mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
[conf] drop discovery boards
if test board from ST should be used, better use the more recent nucleo144
This commit is contained in:
Gautier Hattenberger
@@ -32,17 +32,6 @@
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settings_modules="modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
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gui_color="blue"
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/>
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<aircraft
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name="discovery"
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ac_id="9"
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airframe="airframes/FLIXR/flixr_discovery.xml"
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radio="radios/mc20.xml"
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telemetry="telemetry/default_fixedwing_imu.xml"
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flight_plan="flight_plans/basic.xml"
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settings="settings/fixedwing_basic.xml"
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settings_modules="modules/switch_servo.xml modules/gps.xml modules/imu_common.xml modules/ahrs_int_cmpl_quat.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml"
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gui_color="blue"
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/>
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<aircraft
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name="flixr_lisamx"
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ac_id="42"
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@@ -1,369 +0,0 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<!-- ST Model Discovery (http://www.sheng-teng.com/)
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TWOG1 (http://wiki.paparazziuav.org/wiki/TWOG/v1.0)
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* uBlox LEA5H and Sarantel helix GPS antenna
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-->
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<airframe name="Discovery">
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<firmware name="fixedwing">
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<target name="ap" board="twog_1.0">
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<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
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<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
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<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
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<configure name="AHRS_ALIGNER_LED" value="2"/>
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<configure name="SYS_TIME_LED" value="1"/>
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<configure name="GPS_LED" value="none"/>
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<!-- for airspeed sensor
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<define name="USE_I2C0"/>
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-->
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</target>
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<target name="sim" board="pc"/>
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<define name="LOITER_TRIM"/>
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<define name="USE_PITCH_TRIM"/> <!-- basically same as loiter trim, but for adaptive-->
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<define name="USE_GYRO_PITCH_RATE"/>
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<define name="WIND_INFO"/>
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<!-- Communication -->
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<module name="telemetry" type="transparent"/>
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<module name="radio_control" type="ppm"/>
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<!--module name="settings" type="rc"/-->
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<!-- Control -->
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<module name="control" type="new"/>
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<module name="navigation"/>
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<module name="ahrs" type="int_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="0"/>
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<define name="AHRS_USE_GPS_HEADING" value="1"/>
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</module>
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<module name="ins" type="alt_float"/>
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<!-- Sensors -->
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<module name="imu" type="b2_v1.0">
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<configure name="NO_MAG" value="1"/>
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</module>
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<module name="gps" type="ublox"/>
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<module name="current_sensor">
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<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
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</module>
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<module name="switch" type="servo"/>
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<module name="sys_mon"/>
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<module name="adc_generic">
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<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
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</module>
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</firmware>
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<firmware name="setup">
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<target name="tunnel" board="twog_1.0" />
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<target name="usb_tunnel" board="twog_1.0">
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<configure name="TUNNEL_PORT" value="UART1"/>
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</target>
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</firmware>
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<firmware name="test_progs">
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<configure name="SYS_TIME_LED" value="1"/>
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<target name="test_gpio" board="twog_1.0"/>
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<target name="test_sys_time_timer" board="twog_1.0"/>
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<target name="test_telemetry" board="twog_1.0"/>
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</firmware>
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<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
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<servos>
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<servo name="MOTOR" no="0" min="1100" neutral="1100" max="1900"/>
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<servo name="ELEVATOR" no="2" min="1100" neutral="1500" max="1900"/>
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<servo name="AILERON_RIGHT" no="3" min="1000" neutral="1500" max="1000"/>
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<servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
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<servo name="RUDDER" no="6" min="1000" neutral="1500" max="2000"/>
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<servo name="HATCH" no="7" min="1100" neutral="1100" max="1900"/>
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</servos>
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<section name="SWITCH_SERVO" PREFIX="SWITCH_SERVO_">
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<define name="SERVO" value="HATCH"/>
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<define name="ON_VALUE" value="SERVO_HATCH_MIN"/>
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<define name="OFF_VALUE" value="SERVO_HATCH_MAX"/>
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</section>
