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[conf] drop support of XVert

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never really worked it seems, and the frame is no longer available
This commit is contained in:
Gautier Hattenberger
2021-02-02 18:32:26 +01:00
parent de7a96c292
commit 095bb75e49
14 changed files with 0 additions and 2893 deletions
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conf/airframes/OPENUAS/openuas_eflite_xvert.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="xvert">
<description>
* E-flite X-VERT VTOL (https://www.openuas.org/airframes/)
+ Autopilot: Default STM32F3 based
+ Actuators: Default servos, 2 PWM servo's, 2 escs through some proprietary atmega uart protocol
+ GPS: Ublox M8N GNSS over I2C
+ IMU: MPU6500 on mainboard and external HMC58XX on GNSS module
+ TELEMETRY: Si10xx Chip based with full fledged multifreq firmware
+ CURRENT: A standard Volt and Current sensor on the analog ports
+ RANGER: {none yet}
+ RC: RC over Datalink
NOTES:
+ Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works...
+ Yeah.. and you Accelometer also... EKF2 will like you :)
+ Flashing the firmware is done (For now..) via tiny SWD wires solderd on Main PCB, for Hardcore builder only ;)...
WIP:
+ Many thing to improve, e.g. RC and the Flashing method
</description>
<firmware name="rotorcraft">
<target name="ap" board="xvert_1.0"/>
<define name="BAT_CHECKER_DELAY" value="80" />
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
<!-- To fix the 32k ram limit issue:-->
<!--<define name="PPRZ_TRIG_INT_USE_FLOAT"/>-->
<define name="PPRZ_TRIG_CONST" value="const"/>
<define name="THD_WORKING_AREA_MAIN" value="802"/>
<define name="UART_THREAD_STACK_SIZE" value="190"/>
<define name="I2C_THREAD_STACK_SIZE" value="190"/>
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<module name="telemetry" type="transparent" >
<define name="MODEM_BAUD" value="B57600"/>
</module>
<module name="guidance" type="hybrid"/>
<module name="motor_mixing"/>
<!--<module name="sys_mon"/>-->
<!--<module name="gps" type="ubx_ucenter"/>-->
<module name="send_imu_mag_current"/>
<module name="air_data"/>
<module name="imu" type="mpu9250_i2c">
<configure name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR"/>
<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
</module>
<module name="stabilization" type="indi_simple" />
<module name="ahrs" type="float_cmpl_quat" >
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="float_invariant">
<define name="INS_PROPAGATE_FREQUENCY" value="500"/>
<define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
</module>
<module name="actuators" type="xvert">
<define name="SERVO_HZ" value="400" />
</module>
<module name="radio_control" type="datalink"/>
<module name="gps" type="ubx_i2c">
<configure name="GPS_UBX_I2C_DEV" value="i2c2"/>
</module>
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
</firmware>
<section name="INS" prefix="INS_">
<define name="H_X" value="0.5138"/>
<define name="H_Y" value="0.00019"/>
<define name="H_Z" value="0.8578"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="30"/>
<define name="MAG_Y_NEUTRAL" value="127"/>
<define name="MAG_Z_NEUTRAL" value="140"/>
<define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
<define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="-52"/>
<define name="ACCEL_Y_NEUTRAL" value="-4"/>
<define name="ACCEL_Z_NEUTRAL" value="-7"/>
<define name="ACCEL_X_SENS" value="2.45056441681" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.44991708802" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="90." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
</section>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<servos driver="Xvert">
<servo name="RM" no="0" min="1160" neutral="1200" max="1880"/>
<servo name="LM" no="1" min="1160" neutral="1200" max="1880"/>
<servo name="ELEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVON_LEFT" no="3" min="1000" neutral="1500" max="2000"/>
</servos>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="RM" value="motor_mixing.commands[0]"/>
<set servo="LM" value="motor_mixing.commands[1]"/>
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
<!-- First the correct feedback is stored in variables -->
<let var="aileron_feedback_left" value="@YAW"/>
<let var="aileron_feedback_right" value="@YAW"/>
<let var="elevator_feedback_left" value="-@PITCH"/>
<let var="elevator_feedback_right" value="+@PITCH"/>
<!-- if using PID with gain scheduling -->
<let var="forward_left" value="$aileron_feedback_left + $elevator_feedback_left"/>
<let var="forward_right" value="$aileron_feedback_right + $elevator_feedback_right"/>
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
<set servo="ELEVON_LEFT" value="$forward_left" />
<set servo="ELEVON_RIGHT" value="$forward_right" />
</command_laws>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="2"/>
