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217 lines
5.7 KiB
217 lines
5.7 KiB
#ifndef _BOARD_STM32V1F4_H_ |
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#define _BOARD_STM32V1F4_H_ |
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/* |
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this file included to *ANY* compilation so shouldn't include anything else |
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*/ |
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/** |
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* @brief Configuration of the Cortex-M4 Processor and Core Peripherals |
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*/ |
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#define __CM4_REV 0x0001 /*!< Core revision r0p1 */ |
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#define __MPU_PRESENT 1 /*!< STM32F4XX provides an MPU */ |
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#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */ |
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#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */ |
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#define __FPU_PRESENT 1 /*!< FPU present */ |
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#define HSE_VALUE (8000000) |
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#define CYCLES_PER_MICROSECOND (SystemCoreClock / 1000000) |
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#define SYSTICK_RELOAD_VAL (CYCLES_PER_MICROSECOND*1000-1) |
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#undef STM32_PCLK1 |
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#undef STM32_PCLK2 |
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#define STM32_PCLK1 (CYCLES_PER_MICROSECOND*1000000/4) |
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#define STM32_PCLK2 (CYCLES_PER_MICROSECOND*1000000/2) |
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#define BOARD_BUTTON_PIN 254 |
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#ifndef LOW |
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# define LOW 0 |
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#endif |
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#ifndef HIGH |
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# define HIGH 1 |
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#endif |
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//#define BOARD_BUZZER_PIN 5 // PB15, PWM2 - used as PPM2 |
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#define HAL_BUZZER_ON 1 |
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#define HAL_BUZZER_OFF 0 |
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#define BOARD_NR_USARTS 5 |
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#define BOARD_USART1_TX_PIN 23 |
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#define BOARD_USART1_RX_PIN 24 |
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#define BOARD_USART3_TX_PIN 0 |
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#define BOARD_USART3_RX_PIN 100 |
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#define BOARD_USART6_TX_PIN 12 |
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#define BOARD_USART6_RX_PIN 13 |
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#define BOARD_USART4_RX_PIN 48 |
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#define BOARD_USART4_TX_PIN 47 |
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#define BOARD_DSM_USART (_USART1) |
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#define BOARD_NR_SPI 3 |
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#define BOARD_SPI1_SCK_PIN 52 |
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#define BOARD_SPI1_MISO_PIN 53 |
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#define BOARD_SPI1_MOSI_PIN 54 |
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#define BOARD_SPI2_SCK_PIN 255 |
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#define BOARD_SPI2_MISO_PIN 255 |
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#define BOARD_SPI2_MOSI_PIN 255 |
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#define BOARD_SPI3_MOSI_PIN 18 |
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#define BOARD_SPI3_MISO_PIN 17 |
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#define BOARD_SPI3_SCK_PIN 16 |
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#define BOARD_DATAFLASH_CS_PIN 104 |
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#define BOARD_MPU6000_CS_PIN 51 |
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#define BOARD_MPU6000_DRDY_PIN 10 // PC4 |
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//#define BOARD_SBUS_INVERTER 6 |
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#define BOARD_USB_SENSE 11 // PC5 |
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// bus 2 (soft) pins |
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#define BOARD_SOFT_SCL 14 |
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#define BOARD_SOFT_SDA 15 |
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// SoftSerial pins |
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//#define BOARD_SOFTSERIAL_TX 14 |
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//#define BOARD_SOFTSERIAL_RX 15 |
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# define BOARD_BLUE_LED_PIN 36 // BLUE |
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# define BOARD_GREEN_LED_PIN 9 // frequency select - resistor to VCC or ground |
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# define HAL_GPIO_A_LED_PIN BOARD_BLUE_LED_PIN |
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# define HAL_GPIO_B_LED_PIN BOARD_GREEN_LED_PIN |
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# define HAL_GPIO_LED_ON LOW |
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# define HAL_GPIO_LED_OFF HIGH |
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#define BOARD_NR_GPIO_PINS 109 |
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#define I2C1_SDA PB9 |
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#define I2C1_SCL PB8 |
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#define I2C2_SDA PB11 |
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#define I2C2_SCL PB10 |
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// use soft I2C driver instead hardware |
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//#define BOARD_SOFT_I2C2 |
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//#define BOARD_I2C_BUS_INT 1 // hardware internal I2C |
