[board] add tawaki v1.1 board file (#2574)

factorize code with v1.0
2026-05-09 22:49:53 +08:00 · 2020-09-04 13:48:51 +02:00
parent 2c535d7953
commit 002ac9f505
15 changed files with 2591 additions and 837 deletions
@@ -8,92 +8,6 @@

 BOARD=tawaki
 BOARD_VERSION=1.0
-BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
-BOARD_CFG=\"boards/$(BOARD_DIR)/$(BOARD).h\"

-ARCH=chibios
-$(TARGET).ARCHDIR = $(ARCH)
-
-RTOS=chibios
-MCU=cortex-m7
-
-## FPU on F7
-USE_FPU=softfp
-USE_FPU_OPT= -mfpu=fpv5-d16
-
-USE_LTO=yes
-
-$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DUSE_HARD_FAULT_RECOVERY
-
-##############################################################################
-# Architecture or project specific options
-#
-# Define project name here (target)
-PROJECT = $(TARGET)
-
-# Project specific files and paths (see Makefile.chibios for details)
-CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
-CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
-CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
-CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
-
-# ITCM flash is a special flash that allow faster operations
-# At the moment it is not possible to flash the code in this mode using dfu-util
-# but it should work with the BlackMagicProbe or STLINK
-# By default, normal flash is used
-ifeq ($(USE_ITCM),1)
-$(TARGET).CFLAGS += -DUSE_ITCM=1
-DFU_ADDR = 0x00200000
-else
-$(TARGET).CFLAGS += -DUSE_ITCM=0
-DFU_ADDR = 0x08000000
-endif
-
-##############################################################################
-# Compiler settings
-#
-
-# default flash mode is via usb dfu bootloader
-# possibilities: DFU-UTIL, SWD, STLINK
-FLASH_MODE ?= DFU-UTIL
-
-HAS_LUFTBOOT = FALSE
-
-#
-# default LED configuration
-#
-RADIO_CONTROL_LED  ?= 4
-BARO_LED           ?= none
-AHRS_ALIGNER_LED   ?= 2
-GPS_LED            ?= 3
-SYS_TIME_LED       ?= 1
-
-#
-# default UART configuration (modem, gps, spektrum)
-#
-
-MODEM_PORT ?= UART2
-MODEM_BAUD ?= B57600
-
-GPS_PORT ?= UART7
-GPS_BAUD ?= B57600
-
-RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6
-RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART8
-
-# single mode
-SBUS_PORT ?= UART8
-# dual mode
-SBUS1_PORT ?= UART8
-SBUS2_PORT ?= UART6
-
-#
-# default actuator configuration
-#
-# you can use different actuators by adding a configure option to your firmware section
-# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
-# and by setting the correct "driver" attribute in servo section
-# e.g. <servo driver="Ppm">
-#
-ACTUATORS ?= actuators_pwm
+include $(PAPARAZZI_HOME)/conf/boards/tawaki_common.makefile