<define name="SCALE" value="256"/>
<define name="PITCH_COEF" value="{ 0, 0}"/>
<define name="ROLL_COEF" value="{ -256, 256 }"/>
<define name="YAW_COEF" value="{ 0, 0 }"/>
<define name="THRUST_COEF" value="{ 256, 256 }"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE" />
<define name="CALC_TAS_FACTOR" value="FALSE" />
<define name="CALC_AMSL_BARO" value="TRUE" />
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg" />
<define name="SP_MAX_THETA" value="45" unit="deg" />
<define name="SP_MAX_R" value="300" unit="deg/s" />
<define name="DEADBAND_A" value="0" />
<define name="DEADBAND_E" value="0" />
<define name="DEADBAND_R" value="50" />
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.01292" />
<define name="G1_Q" value="0.014867" />
<define name="G1_R" value="0.012055" />
<define name="G2_R" value="0.0" />
<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
<define name="FILTER_ROLL_RATE" value="FALSE" />
<define name="FILTER_PITCH_RATE" value="FALSE" />
<define name="FILTER_YAW_RATE" value="FALSE" />
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="100.0" />
<define name="REF_ERR_Q" value="100.0" />
<define name="REF_ERR_R" value="100.0" />
<define name="REF_RATE_P" value="14.0" />
<define name="REF_RATE_Q" value="14.0" />
<define name="REF_RATE_R" value="14.0" />
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.04" />
<define name="ACT_DYN_Q" value="0.04" />
<define name="ACT_DYN_R" value="0.04" />
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE" />
<define name="ADAPTIVE_MU" value="0.0001" />
<!-- max rates (conservative) -->
<define name="STABILIZATION_INDI_MAX_RATE" value="343.77" unit="deg/s"/>
<define name="STABILIZATION_INDI_MAX_R" value="200" unit="deg/s"/> <!--Does not seem to be applied-->
<define name="FULL_AUTHORITY" value="TRUE"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350" />
<define name="HOVER_KD" value="85" />
<define name="HOVER_KI" value="20" />
<define name="NOMINAL_HOVER_THROTTLE" value="0.6" />
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE" />
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg" />
<define name="REF_MAX_SPEED" value="3" unit="m/s" />
<define name="PGAIN" value="50" />
<define name="DGAIN" value="100" />
<define name="IGAIN" value="30" />
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="4.5" />
<define name="DESCEND_VSPEED" value="-1.0" />
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
<define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT" />
<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
</section>
<section name="BAT">
<!-- 2S LiPo with 950mAh -->
<define name="LOW_BAT_LEVEL" value="7.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="7.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
</airframe>
conf/airframes/tudelft/xvert.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="xvert">
<description>
E-flite X-VERT VTOL
* Autopilot: xvert
* IMU: MPU6500 + external HMC58XX
* Actuators: 2 PWM servo's, 2 escs through some proprietary atmega uart protocol
* GPS: Ublox through I2C
* RC: Datalink
</description>
<firmware name="rotorcraft">
<target name="ap" board="xvert_1.0"/>
<define name="BAT_CHECKER_DELAY" value="80" />
<!-- amount of time it take for the bat to check -->
<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
<!-- To fix the 32k ram limit issue:-->
<!--<define name="PPRZ_TRIG_INT_USE_FLOAT"/>-->
<define name="PPRZ_TRIG_CONST" value="const"/>
<define name="THD_WORKING_AREA_MAIN" value="1024"/>
<define name="UART_THREAD_STACK_SIZE" value="240"/>
<define name="I2C_THREAD_STACK_SIZE" value="240"/>
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<!-- in seconds-->
<module name="telemetry" type="transparent" >
<define name="MODEM_BAUD" value="57600"/>
</module>
<module name="guidance" type="hybrid"/>
<module name="motor_mixing"/>
<module name="sys_mon"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
<module name="air_data"/>
<module name="imu" type="mpu9250_i2c">
<configure name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR"/>
<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
</module>
<module name="stabilization" type="indi_simple" />
<module name="ahrs" type="float_cmpl_quat" >
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="float_invariant">
<define name="INS_PROPAGATE_FREQUENCY" value="500"/>
<define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
</module>
<module name="actuators" type="xvert">
<define name="SERVO_HZ" value="400" />
</module>
<module name="radio_control" type="datalink"/>
<module name="gps" type="ubx_i2c">
<configure name="GPS_UBX_I2C_DEV" value="i2c2"/>
</module>
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
</firmware>
<section name="INS" prefix="INS_">
<define name="H_X" value="0.5138"/>
<define name="H_Y" value="0.00019"/>
<define name="H_Z" value="0.8578"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="30"/>