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<!-- commands section -->
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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<axis name="YAW" failsafe_value="2000"/>
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<axis name="HATCH" failsafe_value="-9599"/>
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<!-- maybe set to open position so we can insert the payload -->
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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<set command="YAW" value="@YAW"/>
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</rc_commands>
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<auto_rc_commands>
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<!-- To still be able to use rudder, which is needed with sidewind landing in auto1 stabilization mode only YAW -->
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<set command="YAW" value="@YAW"/>
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</auto_rc_commands>
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<!--For mixed controlflaps -->
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<section name="MIXER">
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<define name="AILERON_DIFF" value="0.7"/>
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<define name="COMBI_SWITCH" value="0.3"/>
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</section>
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<command_laws>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="ELEVATOR" value="@PITCH"/>
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<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
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<let var="roll" value="@ROLL"/>
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<set servo="AILERON_LEFT" value="($roll > 0 ? 1: AILERON_DIFF) * $roll"/>
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<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
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<!--set servo="HATCH" value="@HATCH"/-->
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</command_laws>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_CHAN" value="1"/>
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<define name="GYRO_Q_CHAN" value="2"/>
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<define name="GYRO_R_CHAN" value="0"/>
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="-1"/>
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<define name="GYRO_P_NEUTRAL" value="32362"/>
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<define name="GYRO_R_NEUTRAL" value="32080"/>
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<define name="GYRO_Q_NEUTRAL" value="32096"/>
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<define name="GYRO_P_SENS" value="1.1032765" integer="16"/>
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<define name="GYRO_R_SENS" value="1.1360802599" integer="16"/>
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<define name="GYRO_Q_SENS" value="1.1249874614" integer="16"/>
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<define name="ACCEL_X_CHAN" value="3"/>
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<define name="ACCEL_Y_CHAN" value="6"/>
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<define name="ACCEL_Z_CHAN" value="5"/>
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<define name="ACCEL_X_SIGN" value="-1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="-1"/>
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<define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.45106376" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.47825717" integer="16"/>
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<define name="ACCEL_X_NEUTRAL" value="31886"/>
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<define name="ACCEL_Z_NEUTRAL" value="32162"/>
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<define name="ACCEL_Y_NEUTRAL" value="32941"/>
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<define name="GYRO_P_Q" value="0."/>
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<define name="GYRO_P_R" value="0."/>
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<define name="GYRO_Q_P" value="0."/>
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<define name="GYRO_Q_R" value="0."/>
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<define name="GYRO_R_P" value="0."/>
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<define name="GYRO_R_Q" value="0."/>
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<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0" unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
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</section>
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<!-- Munich -->
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<section name="AHRS" prefix="AHRS_">
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<define name="H_X" value="0.4357869"/>
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<define name="H_Y" value="0.0177010"/>
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<define name="H_Z" value="0.8998758"/>
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</section>
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<section name="INS" prefix="INS_">
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<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
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<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
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</section>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="55" unit="deg"/>
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<define name="MAX_PITCH" value="35" unit="deg"/>
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</section>
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<section name="BAT">
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<define name="MilliAmpereOfAdc(adc)" value="(adc*88)"/>
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<!-- <define name="ADC_CHANNEL_VOLTAGE" value="ADC_4" /> -->
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<!-- The real multiplier is unknown we take 2 as test example -->
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<!-- <define name="VoltageOfAdc(adc)" value ="(adc*2)"/> -->
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<!-- If NO current-volts sensor installed uncomment below -->
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<!--define name="MILLIAMP_AT_FULL_THROTTLE" value="17000" unit="mA"/-->
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <!-- 3S lipo 3.1*3=9.3 -->
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<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
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<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
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<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/> <!-- 3S lipo 4.2*3=12.6 -->
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</section>
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<section name="MISC">
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<define name="MINIMUM_AIRSPEED" value="9.0" unit="m/s"/>
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<define name="NOMINAL_AIRSPEED" value="14.0" unit="m/s"/>
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<define name="MAXIMUM_AIRSPEED" value="22.0" unit="m/s"/>
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<define name="CARROT" value="5.0" unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
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<!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
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If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
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<!--define name="UNLOCKED_HOME_MODE" value="TRUE"/-->
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<!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
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or fly a long range mission you define the wanted mode behaviour here.