@@ -0,0 +1,13 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# tawaki_1.1.makefile
+#
+# based on STM32F7
+# only compatible with ChibiOS
+#
+
+BOARD=tawaki
+BOARD_VERSION=1.1
+
+include $(PAPARAZZI_HOME)/conf/boards/tawaki_common.makefile
+
@@ -0,0 +1,98 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# tawaki_common.makefile
+#
+# based on STM32F7
+# only compatible with ChibiOS
+#
+
+BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
+BOARD_COMMON=$(BOARD)/chibios/common
+BOARD_CFG=\"boards/$(BOARD_COMMON)/$(BOARD).h\"
+
+ARCH=chibios
+$(TARGET).ARCHDIR = $(ARCH)
+
+RTOS=chibios
+MCU=cortex-m7
+
+## FPU on F7
+USE_FPU=softfp
+USE_FPU_OPT= -mfpu=fpv5-d16
+
+USE_LTO=yes
+
+$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DUSE_HARD_FAULT_RECOVERY
+
+##############################################################################
+# Architecture or project specific options
+#
+# Define project name here (target)
+PROJECT = $(TARGET)
+
+# Project specific files and paths (see Makefile.chibios for details)
+CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
+CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
+CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
+CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
+
+# ITCM flash is a special flash that allow faster operations
+# At the moment it is not possible to flash the code in this mode using dfu-util
+# but it should work with the BlackMagicProbe or STLINK
+# By default, normal flash is used
+ifeq ($(USE_ITCM),1)
+$(TARGET).CFLAGS += -DUSE_ITCM=1
+DFU_ADDR = 0x00200000
+else
+$(TARGET).CFLAGS += -DUSE_ITCM=0
+DFU_ADDR = 0x08000000
+endif
+
+##############################################################################
+# Compiler settings
+#
+
+# default flash mode is via usb dfu bootloader
+# possibilities: DFU-UTIL, SWD, STLINK
+FLASH_MODE ?= DFU-UTIL
+
+HAS_LUFTBOOT = FALSE
+
+#
+# default LED configuration
+#
+RADIO_CONTROL_LED  ?= 4
+BARO_LED           ?= none
+AHRS_ALIGNER_LED   ?= 2
+GPS_LED            ?= 3
+SYS_TIME_LED       ?= 1
+
+#
+# default UART configuration (modem, gps, spektrum)
+#
+
+MODEM_PORT ?= UART2
+MODEM_BAUD ?= B57600
+
+GPS_PORT ?= UART7
+GPS_BAUD ?= B57600
+
+RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6
+RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART8
+
+# single mode
+SBUS_PORT ?= UART8
+# dual mode
+SBUS1_PORT ?= UART8
+SBUS2_PORT ?= UART6
+
+#
+# default actuator configuration
+#
+# you can use different actuators by adding a configure option to your firmware section
+# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
+# and by setting the correct "driver" attribute in servo section
+# e.g. <servo driver="Ppm">
+#
+ACTUATORS ?= actuators_pwm
+
@@ -269,19 +269,19 @@ void boardInit(void) {
 */
 void mcu_periph_energy_save(void)
 {
-  palSetLineMode(LINE_D15_LED1, PAL_MODE_INPUT);
-  palSetLineMode(LINE_A10_LED2, PAL_MODE_INPUT);
-  palSetLineMode(LINE_C07_LED3, PAL_MODE_INPUT);
-  palSetLineMode(LINE_D10_LED4, PAL_MODE_INPUT);
-  palSetLineMode(LINE_E04_SPI4_CS_INTERNAL, PAL_MODE_INPUT);
-  palSetLineMode(LINE_B12_SPI2_CS_EXTERNAL, PAL_MODE_INPUT);
-  palSetLineMode(LINE_A00_AUX_A1, PAL_MODE_INPUT);
-  palSetLineMode(LINE_A01_AUX_A2, PAL_MODE_INPUT);
-  palSetLineMode(LINE_A02_AUX_A3, PAL_MODE_INPUT);
-  palSetLineMode(LINE_A06_AUX_A4, PAL_MODE_INPUT);
-  palSetLineMode(LINE_A03_AUX_B1, PAL_MODE_INPUT);
-  palSetLineMode(LINE_A07_AUX_B2, PAL_MODE_INPUT);
-  palSetLineMode(LINE_B00_AUX_B3, PAL_MODE_INPUT);
-  palSetLineMode(LINE_B01_AUX_B4, PAL_MODE_INPUT);
+  palSetLineMode(LINE_LED1, PAL_MODE_INPUT);
+  palSetLineMode(LINE_LED2, PAL_MODE_INPUT);
+  palSetLineMode(LINE_LED3, PAL_MODE_INPUT);
+  palSetLineMode(LINE_LED4, PAL_MODE_INPUT);
+  palSetLineMode(LINE_SPI4_INTERNAL_CS, PAL_MODE_INPUT);
+  palSetLineMode(LINE_SPI2_EXTERNAL_CS, PAL_MODE_INPUT);
+  palSetLineMode(LINE_AUX_A1, PAL_MODE_INPUT);
+  palSetLineMode(LINE_AUX_A2, PAL_MODE_INPUT);
+  palSetLineMode(LINE_AUX_A3, PAL_MODE_INPUT);
+  palSetLineMode(LINE_AUX_A4, PAL_MODE_INPUT);
+  palSetLineMode(LINE_AUX_B1, PAL_MODE_INPUT);
+  palSetLineMode(LINE_AUX_B2, PAL_MODE_INPUT);
+  palSetLineMode(LINE_AUX_B3, PAL_MODE_INPUT);
+  palSetLineMode(LINE_AUX_B4, PAL_MODE_INPUT);
 }