<define name="MAG_Y_NEUTRAL" value="127"/>
<define name="MAG_Z_NEUTRAL" value="140"/>
<define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
<define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="-52"/>
<define name="ACCEL_Y_NEUTRAL" value="-4"/>
<define name="ACCEL_Z_NEUTRAL" value="-7"/>
<define name="ACCEL_X_SENS" value="2.45056441681" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.44991708802" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="90." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
</section>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<servos driver="Xvert">
<servo name="RM" no="0" min="1160" neutral="1200" max="1880"/>
<servo name="LM" no="1" min="1160" neutral="1200" max="1880"/>
<servo name="ELEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVON_LEFT" no="3" min="1000" neutral="1500" max="2000"/>
</servos>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="RM" value="motor_mixing.commands[0]"/>
<set servo="LM" value="motor_mixing.commands[1]"/>
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
<!-- First the correct feedback is stored in variables -->
<let var="aileron_feedback_left" value="@YAW"/>
<let var="aileron_feedback_right" value="@YAW"/>
<let var="elevator_feedback_left" value="-@PITCH"/>
<let var="elevator_feedback_right" value="+@PITCH"/>
<!-- if using PID with gain scheduling -->
<let var="forward_left" value="$aileron_feedback_left + $elevator_feedback_left"/>
<let var="forward_right" value="$aileron_feedback_right + $elevator_feedback_right"/>
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
<set servo="ELEVON_LEFT" value="$forward_left" />
<set servo="ELEVON_RIGHT" value="$forward_right" />
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE" />
<define name="CALC_TAS_FACTOR" value="FALSE" />
<define name="CALC_AMSL_BARO" value="TRUE" />
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg" />
<define name="SP_MAX_THETA" value="45" unit="deg" />
<define name="SP_MAX_R" value="300" unit="deg/s" />
<define name="DEADBAND_A" value="0" />
<define name="DEADBAND_E" value="0" />
<define name="DEADBAND_R" value="50" />
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.01292" />
<define name="G1_Q" value="0.014867" />
<define name="G1_R" value="0.012055" />
<define name="G2_R" value="0.0" />
<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
<define name="FILTER_ROLL_RATE" value="FALSE" />
<define name="FILTER_PITCH_RATE" value="FALSE" />
<define name="FILTER_YAW_RATE" value="FALSE" />
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="100.0" />
<define name="REF_ERR_Q" value="100.0" />
<define name="REF_ERR_R" value="100.0" />
<define name="REF_RATE_P" value="14.0" />
<define name="REF_RATE_Q" value="14.0" />
<define name="REF_RATE_R" value="14.0" />
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.04" />
<define name="ACT_DYN_Q" value="0.04" />
<define name="ACT_DYN_R" value="0.04" />
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE" />
<define name="ADAPTIVE_MU" value="0.0001" />
<!-- max rates (conservative) -->
<define name="STABILIZATION_INDI_MAX_RATE" value="343.77" unit="deg/s"/>
<define name="STABILIZATION_INDI_MAX_R" value="200" unit="deg/s"/> <!--Does not seem to be applied-->
<define name="FULL_AUTHORITY" value="TRUE"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350" />
<define name="HOVER_KD" value="85" />
<define name="HOVER_KI" value="20" />
<define name="NOMINAL_HOVER_THROTTLE" value="0.6" />
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE" />
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg" />
<define name="REF_MAX_SPEED" value="2" unit="m/s" />
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="50" />
<define name="DGAIN" value="100" />
<define name="IGAIN" value="30" />
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="4.5" />
<define name="DESCEND_VSPEED" value="-1.0" />
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
<define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT" />
<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
</section>
<section name="BAT">
<!-- 2S LiPo with 950mAh -->
<define name="LOW_BAT_LEVEL" value="7.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="7.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="2"/>
<define name="SCALE" value="256"/>
<define name="PITCH_COEF" value="{ 0, 0}"/>
<define name="ROLL_COEF" value="{ -256, 256 }"/>
<define name="YAW_COEF" value="{ 0, 0 }"/>
<define name="THRUST_COEF" value="{ 256, 256 }"/>
</section>
</airframe>
conf/boards/xvert_1.0.makefile
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@@ -1,71 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# stm32f37_vortex_chibios.makefile
#
#
BOARD=xvert
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
## FPU on F3
##TODO: there is some bug when using the hard FPU unit!!