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#define BOARD_I2C_BUS_EXT 1 // external I2C |
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#define BOARD_I2C_BUS_SLOW 1 // slow down bus with this number |
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#define HAL_BARO_MS5611_I2C_BUS BOARD_I2C_BUS_EXT |
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#define HAL_BARO_MS5611_I2C_ADDR (0x77) |
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#define HAL_BARO_BMP280_BUS BOARD_I2C_BUS_EXT |
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#define HAL_BARO_BMP280_I2C_ADDR (0x76) |
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#define HAL_BARO_BMP085_BUS BOARD_I2C_BUS_EXT |
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#define HAL_BARO_BMP085_I2C_ADDR (0x77) |
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#define HAL_BARO_MS5607_I2C_BUS BOARD_I2C_BUS_EXT |
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#define HAL_BARO_MS5607_I2C_ADDR (0x77) |
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#define BOARD_COMPASS_DEFAULT HAL_COMPASS_HMC5843 |
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//#define BOARD_HMC5883_DRDY_PIN 38 // PB7 - but it not used by driver |
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#define HAL_COMPASS_HMC5843_I2C_BUS BOARD_I2C_BUS_EXT |
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#define HAL_COMPASS_HMC5843_I2C_ADDR (0x1E) |
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#define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE |
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#define BOARD_INS_DEFAULT HAL_INS_MPU60XX_SPI |
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#define BOARD_INS_ROTATION ROTATION_YAW_180 |
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#define BOARD_INS_MPU60x0_NAME "mpu6000" |
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#define BOARD_STORAGE_SIZE 8192 //4096 // EEPROM size |
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#define BOARD_DATAFLASH_NAME "dataflash" |
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#define BOARD_DATAFLASH_PAGES 0x10000 |
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#define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes |
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// if board's dataflash supports 4k erases then we can use it as FAT and share it via USB |
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#define BOARD_DATAFLASH_FATFS |
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#define BOARD_HAS_SDIO |
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#define USB_MASSSTORAGE |
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#define HAL_BOARD_LOG_DIRECTORY "0:" |
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#define HAL_BOARD_TERRAIN_DIRECTORY "0:/TERRAIN" |
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//#define HAL_PARAM_DEFAULTS_PATH "0:/defaults.parm" |
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#define BOARD_UARTS_LAYOUT 2 |
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#define BOARD_OWN_NAME "Airbot" |
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# define BOARD_PUSHBUTTON_PIN 254 |
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# define BOARD_USB_MUX_PIN -1 |
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# define BOARD_BATTERY_VOLT_PIN 8 // Battery voltage on A0 (PC2) D8 |
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# define BOARD_BATTERY_CURR_PIN 7 // Battery current on A1 (PC1) D7 |
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# define BOARD_SONAR_SOURCE_ANALOG_PIN 254 |
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# define HAL_BATT_VOLT_PIN 8 // ChibiOS compatible defines |
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# define HAL_BATT_CURR_PIN 7 |
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# define HAL_BATT_VOLT_SCALE 10.1 |
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# define HAL_BATT_CURR_SCALE 17 |
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#define BOARD_USB_DMINUS 108 |
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE |
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#define BOARD_SBUS_UART 1 // can use some UART as hardware inverted input |
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// motor layouts |
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#define SERVO_PIN_1 46 // PB0 |
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#define SERVO_PIN_2 45 // PB1 |
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#define SERVO_PIN_3 50 // PA3 |
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#define SERVO_PIN_4 49 // PA2 |
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#define SERVO_PIN_5 48 // PA1 |
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#define SERVO_PIN_6 22 // PA8 |
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#define MOTOR_LAYOUT_DEFAULT 0 |
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#define HAL_CONSOLE USB_Driver // console on USB |
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//#define HAL_CONSOLE uart1Driver // console on radio |
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#define HAL_CONSOLE_PORT 0 |
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/* |
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*/ |
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#ifdef USB_MASSSTORAGE |
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#define BOARD_HAL_VARINFO \ |
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AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \ |
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AP_GROUPINFO("DBG_WAYBACK", 31, AP_Param_Helper, _dbg_wayback, 0), |
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#else |
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#define BOARD_HAL_VARINFO \ |
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AP_GROUPINFO("DBG_WAYBACK", 30, AP_Param_Helper, _dbg_wayback, 0), |
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#endif |
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// parameters |
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#define BOARD_HAL_PARAMS \ |
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AP_Int8 _dbg_wayback; \ |
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AP_Int8 _usb_storage; |
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#define WAYBACK_DEBUG |
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#endif |
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