@@ -4,6 +4,6 @@
 # documentation is here :
 # https://github.com/alex31/chibios_enac_various_common/blob/master/TOOLS/DOC/boardGen.pdf

-board.h: board.cfg Makefile
+board.h: tawaki_1.0.cfg Makefile
 	boardGen.pl --no-pp-pin --no-pp-line 	$<  $@

@@ -14,7 +14,8 @@
 #    limitations under the License.
 #
 # Required include directories
-BOARDINC = $(CHIBIOS_BOARD_DIR)
+BOARDCOMMON = $(CHIBIOS_BOARD_DIR)/../common
+BOARDINC = $(CHIBIOS_BOARD_DIR) $(BOARDCOMMON)

 # List of all the board related files.
-BOARDSRC = ${BOARDINC}/board.c
+BOARDSRC = ${BOARDCOMMON}/board.c
@@ -97,7 +97,7 @@ PB08    SRVB3		    PWM		AF:TIM4_CH3
 PB09    SRVB4		    PWM		AF:TIM4_CH4        
 PB10    I2C2_SCL_EXTERNAL   I2C		AF:I2C2_SCL
 PB11    I2C2_SDA_EXTERNAL   I2C		AF:I2C2_SDA
-PB12    SPI2_CS_EXTERNAL    OUTPUT	PUSHPULL  SPEED_HIGH FLOATING LEVEL_HIGH
+PB12    SPI2_EXTERNAL_CS    OUTPUT	PUSHPULL  SPEED_HIGH FLOATING LEVEL_HIGH
 PB14    SPI2_EXTERNAL_MISO  SPI		AF:SPI2_MISO     
 PB15    SPI2_EXTERNAL_MOSI  SPI		AF:SPI2_MOSI     
 	                    
@@ -116,10 +116,10 @@ PD00    CAN_RX		    CAN		AF:CAN1_RX
 PD01    CAN_TX		    CAN		AF:CAN1_TX
 PD02	SDMMC1_CMD	    SDIO	AF:SDMMC1_CMD 
 PD03    SPI2_EXTERNAL_CLK   SPI		AF:SPI2_SCK
-PD05    UART_TX2	    UART	AF:USART2_TX       
-PD06    UART_RX2	    UART	AF:USART2_RX       
-PD08    UART_TX3	    UART	AF:USART3_TX       
-PD09    UART_RX3	    UART	AF:USART3_RX       
+PD05    UART2_TX	    UART	AF:USART2_TX       
+PD06    UART2_RX	    UART	AF:USART2_RX       
+PD08    UART3_TX	    UART	AF:USART3_TX       
+PD09    UART3_RX	    UART	AF:USART3_RX       
 PD10    LED4		    LED
 PD12    I2C4_SCL_EXTERNAL   I2C		AF:I2C4_SCL
 PD13    I2C4_SDA_EXTERNAL   I2C		AF:I2C4_SDA
@@ -127,7 +127,7 @@ PD15	LED1		    LED