USE_FPU=no
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
#
# Define project name here (target)
PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F37x/platform.mk
CHIBIOS_BOARD_LINKER = STM32F373xC.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f3xx.mk
##############################################################################
# Compiler settings
#
MCU = cortex-m4
# default flash mode is via DFU-UTIL
# possibilities: DFU-UTIL, SWD, SWD_NOPWR, STLINK
FLASH_MODE ?= SWD_NOPWR
HAS_LUFTBOOT = FALSE
#
# default LED configuration
#
SYS_TIME_LED ?= 1
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= 2
GPS_LED ?= none
#
# default UART configuration (modem, gps, spektrum)
#
MODEM_PORT ?= UART2
MODEM_BAUD ?= B57600
#
# default actuator configuration
#
# you can use different actuators by adding a configure option to your firmware section
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
# and by setting the correct "driver" attribute in servo section
# e.g. <servo driver="Ppm">
#
ACTUATORS ?= actuators_xvert
conf/firmwares/subsystems/shared/baro_board.makefile
-9
View File
@@ -290,15 +290,6 @@ else ifeq ($(BOARD), chimera)
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
else ifeq ($(BOARD), xvert)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_ADDR=MS5611_I2C_SLAVE_ADDR_ALT
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
endif # check board
BARO_LED ?= none
conf/modules/actuators_xvert.xml
-25
View File
@@ -1,25 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="actuators_esc32" dir="actuators" task="actuators">
<doc>
<description>
Actuators Driver for x-vert vtol escs
</description>
<configure name="ESCS_PORT" value="usb_serial" description="Port used to connect to the atmegas escs."/>
<configure name="ESCS_BAUD" value="250000" description="Baud rate for ESCS_PORT if a UART"/>
</doc>
<header>
<file name="actuators_xvert.h" dir="subsystems/actuators"/>
</header>
<makefile target="ap">
<define name="ACTUATORS"/>
<file_arch name="actuators_xvert.c" dir="subsystems/actuators"/>
<file_arch name="actuators_pwm_arch.c" dir="subsystems/actuators"/>
<configure name="ESCS_PORT" default="uart1" case="upper|lower"/>
<configure name="ESCS_BAUD" default="250000"/>
<define name="USE_$(ESCS_PORT_UPPER)"/>
<define name="ESCS_UART" value="$(ESCS_PORT_LOWER)"/>
<define name="$(ESCS_PORT_UPPER)_BAUD" value="$(ESCS_BAUD)"/>
</makefile>
</module>
conf/userconf/OPENUAS/openuas_all_ac.xml
-11
View File
@@ -318,15 +318,4 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/airspeed_adc.xml modules/photogrammetry_calculator.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml modules/digital_cam_uart.xml"
gui_color="#fffffac7c07a"
/>
<aircraft
name="XVert"
ac_id="217"
airframe="airframes/OPENUAS/openuas_eflite_xvert.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="#fffff3c90091"
/>
</conf>
conf/userconf/tudelft/conf.xml
-12
View File
@@ -591,16 +591,4 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
gui_color="#b29eb22cffff"
/>
<aircraft
name="xvert"
ac_id="69"
airframe="airframes/tudelft/xvert.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/gps.xml modules/ahrs_float_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/guidance_hybrid.xml"
gui_color="#ffffcccaccca"
release="2a6ad556f183875fa9fb8072d774beec7ba55701"
/>
</conf>
sw/airborne/arch/chibios/subsystems/actuators/actuators_xvert.c
-130
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@@ -1,130 +0,0 @@
/*
* Copyright (C) Kevin van Hecke
*
* This file is part of paparazzi
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file actuators_xvert.c
* @author Kevin van Hecke
* Actuators driver for X-vert VTOL motor controllers. Contains two
* normal pwm servos, and two custom driven escs through a propriety uart
* protocol.
*/
#include "actuators_xvert.h"
#include "subsystems/actuators/actuators_pwm_arch.h"
#include "subsystems/actuators/actuators_pwm.h"
#include "mcu_periph/uart.h"
#define ESCS_PORT (&((ESCS_UART).device))
int32_t actuators_xvert_values[ACTUATORS_PWM_NB];
#define GP 0x107 /* x^8 + x^2 + x + 1 */
#define DI 0xE7
static unsigned char crc8_table[256]; /* 8-bit table */
static int made_table = 0;
static void init_crc8(void)
/*
* Should be called before any other crc function.
*/
{
int i, j;
unsigned char crc;
if (!made_table) {
for (i = 0; i < 256; i++) {
crc = i;
for (j = 0; j < 8; j++) {
crc = (crc << 1) ^ ((crc & 0x80) ? DI : 0);
}
crc8_table[i] = crc & 0xFF;
/* printf("table[%d] = %d (0x%X)\n", i, crc, crc); */
}
made_table = 1;
}
}
void crc8(unsigned char *crc, unsigned char m)
/*
* For a byte array whose accumulated crc value is stored in *crc, computes
* resultant crc obtained by appending m to the byte array
*/
{
if (!made_table) {
init_crc8();
}
*crc = crc8_table[(*crc) ^ m];
*crc &= 0xFF;
}
void actuators_xvert_init(void)
{
actuators_pwm_arch_init();
}
void actuators_xvert_commit(void)
{
if (ESCS_PORT->char_available(ESCS_PORT->periph)) {
//unsigned char b1 = ESCS_PORT->get_byte(ESCS_PORT->periph);
}
struct EscData package;
package.start = ESCS_START_BYTE;
package.len = 8;
package.id = 2;
package.d1 = actuators_xvert_values[XVERT_ESC_0];
package.d2 = actuators_xvert_values[XVERT_ESC_1];
//do some package magic:
static bool bitflipper = true;
if (bitflipper) {
package.d1 += ESCS_DATA_FLIPBIT;
} else {
package.d2 += ESCS_DATA_FLIPBIT;
}
package.d1 += ESCS_DATA_MYSTERYBIT;
bitflipper = !bitflipper;
unsigned char crc = 0;
unsigned char *data = (unsigned char *)&package;
for (unsigned char i = 1 ; i < sizeof(struct EscData) - 1; i++) {
crc8(&crc, data[i]);
}
package.crc = crc;
ESCS_PORT->put_buffer(ESCS_PORT->periph, 0, (unsigned char *) &package, sizeof(struct EscData));
//send the pwm signals for the two elerons to the pwm driver:
actuators_pwm_values[PWM_SERVO_2] = actuators_xvert_values[PWM_SERVO_2];
actuators_pwm_values[PWM_SERVO_3] = actuators_xvert_values[PWM_SERVO_3];
actuators_pwm_commit();
}
sw/airborne/arch/chibios/subsystems/actuators/actuators_xvert.h
-61
View File
@@ -1,61 +0,0 @@
/*
* Copyright (C) Kevin van Hecke
*
* This file is part of paparazzi
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file actuators_xvert.h
* @author Kevin van Hecke
* Actuators driver for X-vert VTOL motor controllers. Contains two normal pwm servos, and two custom driven escs through a propriety uart protocol.
