 63 * 192 <= PLLN <= 432 * 192 MHz <= PLL_VCO <= 432MHz * * SYSCLK = PLL_VCO / PLLP * Subject to * * PLLP = {2, 4, 6, 8} * SYSCLK <= 216 MHz * * USB OTG FS, SDMMC and RNG Clock = PLL_VCO / PLLQ * Subject to * The USB OTG FS requires a 48 MHz clock to work correctly. The SDMMC * and the random number generator need a frequency lower than or equal * to 48 MHz to work correctly. * * 2 <= PLLQ <= 15 */ /* Highest SYSCLK with USB OTG FS clock = 48 MHz * * PLL_VCO = (16,000,000 / 8) * 216 = 432 MHz * SYSCLK = 432 MHz / 2 = 216 MHz * USB OTG FS, SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz */ #define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8) #define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(216) #define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 #define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(9) #define STM32_VCO_FREQUENCY ((STM32_HSE_FREQUENCY / 8) * 216) #define STM32_SYSCLK_FREQUENCY (STM32_VCO_FREQUENCY / 2) #define STM32_OTGFS_FREQUENCY (STM32_VCO_FREQUENCY / 9) /* Configure factors for PLLSAI clock */ #define CONFIG_STM32F7_PLLSAI 1 #define STM32_RCC_PLLSAICFGR_PLLSAIN RCC_PLLSAICFGR_PLLSAIN(192) #define STM32_RCC_PLLSAICFGR_PLLSAIP RCC_PLLSAICFGR_PLLSAIP(8) #define STM32_RCC_PLLSAICFGR_PLLSAIQ RCC_PLLSAICFGR_PLLSAIQ(4) #define STM32_RCC_PLLSAICFGR_PLLSAIR RCC_PLLSAICFGR_PLLSAIR(2) /* Configure Dedicated Clock Configuration Register */ #define STM32_RCC_DCKCFGR1_PLLI2SDIVQ RCC_DCKCFGR1_PLLI2SDIVQ(1) #define STM32_RCC_DCKCFGR1_PLLSAIDIVQ RCC_DCKCFGR1_PLLSAIDIVQ(1) #define STM32_RCC_DCKCFGR1_PLLSAIDIVR RCC_DCKCFGR1_PLLSAIDIVR(0) #define STM32_RCC_DCKCFGR1_SAI1SRC RCC_DCKCFGR1_SAI1SEL(0) #define STM32_RCC_DCKCFGR1_SAI2SRC RCC_DCKCFGR1_SAI2SEL(0) #define STM32_RCC_DCKCFGR1_TIMPRESRC 0 #define STM32_RCC_DCKCFGR1_DFSDM1SRC 0 #define STM32_RCC_DCKCFGR1_ADFSDM1SRC 0 /* Configure factors for PLLI2S clock */ #define CONFIG_STM32F7_PLLI2S 1 #define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192) #define STM32_RCC_PLLI2SCFGR_PLLI2SP RCC_PLLI2SCFGR_PLLI2SP(2) #define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2) #define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2) /* Configure Dedicated Clock Configuration Register 2 */ #define STM32_RCC_DCKCFGR2_USART1SRC RCC_DCKCFGR2_USART1SEL_APB #define STM32_RCC_DCKCFGR2_USART2SRC RCC_DCKCFGR2_USART2SEL_APB #define STM32_RCC_DCKCFGR2_UART4SRC RCC_DCKCFGR2_UART4SEL_APB #define STM32_RCC_DCKCFGR2_UART5SRC RCC_DCKCFGR2_UART5SEL_APB #define STM32_RCC_DCKCFGR2_USART6SRC RCC_DCKCFGR2_USART6SEL_APB #define STM32_RCC_DCKCFGR2_UART7SRC RCC_DCKCFGR2_UART7SEL_APB #define STM32_RCC_DCKCFGR2_UART8SRC RCC_DCKCFGR2_UART8SEL_APB #define STM32_RCC_DCKCFGR2_I2C1SRC RCC_DCKCFGR2_I2C1SEL_HSI #define STM32_RCC_DCKCFGR2_I2C2SRC RCC_DCKCFGR2_I2C2SEL_HSI #define STM32_RCC_DCKCFGR2_I2C3SRC RCC_DCKCFGR2_I2C3SEL_HSI #define STM32_RCC_DCKCFGR2_I2C4SRC RCC_DCKCFGR2_I2C4SEL_HSI #define STM32_RCC_DCKCFGR2_LPTIM1SRC RCC_DCKCFGR2_LPTIM1SEL_APB #define STM32_RCC_DCKCFGR2_CECSRC RCC_DCKCFGR2_CECSEL_HSI #define STM32_RCC_DCKCFGR2_CK48MSRC RCC_DCKCFGR2_CK48MSEL_PLL #define STM32_RCC_DCKCFGR2_SDMMCSRC RCC_DCKCFGR2_SDMMCSEL_48MHZ #define STM32_RCC_DCKCFGR2_SDMMC2SRC RCC_DCKCFGR2_SDMMC2SEL_48MHZ #define STM32_RCC_DCKCFGR2_DSISRC RCC_DCKCFGR2_DSISEL_PHY /* Several prescalers allow the configuration of the two AHB buses, the * high-speed APB (APB2) and the low-speed APB (APB1) domains. The maximum * frequency of the two AHB buses is 216 MHz while the maximum frequency of * the high-speed APB domains is 108 MHz. The maximum allowed frequency of * the low-speed APB domain is 54 MHz. */ /* AHB clock (HCLK) is SYSCLK (216 MHz) */ #define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ #define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY #define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ /* APB1 clock (PCLK1) is HCLK/4 (54 MHz) */ #define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ #define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) /* Timers driven from APB1 will be twice PCLK1 */ #define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) /* APB2 clock (PCLK2) is HCLK/2 (108MHz) */ #define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ #define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* Timers driven from APB2 will be twice PCLK2 */ #define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY) /* SDMMC dividers. Note that slower clocking is required when DMA is disabled * in order to avoid RX overrun/TX underrun errors due to delayed responses * to service FIFOs in interrupt driven mode. These values have not been * tuned!!! * * SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(118+2)=400 KHz */ /* Use the Falling edge of the SDIO_CLK clock to change the edge the * data and commands are change on */ #define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE #define STM32_SDMMC_INIT_CLKDIV (118 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) /* DMA ON: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz */ #ifdef CONFIG_STM32F7_SDMMC_DMA # define STM32_SDMMC_MMCXFR_CLKDIV (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) #else # define STM32_SDMMC_MMCXFR_CLKDIV (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) #endif /* DMA ON: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz */ //TODO #warning "Check Freq for 24mHz" #ifdef CONFIG_STM32F7_SDMMC_DMA # define STM32_SDMMC_SDXFR_CLKDIV (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) #else # define STM32_SDMMC_SDXFR_CLKDIV (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT) #endif /* DMA Channl/Stream Selections *****************************************************/ /* Stream selections are arbitrary for now but might become important in the future * if we set aside more DMA channels/streams. * * SDMMC DMA is on DMA2 * * SDMMC1 DMA * DMAMAP_SDMMC1_1 = Channel 4, Stream 3 <- may later be used by SPI DMA * DMAMAP_SDMMC1_2 = Channel 4, Stream 6 */ #define DMAMAP_SDMMC1 DMAMAP_SDMMC1_1 /* FLASH wait states * * --------- ---------- ----------- * VDD MAX SYSCLK WAIT STATES * --------- ---------- ----------- * 1.7-2.1 V 180 MHz 8 * 2.1-2.4 V 216 MHz 9 * 2.4-2.7 V 216 MHz 8 * 2.7-3.6 V 216 MHz 7 * --------- ---------- ----------- */ #define BOARD_FLASH_WAITSTATES 7 /* LED definitions ******************************************************************/ /* The px4fmu-v5 board has numerous LEDs but only three, LED_GREEN a Green LED, LED_BLUE * a Blue LED and LED_RED a Red LED, that can be controlled by software. * * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. * The following definitions are used to access individual LEDs. */ /* LED index values for use with board_userled() */ #define BOARD_LED1 0 #define BOARD_LED2 1 #define BOARD_LED3 2 #define BOARD_NLEDS 3 #define BOARD_LED_RED BOARD_LED1 #define BOARD_LED_GREEN BOARD_LED2 #define BOARD_LED_BLUE BOARD_LED3 /* LED bits for use with board_userled_all() */ #define BOARD_LED1_BIT (1 << BOARD_LED1) #define BOARD_LED2_BIT (1 << BOARD_LED2) #define BOARD_LED3_BIT (1 << BOARD_LED3) /* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related * events as follows: * * * SYMBOL Meaning LED state * Red Green Blue * ---------------------- -------------------------- ------ ------ ----*/ #define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ #define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ #define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ #define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ #define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ #define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ #define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ #define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ #define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ /* Thus if the Green LED is statically on, NuttX has successfully booted and * is, apparently, running normally. If the Red LED is flashing at * approximately 2Hz, then a fatal error has been detected and the system * has halted. */ /* Alternate function pin selections ************************************************/ #define GPIO_USART1_RX GPIO_USART1_RX_2 /* PB7 */ #define GPIO_USART1_TX GPIO_USART1_TX_2 /* PB6 */ #define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ #define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ #define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */ #define GPIO_USART2_CTS GPIO_USART2_CTS_2 /* PD3 */ #define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ #define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */ #define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */ #define GPIO_USART3_CTS GPIO_USART3_CTS_2 /* PD11 */ #define GPIO_UART4_RX GPIO_UART4_RX_4 /* PD0 */ #define GPIO_UART4_TX GPIO_UART4_TX_4 /* PD1 */ #define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */ #define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */ #define GPIO_USART6_RTS GPIO_USART6_RTS_2 /* PG8 */ #define GPIO_USART6_CTS GPIO_USART6_CTS_2 /* PG15 */ #define GPIO_UART7_RX GPIO_UART7_RX_2 /* PF6 */ #define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8 */ /* USART8: has no remap * * GPIO_UART8_RX PE0[CN12-64] * GPIO_UART8_TX PE1[CN11-61] */ /* UART RX DMA configurations */ #define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 /* CAN * * CAN1 is routed to transceiver. * CAN2 is routed to transceiver. * CAN3 is routed to transceiver. */ #define GPIO_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */ #define GPIO_CAN1_TX GPIO_CAN1_TX_4 /* PH13 */ #define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */ #define GPIO_CAN2_TX GPIO_CAN2_TX_1 /* PB13 */ #define GPIO_CAN3_RX GPIO_CAN3_RX_1 /* PA8 */ #define GPIO_CAN3_TX GPIO_CAN3_TX_1 /* PA15 */ /* SPI * SPI1 sensors * SPI2 is FRAM. * SPI4 is BARO * SPI6 Reserved * */ #define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */ #define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_3 /* PD7 */ #define GPIO_SPI1_SCK GPIO_SPI1_SCK_3 /* PG11 */ #define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */ #define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PI3 */ #define GPIO_SPI2_SCK GPIO_SPI2_SCK_5 /* PI1 */ #define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE13 */ #define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE6 */ #define GPIO_SPI4_SCK GPIO_SPI4_SCK_1 /* PE2 */ #define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ #define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_1 /* PF9 */ #define GPIO_SPI5_SCK GPIO_SPI5_SCK_1 /* PF7 */ #define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ #define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_3 /* PB5 */ #define GPIO_SPI6_SCK GPIO_SPI6_SCK_1 /* PG13 */ /* I2C * * Each I2C is associated with a U[S]ART * hence the naming I2C2_SDA_UART4 in FMU USAGE spreadsheet * * * I2C3 is not pined out on FMUv5 on 144 pin packages * * The optional _GPIO configurations allow the I2C driver to manually * reset the bus to clear stuck slaves. They match the pin configuration, * but are normally-high GPIOs. * */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8] */ #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ #define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | \ GPIO_OPENDRAIN | \ GPIO_SPEED_50MHz| \ GPIO_OUTPUT_SET | \ GPIO_PORTB | \ GPIO_PIN8) #define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | \ GPIO_OPENDRAIN | \ GPIO_SPEED_50MHz| \ GPIO_OUTPUT_SET | \ GPIO_PORTB | \ GPIO_PIN9) #define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1 */ #define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0 */ #define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | \ GPIO_OPENDRAIN | \ GPIO_SPEED_50MHz| \ GPIO_OUTPUT_SET | \ GPIO_PORTF | \ GPIO_PIN1) #define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | \ GPIO_OPENDRAIN | \ GPIO_SPEED_50MHz| \ GPIO_OUTPUT_SET | \ GPIO_PORTF | \ GPIO_PIN0) #define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */ #define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ #define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT | \ GPIO_OPENDRAIN | \ GPIO_SPEED_50MHz| \ GPIO_OUTPUT_SET | \ GPIO_PORTH | \ GPIO_PIN7) #define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT | \ GPIO_OPENDRAIN | \ GPIO_SPEED_50MHz| \ GPIO_OUTPUT_SET | \ GPIO_PORTH | \ GPIO_PIN8) #define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ #define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ #define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | \ GPIO_OPENDRAIN | \ GPIO_SPEED_50MHz| \ GPIO_OUTPUT_SET | \ GPIO_PORTF | \ GPIO_PIN14) #define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | \ GPIO_OPENDRAIN | \ GPIO_SPEED_50MHz| \ GPIO_OUTPUT_SET | \ GPIO_PORTF | \ GPIO_PIN15) /* SDMMC1 * * VDD 3.3 * GND * SDMMC1_CK PC12 * SDMMC1_CMD PD2 * SDMMC1_D0 PC8 * SDMMC1_D1 PC9 * SDMMC1_D2 PC10 * SDMMC1_D3 PC11 * GPIO_SDMMC1_NCD PG0 */ /* USB * * OTG_FS_DM PA11 * OTG_FS_DP PA12 * VBUS PA9 */ /* Board provides GPIO or other Hardware for signaling to timing analyzer */ #if defined(CONFIG_BOARD_USE_PROBES) # define PROBE_N(n) (1<<((n)-1)) # define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) /* PE14 */ # define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PINA10) /* PA10 */ # define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 */ # define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) /* PE9 */ # define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 */ # define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 */ # define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6) /* PH6 */ # define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9) /* PH9 */ # define PROBE_INIT(mask) \ do { \ if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ } while(0) # define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) # define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) #else # define PROBE_INIT(mask) # define PROBE(n,s) # define PROBE_MARK(n) #endif /************************************************************************************ * Public Data ************************************************************************************/ #ifndef __ASSEMBLY__ #undef EXTERN #if defined(__cplusplus) #define EXTERN extern "C" extern "C" { #else #define EXTERN extern #endif /************************************************************************************ * Public Function Prototypes ************************************************************************************/ /************************************************************************************ * Name: stm32_boardinitialize * * Description: * All STM32 architectures must provide the following entry point. This entry point * is called early in the initialization -- after all memory has been configured * and mapped but before any devices have been initialized. * ************************************************************************************/ void stm32_boardinitialize(void); #undef EXTERN #if defined(__cplusplus) } #endif #endif /* __ASSEMBLY__ */ #endif /*__NUTTX_CONFIG_PX4FMU_V5_INCLUDE_BOARD_H */