 PE00    RC1		    UART	AF:UART8_RX        
 PE02    SPI4_INTERNAL_CLK   SPI		AF:SPI4_SCK
-PE04    SPI4_CS_INTERNAL    OUTPUT	PUSHPULL  SPEED_HIGH FLOATING LEVEL_HIGH
+PE04    SPI4_INTERNAL_CS    OUTPUT	PUSHPULL  SPEED_HIGH FLOATING LEVEL_HIGH
 PE05    SPI4_INTERNAL_MISO  SPI		AF:SPI4_MISO 
 PE06    SPI4_INTERNAL_MOSI  SPI		AF:SPI4_MOSI 
 PE09    SRVA1		    PWM		AF:TIM1_CH1        
@@ -0,0 +1,9 @@
+# file board.h is generated from file board.cfg by a script which is hosted here :
+# https://github.com/alex31/chibios_enac_various_common/blob/master/TOOLS/boardGen.pl
+
+# documentation is here :
+# https://github.com/alex31/chibios_enac_various_common/blob/master/TOOLS/DOC/boardGen.pdf
+
+board.h: tawaki_v1.1.cfg Makefile
+	boardGen.pl --no-pp-pin --no-pp-line 	$<  $@
+
@@ -0,0 +1,21 @@
+#
+#    ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
+#
+#    Licensed under the Apache License, Version 2.0 (the "License");
+#    you may not use this file except in compliance with the License.
+#    You may obtain a copy of the License at
+#
+#        http://www.apache.org/licenses/LICENSE-2.0
+#
+#    Unless required by applicable law or agreed to in writing, software
+#    distributed under the License is distributed on an "AS IS" BASIS,
+#    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#    See the License for the specific language governing permissions and
+#    limitations under the License.
+#
+# Required include directories
+BOARDCOMMON = $(CHIBIOS_BOARD_DIR)/../common
+BOARDINC = $(CHIBIOS_BOARD_DIR) $(BOARDCOMMON)
+
+# List of all the board related files.
+BOARDSRC = ${BOARDCOMMON}/board.c
@@ -0,0 +1,139 @@
+MCU_MODEL = STM32F777VIHx
+CHIBIOS_VERSION = 3.0
+
+HEADER
+/*
+ * Board identifier.
+ */
+#define BOARD_TAWAKI
+#define BOARD_NAME                  "Tawaki Autopilot"
+
+/*
+ * Board oscillators-related settings.
+ */
+#if !defined(STM32_LSECLK)
+#define STM32_LSECLK                32768U
+#endif
+
+#define STM32_LSEDRV                (3U << 3U)
+
+#if !defined(STM32_HSECLK)
+#define STM32_HSECLK                16000000U
+#endif
+
+/*
+ * Board voltages.
+ * Required for performance limits calculation.
+ */
+#define STM32_VDD                   300U
+
+/*
+ * MCU type as defined in the ST header.
+ */
+#define STM32F777xx
+
+CONFIG
+
+
+# PIN NAME PERIPH_TYPE AF_NUMBER or
+# PIN NAME FUNCTION PP_or_OPENDRAIN PIN_SPEED PULL_RESISTOR INITIAL_LEVEL AF_NUMBER
+# SPEED : SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH
+#
+# DEFAULT AND SYS
+# 
+# 'SYS' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
+# 'ADC' => ['ANALOG', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_LOW'],
+# 'PWM' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_LOW'],
+# 'ICU' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
+# 'I2C' => ['ALTERNATE', 'OPENDRAIN', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
+# 'SPI' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
+# 'UART' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
+# 'OTG' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
+# 'ETH' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
+# 'FSMC' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
+# 'SDIO' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