*/
#ifndef ACTUATORS_XVERT_H
#define ACTUATORS_XVERT_H
#include "subsystems/actuators/actuators_pwm_arch.h"
#define ESCS_START_BYTE 0xFE
#define ESCS_DATA_FLIPBIT 16384
#define ESCS_DATA_MYSTERYBIT 32768
struct EscData {
unsigned char start; //0xfe
unsigned char len; //8
unsigned char id; //2
//1200 - 1800, maybe 1100-1900
//1160 = off, max ~1880
//in both data ints, 2e byte toggles the 64 bit (15e bit in total). If on, its the first, if off its the other
//in d2 16e bit always on
uint32_t d1 ;
uint32_t d2 ;
unsigned char crc;
} __attribute__((__packed__));
extern int32_t actuators_xvert_values[ACTUATORS_PWM_NB];
extern void actuators_xvert_commit(void);
extern void actuators_xvert_init(void);
#define ActuatorsXvertInit actuators_xvert_init
#define ActuatorXvertSet(_i, _v) { actuators_xvert_values[_i] = _v; }
#define ActuatorsXvertCommit actuators_xvert_commit
#endif
sw/airborne/boards/xvert/baro_board.h
-20
View File
@@ -1,20 +0,0 @@
/*
* board specific functions for the chimera board
*
*/
#ifndef BOARDS_CHIMERA_BARO_H
#define BOARDS_CHIMERA_BARO_H
// only for printing the baro type during compilation
#ifndef BARO_BOARD
#define BARO_BOARD BARO_MS5611_I2C
#endif
#define BB_MS5611_TYPE_MS5607 TRUE
extern void baro_event(void);
#define BaroEvent baro_event
#endif /* BOARDS_CHIMERA_BARO_H */
sw/airborne/boards/xvert/chibios/v1.0/board.c
-265
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@@ -1,265 +0,0 @@
/*
ChibiOS - Copyright (C) 2006..2018 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.
*/
/*
* This file has been automatically generated using ChibiStudio board
* generator plugin. Do not edit manually.
*/
#include "hal.h"
#include "stm32_gpio.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/**
* @brief Type of STM32 GPIO port setup.
*/
typedef struct {
uint32_t moder;
uint32_t otyper;
uint32_t ospeedr;
uint32_t pupdr;
uint32_t odr;
uint32_t afrl;
uint32_t afrh;
} gpio_setup_t;
/**
* @brief Type of STM32 GPIO initialization data.
*/
typedef struct {
#if STM32_HAS_GPIOA || defined(__DOXYGEN__)
gpio_setup_t PAData;
#endif
#if STM32_HAS_GPIOB || defined(__DOXYGEN__)
gpio_setup_t PBData;
#endif
#if STM32_HAS_GPIOC || defined(__DOXYGEN__)
gpio_setup_t PCData;
#endif
#if STM32_HAS_GPIOD || defined(__DOXYGEN__)
gpio_setup_t PDData;
#endif
#if STM32_HAS_GPIOE || defined(__DOXYGEN__)
gpio_setup_t PEData;
#endif
#if STM32_HAS_GPIOF || defined(__DOXYGEN__)
gpio_setup_t PFData;
#endif
#if STM32_HAS_GPIOG || defined(__DOXYGEN__)
gpio_setup_t PGData;
#endif
#if STM32_HAS_GPIOH || defined(__DOXYGEN__)
gpio_setup_t PHData;
#endif
#if STM32_HAS_GPIOI || defined(__DOXYGEN__)
gpio_setup_t PIData;
#endif
#if STM32_HAS_GPIOJ || defined(__DOXYGEN__)
gpio_setup_t PJData;
#endif
#if STM32_HAS_GPIOK || defined(__DOXYGEN__)
gpio_setup_t PKData;
#endif
} gpio_config_t;
/**
* @brief STM32 GPIO static initialization data.
*/
static const gpio_config_t gpio_default_config = {
#if STM32_HAS_GPIOA
{VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,
VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH},
#endif
#if STM32_HAS_GPIOB
{VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,
VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH},
#endif
#if STM32_HAS_GPIOC
{VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,
VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
#endif
#if STM32_HAS_GPIOD
{VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,
VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
#endif
#if STM32_HAS_GPIOE
{VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,
VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH},
#endif
#if STM32_HAS_GPIOF
{VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,
VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH},
#endif
#if STM32_HAS_GPIOG
{VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,
VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH},
#endif
#if STM32_HAS_GPIOH
{VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,
VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH},
#endif
#if STM32_HAS_GPIOI
{VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,
VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH},
#endif
#if STM32_HAS_GPIOJ
{VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR,
VAL_GPIOJ_ODR, VAL_GPIOJ_AFRL, VAL_GPIOJ_AFRH},
#endif
#if STM32_HAS_GPIOK
{VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR,
VAL_GPIOK_ODR, VAL_GPIOK_AFRL, VAL_GPIOK_AFRH}
#endif
};
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
static void gpio_init(stm32_gpio_t *gpiop, const gpio_setup_t *config) {
gpiop->OTYPER = config->otyper;
gpiop->OSPEEDR = config->ospeedr;
gpiop->PUPDR = config->pupdr;
gpiop->ODR = config->odr;
gpiop->AFRL = config->afrl;
gpiop->AFRH = config->afrh;
gpiop->MODER = config->moder;
}
static void stm32_gpio_init(void) {
/* Enabling GPIO-related clocks, the mask comes from the
registry header file.*/
rccResetAHB(STM32_GPIO_EN_MASK);
rccEnableAHB(STM32_GPIO_EN_MASK, true);
/* Initializing all the defined GPIO ports.*/
#if STM32_HAS_GPIOA
gpio_init(GPIOA, &gpio_default_config.PAData);
#endif
#if STM32_HAS_GPIOB
gpio_init(GPIOB, &gpio_default_config.PBData);
#endif
#if STM32_HAS_GPIOC
gpio_init(GPIOC, &gpio_default_config.PCData);
#endif
#if STM32_HAS_GPIOD
gpio_init(GPIOD, &gpio_default_config.PDData);
#endif
#if STM32_HAS_GPIOE
gpio_init(GPIOE, &gpio_default_config.PEData);
#endif
#if STM32_HAS_GPIOF
gpio_init(GPIOF, &gpio_default_config.PFData);
#endif
#if STM32_HAS_GPIOG
gpio_init(GPIOG, &gpio_default_config.PGData);
#endif
#if STM32_HAS_GPIOH
gpio_init(GPIOH, &gpio_default_config.PHData);
#endif
#if STM32_HAS_GPIOI
gpio_init(GPIOI, &gpio_default_config.PIData);
#endif
#if STM32_HAS_GPIOJ
gpio_init(GPIOJ, &gpio_default_config.PJData);
#endif
#if STM32_HAS_GPIOK
gpio_init(GPIOK, &gpio_default_config.PKData);
#endif
}
/*===========================================================================*/
/* Driver interrupt handlers. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Early initialization code.
* @details GPIO ports and system clocks are initialized before everything
* else.
*/
void __early_init(void) {
stm32_gpio_init();
stm32_clock_init();
}
#if HAL_USE_SDC || defined(__DOXYGEN__)
/**
* @brief SDC card detection.
*/
bool sdc_lld_is_card_inserted(SDCDriver *sdcp)
{
(void)sdcp;
/* TODO: Fill the implementation.*/
return true;
}
/**
* @brief SDC card write protection detection.
*/
bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
(void)sdcp;
return false;
}
#endif /* HAL_USE_SDC */
#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
/**
* @brief MMC_SPI card detection.
*/
bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
(void)mmcp;
/* TODO: Fill the implementation.*/
return true;
}
/**
* @brief MMC_SPI card write protection detection.
*/
bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
(void)mmcp;
/* TODO: Fill the implementation.*/
return false;
}
#endif
/**
* @brief Board-specific initialization code.
* @todo Add your board-specific code, if any.
*/
void boardInit(void) {
}
sw/airborne/boards/xvert/chibios/v1.0/board.h
-1513
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File diff suppressed because it is too large Load Diff
sw/airborne/boards/xvert/chibios/v1.0/board.mk
-24
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@@ -1,24 +0,0 @@
#
# 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
BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/xvert/chibios/v1.0/mcuconf.h
-270
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@@ -1,270 +0,0 @@
/*
ChibiOS - Copyright (C) 2006..2016 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.
*/
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* STM32F37x drivers configuration.
* The following settings override the default settings present in
* the various device driver implementation headers.
* Note that the settings for each driver only have effect if the whole
* driver is enabled in halconf.h.
*
* IRQ priorities:
* 15...0 Lowest...Highest.
*
* DMA priorities:
* 0...3 Lowest...Highest.
*/
#define STM32F37x_MCUCONF
/*
* HAL driver system settings.