+# 'SDIOCK' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
+# 'CAN' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
+# 'DCMI' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
+# 'LED' => ['OUTPUT', 'PUSHPULL', 'SPEED_VERYLOW', 'FLOATING', 'LEVEL_LOW'],
+# 'PASSIVE' => ['INPUT', 'PUSHPULL', 'SPEED_VERYLOW', 'FLOATING', 'LEVEL_LOW']);
+#
+# SYSTEM
+A13     SWDIO     SYS  AF:SYS_JTMS-SWDIO
+A14     SWCLK     SYS  AF:SYS_JTCK-SWCLK
+C14     OSC32_IN  SYS  AF0
+C15     OSC32_OUT SYS  AF0
+H00     OSC_IN    SYS  AF0
+H01     OSC_OUT   SYS  AF0
+
+#DEFAULT
+DEFAULT                 INPUT   PUSHPULL SPEED_VERYLOW PULLDOWN LEVEL_LOW  AF0
+
+
+
+# ACTIVE PINS
+
+
+
+PA00    AUX_A1		    PASSIVE 	#AF:USART2_CTS      
+PA01    AUX_A2		    PASSIVE 	#AF:USART2_RTS      
+PA02    AUX_A3		    PASSIVE 	#AF:TIM9_CH1        
+PA03    AUX_A4		    PASSIVE 	#AF:TIM9_CH2        
+PA06    AUX_B1		    PASSIVE 	#AF:TIM13_CH1       
+PA07    AUX_B2		    PASSIVE 	#AF:TIM14_CH1       
+PA09    USB_VBUS	    INPUT	PULLDOWN
+PA10    LED2		      LED
+PA11    OTG_FS_DM	    OTG		AF:USB_OTG_FS_DM   
+PA12    OTG_FS_DP	    OTG		AF:USB_OTG_FS_DP   
+PA15    UART7_TX	    UART	AF:UART7_TX        
+
+PB00	AUX_B3		    PASSIVE
+PB01	AUX_B4		    PASSIVE
+PB03    UART7_RX	    UART	AF:UART7_RX        
+PB05    DSHOT_RX 	    UART	AF:UART5_RX        
+PB06    SRVB1		    PWM		AF:TIM4_CH1        
+PB07    SRVB2		    PWM		AF:TIM4_CH2        
+PB08    SRVB3		    PWM		AF:TIM4_CH3        
+PB09    SRVB4		    PWM		AF:TIM4_CH4        
+PB10    I2C2_SCL_EXTERNAL   I2C		AF:I2C2_SCL
+PB11    I2C2_SDA_EXTERNAL   I2C		AF:I2C2_SDA
+PB12    SPI2_EXTERNAL_CS    OUTPUT	PUSHPULL  SPEED_HIGH FLOATING LEVEL_HIGH
+PB14    SPI2_EXTERNAL_MISO  SPI		AF:SPI2_MISO     
+PB15    SPI2_EXTERNAL_MOSI  SPI		AF:SPI2_MOSI     
+	                    
+PC00    VBAT_MEAS	    ADC		ADC1_IN10       
+PC06    RC2		    PASSIVE	#TLMF_TX6	    UART	AF:USART6_TX
+PC07    LED3                LED
+PC08	SDMMC1_D0	    SDIO	AF:SDMMC1_D0 
+PC09	SDMMC1_D1	    SDIO	AF:SDMMC1_D1 
+PC10	SDMMC1_D2	    SDIO	AF:SDMMC1_D2 
+PC11	SDMMC1_D3	    SDIO	AF:SDMMC1_D3 
+PC12	SDMMC1_CK	    SDIO	AF:SDMMC1_CK 
+PC13    APSW		    OUTPUT  PUSHPULL SPEED_VERYLOW FLOATING LEVEL_HIGH
+	                    
+	                    
+PD00    CAN_RX		    CAN		AF:CAN1_RX
+PD01    CAN_TX		    CAN		AF:CAN1_TX
+PD02	SDMMC1_CMD	    SDIO	AF:SDMMC1_CMD 
+PD03    SPI2_EXTERNAL_CLK   SPI		AF:SPI2_SCK
+PD05    UART2_TX	    UART	AF:USART2_TX       
+PD06    UART2_RX	    UART	AF:USART2_RX       
+PD08    UART3_TX	    UART	AF:USART3_TX       
+PD09    UART3_RX	    UART	AF:USART3_RX       
+PD10    LED4		    LED
+PD12    I2C4_SCL_EXTERNAL   I2C		AF:I2C4_SCL
+PD13    I2C4_SDA_EXTERNAL   I2C		AF:I2C4_SDA
+PD15	LED1		    LED
+
+PE00    RC1		    UART	AF:UART8_RX        
+PE02    SPI4_INTERNAL_CLK   SPI		AF:SPI4_SCK
+PE04    SPI4_INTERNAL_CS    OUTPUT	PUSHPULL  SPEED_HIGH FLOATING LEVEL_HIGH
+PE05    SPI4_INTERNAL_MISO  SPI		AF:SPI4_MISO 
+PE06    SPI4_INTERNAL_MOSI  SPI		AF:SPI4_MOSI 
+PE09    SRVA1		    PWM		AF:TIM1_CH1        
+PE11    SRVA2	    	    PWM		AF:TIM1_CH2        
+PE13    SRVA3	    	    PWM		AF:TIM1_CH3        
+PE14    SRVA4	    	    PWM		AF:TIM1_CH4        
+
+
+