*/
#define STM32_NO_INIT FALSE
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0
#define STM32_HSI_ENABLED TRUE
#define STM32_LSI_ENABLED TRUE
#define STM32_HSE_ENABLED TRUE
#define STM32_LSE_ENABLED FALSE
#define STM32_SW STM32_SW_PLL
#define STM32_PLLSRC STM32_PLLSRC_HSE
#define STM32_PREDIV_VALUE 2
#define STM32_PLLMUL_VALUE 9
#define STM32_HPRE STM32_HPRE_DIV1
#define STM32_PPRE1 STM32_PPRE1_DIV2
#define STM32_PPRE2 STM32_PPRE2_DIV2
#define STM32_MCOSEL STM32_MCOSEL_NOCLOCK
#define STM32_ADCPRE STM32_ADCPRE_DIV4
#define STM32_SDPRE STM32_SDPRE_DIV12
#define STM32_USART1SW STM32_USART1SW_PCLK
#define STM32_USART2SW STM32_USART2SW_PCLK
#define STM32_USART3SW STM32_USART3SW_PCLK
#define STM32_I2C1SW STM32_I2C1SW_SYSCLK
#define STM32_I2C2SW STM32_I2C2SW_SYSCLK
#define STM32_RTCSEL STM32_RTCSEL_LSI
#define STM32_USB_CLOCK_REQUIRED TRUE
#define STM32_USBPRE STM32_USBPRE_DIV1P5
/*
* ADC driver system settings.
*/
#define STM32_ADC_USE_ADC1 TRUE
#define STM32_ADC_USE_SDADC1 FALSE
#define STM32_ADC_USE_SDADC2 FALSE
#define STM32_ADC_USE_SDADC3 FALSE
#define STM32_ADC_ADC1_DMA_PRIORITY 2
#define STM32_ADC_SDADC1_DMA_PRIORITY 2
#define STM32_ADC_SDADC2_DMA_PRIORITY 2
#define STM32_ADC_SDADC3_DMA_PRIORITY 2
#define STM32_ADC_ADC1_IRQ_PRIORITY 5
#define STM32_ADC_SDADC1_IRQ_PRIORITY 5
#define STM32_ADC_SDADC2_IRQ_PRIORITY 5
#define STM32_ADC_SDADC3_IRQ_PRIORITY 5
#define STM32_ADC_SDADC1_DMA_IRQ_PRIORITY 5
#define STM32_ADC_SDADC2_DMA_IRQ_PRIORITY 5
#define STM32_ADC_SDADC3_DMA_IRQ_PRIORITY 5
/*
* CAN driver system settings.
*/
#if USE_CAN1
#define STM32_CAN_USE_CAN1 TRUE
#else
#define STM32_CAN_USE_CAN1 FALSE
#endif
#define STM32_CAN_CAN1_IRQ_PRIORITY 11
/*
* EXT driver system settings.
*/
#define STM32_EXT_EXTI0_IRQ_PRIORITY 6
#define STM32_EXT_EXTI1_IRQ_PRIORITY 6
#define STM32_EXT_EXTI2_IRQ_PRIORITY 6
#define STM32_EXT_EXTI3_IRQ_PRIORITY 6
#define STM32_EXT_EXTI4_IRQ_PRIORITY 6
#define STM32_EXT_EXTI5_9_IRQ_PRIORITY 6
#define STM32_EXT_EXTI10_15_IRQ_PRIORITY 6
#define STM32_EXT_EXTI16_IRQ_PRIORITY 6
#define STM32_EXT_EXTI17_IRQ_PRIORITY 6
#define STM32_EXT_EXTI18_IRQ_PRIORITY 6
#define STM32_EXT_EXTI19_IRQ_PRIORITY 6
#define STM32_EXT_EXTI20_23_IRQ_PRIORITY 6
#define STM32_EXT_EXTI30_32_IRQ_PRIORITY 6
#define STM32_EXT_EXTI33_IRQ_PRIORITY 6
/*
* GPT driver system settings.
*/
#define STM32_GPT_USE_TIM2 FALSE
#define STM32_GPT_USE_TIM3 FALSE
#define STM32_GPT_USE_TIM4 FALSE
#define STM32_GPT_USE_TIM5 FALSE
#define STM32_GPT_USE_TIM6 FALSE
#define STM32_GPT_USE_TIM7 FALSE
#define STM32_GPT_USE_TIM12 FALSE
#define STM32_GPT_USE_TIM14 FALSE
#define STM32_GPT_TIM2_IRQ_PRIORITY 7
#define STM32_GPT_TIM3_IRQ_PRIORITY 7
#define STM32_GPT_TIM4_IRQ_PRIORITY 7
#define STM32_GPT_TIM5_IRQ_PRIORITY 7
#define STM32_GPT_TIM6_IRQ_PRIORITY 7
#define STM32_GPT_TIM7_IRQ_PRIORITY 7
#define STM32_GPT_TIM12_IRQ_PRIORITY 7
#define STM32_GPT_TIM14_IRQ_PRIORITY 7
/*
* I2C driver system settings.
*/
#if USE_I2C1
#define STM32_I2C_USE_I2C1 TRUE
#else
#define STM32_I2C_USE_I2C1 FALSE
#endif
#if USE_I2C2
#define STM32_I2C_USE_I2C2 TRUE
#else
#define STM32_I2C_USE_I2C2 FALSE
#endif
#define STM32_I2C_BUSY_TIMEOUT 50
#define STM32_I2C_I2C1_IRQ_PRIORITY 10
#define STM32_I2C_I2C2_IRQ_PRIORITY 10
#define STM32_I2C_USE_DMA TRUE
#define STM32_I2C_I2C1_DMA_PRIORITY 1
#define STM32_I2C_I2C2_DMA_PRIORITY 1
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
/*
* ICU driver system settings.
*/
#define STM32_ICU_USE_TIM2 FALSE
#define STM32_ICU_USE_TIM3 FALSE
#define STM32_ICU_USE_TIM4 FALSE
#define STM32_ICU_USE_TIM5 FALSE
#define STM32_ICU_TIM2_IRQ_PRIORITY 7
#define STM32_ICU_TIM3_IRQ_PRIORITY 7
#define STM32_ICU_TIM4_IRQ_PRIORITY 7
#define STM32_ICU_TIM5_IRQ_PRIORITY 7
/*
* PWM driver system settings.
*/
#define STM32_PWM_USE_TIM2 FALSE
#define STM32_PWM_USE_TIM3 FALSE
#define STM32_PWM_USE_TIM4 FALSE
#define STM32_PWM_USE_TIM5 TRUE
#define STM32_PWM_TIM2_IRQ_PRIORITY 7
#define STM32_PWM_TIM3_IRQ_PRIORITY 7
#define STM32_PWM_TIM4_IRQ_PRIORITY 7
#define STM32_PWM_TIM5_IRQ_PRIORITY 7
/*
* SERIAL driver system settings.
*/
#if USE_UART1
#define STM32_SERIAL_USE_USART1 TRUE
#else
#define STM32_SERIAL_USE_USART1 FALSE
#endif
#if USE_UART2
#define STM32_SERIAL_USE_USART2 TRUE
#else
#define STM32_SERIAL_USE_USART2 FALSE
#endif
#if USE_UART3
#define STM32_SERIAL_USE_USART3 TRUE
#else
#define STM32_SERIAL_USE_USART3 FALSE
#endif
#if USE_UART4
#define STM32_SERIAL_USE_UART4 TRUE
#else
#define STM32_SERIAL_USE_UART4 FALSE
#endif
#if USE_UART5
#define STM32_SERIAL_USE_UART5 TRUE
#else
#define STM32_SERIAL_USE_UART5 FALSE
#endif
#define STM32_SERIAL_USART1_PRIORITY 12
#define STM32_SERIAL_USART2_PRIORITY 12
#define STM32_SERIAL_USART3_PRIORITY 12
#define STM32_SERIAL_UART4_PRIORITY 12
#define STM32_SERIAL_UART5_PRIORITY 12
/*
* SPI driver system settings.
*/
#if USE_SPI1
#define STM32_SPI_USE_SPI1 TRUE
#else
#define STM32_SPI_USE_SPI1 FALSE
#endif
#if USE_SPI2
#define STM32_SPI_USE_SPI2 TRUE
#else
#define STM32_SPI_USE_SPI2 FALSE
#endif
#if USE_SPI3
#define STM32_SPI_USE_SPI3 TRUE
#else
#define STM32_SPI_USE_SPI3 FALSE
#endif
#define STM32_SPI_SPI1_DMA_PRIORITY 1
#define STM32_SPI_SPI2_DMA_PRIORITY 1
#define STM32_SPI_SPI3_DMA_PRIORITY 1
#define STM32_SPI_SPI1_IRQ_PRIORITY 10
#define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_SPI3_IRQ_PRIORITY 10
#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
/*
* ST driver system settings.
*/
#define STM32_ST_IRQ_PRIORITY 8
#define STM32_ST_USE_TIMER 2
/*
* UART driver system settings.
*/
#define STM32_UART_USE_USART1 TRUE
#define STM32_UART_USE_USART2 TRUE
#define STM32_UART_USE_USART3 FALSE
#define STM32_UART_USART1_IRQ_PRIORITY 12
#define STM32_UART_USART2_IRQ_PRIORITY 12
#define STM32_UART_USART3_IRQ_PRIORITY 12
#define STM32_UART_USART1_DMA_PRIORITY 0
#define STM32_UART_USART2_DMA_PRIORITY 0
#define STM32_UART_USART3_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
/*
* USB driver system settings.
*/
#define STM32_USB_USE_USB1 FALSE
#define STM32_USB_LOW_POWER_ON_SUSPEND FALSE
#define STM32_USB_USB1_HP_IRQ_PRIORITY 13
#define STM32_USB_USB1_LP_IRQ_PRIORITY 14
/*
* WDG driver system settings.
*/
#define STM32_WDG_USE_IWDG FALSE
#endif /* MCUCONF_H */