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If you do not define it, it defaults to flying to the flightplan HOME -->
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<!--define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/-->
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<define name="DEFAULT_CIRCLE_RADIUS" value="50.0"/>
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<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
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<!--
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-->
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</section>
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<!-- ******************* VERTICAL CONTROL ********************************** -->
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.2" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.04" unit="(m/s)/m"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="2." unit="m/s"/>
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<!-- Cruise throttle + limits -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90" unit="%"/>
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<define name="THROTTLE_SLEW_LIMITER" value="0.5" unit="s"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-20)"/>
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<!-- Climb loop (throttle) -->
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.007" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
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<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
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<!-- Climb loop (pitch) -->
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
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<!--define name="AUTO_PITCH_PGAIN" value="0.0"/>
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<define name="AUTO_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_PITCH_IGAIN" value="0.0"/-->
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<define name="AUTO_PITCH_PGAIN" value="0.052"/>
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<define name="AUTO_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_PITCH_IGAIN" value="0.065"/>
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<!-- airspeed control -->
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<!--define name="AUTO_AIRSPEED_SETPOINT" value="12."/>
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<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
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<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
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<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
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<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
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<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
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<define name="AIRSPEED_MAX" value="25"/>
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<define name="AIRSPEED_MIN" value="8"/-->
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<!-- groundspeed control -->
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<!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
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<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
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<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/-->
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<!-- Loiter and Dash trimming -->
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/>
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<define name="PITCH_LOITER_TRIM" value="0" unit="pprz_t"/>
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<define name="PITCH_DASH_TRIM" value="0" unit="pprz_t"/>
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</section>
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<!-- ******************* HORIZONTAL CONTROL ******************************** -->
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="1.1"/>
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<!-- <define name="COURSE_IGAIN" value="0.01"/> -->
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<!-- <define name="COURSE_DGAIN" value="0.02"/> -->
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<!-- <define name="COURSE_PRE_BANK_CORRECTION" value="0.5"/> -->
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<!-- maybe handy to avoid over corner with lots of wind and small airframe -->
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<!-- <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(4)"/> -->
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||||
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<define name="ROLL_MAX_SETPOINT" value="50" unit="deg"/>
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||||
<define name="PITCH_MAX_SETPOINT" value="35" unit="deg"/>
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||||
<define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/>
|
||||
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||||
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||||
<define name="ROLL_ATTITUDE_GAIN" value="7500."/>
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<define name="ROLL_RATE_GAIN" value="1500"/>
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<!-- only for stabilization adaptive -->
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||||
<define name="ROLL_IGAIN" value="500"/>
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||||
<define name="ROLL_KFFA" value="0."/>
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<define name="ROLL_KFFD" value="0."/>
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||||
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||||
<!-- ** Maximal roll angle change per 1/60 of second ** -->
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||||
<!--define name="ROLL_SLEW" value="0.6"/--> <!-- was 0.05 -->
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||||
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||||
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||||
<define name="PITCH_PGAIN" value="7000."/>
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||||
|
||||
<!-- only for stabilization adaptive -->
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||||
<define name="PITCH_DGAIN" value="1000."/>
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<define name="PITCH_IGAIN" value="500."/>
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||||
<define name="PITCH_KFFA" value="0."/>
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||||
<define name="PITCH_KFFD" value="0."/>
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||||
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||||
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||||
<define name="AILERON_OF_THROTTLE" value="0.0"/>
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||||
<define name="PITCH_OF_ROLL" value="0.03"/>
|
||||
|
||||
</section>
|
||||
|
||||
<!-- ******************************** NAV ********************************** -->
|
||||
<section name="NAV">
|
||||
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
|
||||
</section>
|
||||
|
||||
<!-- ***************************** AGGRESIVE ******************************* -->
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<section name="AGGRESSIVE" prefix="AGR_">
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<define name="BLEND_START" value="18"/> <!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
|
||||
<define name="BLEND_END" value="8"/> <!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
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||||
<define name="CLIMB_THROTTLE" value="0.99"/> <!-- Gaz for Aggressive Climb -->
|
||||
<define name="CLIMB_PITCH" value="RadOfDeg(45)"/> <!-- Pitch for Aggressive Climb -->
|
||||
<define name="DESCENT_THROTTLE" value="0.5"/> <!-- Gaz for Aggressive Decent -->
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||||
<define name="DESCENT_PITCH" value="RadOfDeg(-30)"/> <!-- Pitch for Aggressive Decent -->
|
||||
<define name="CLIMB_NAV_RATIO" value="0.8"/> <!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
|
||||
<define name="DESCENT_NAV_RATIO" value="0.99"/>
|
||||
</section>
|
||||
|
||||
<!-- ****************************** FAILSAFE ******************************* -->
|
||||
<section name="FAILSAFE" prefix="FAILSAFE_">
|
||||
<define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
|
||||
<define name="DEFAULT_THROTTLE" value="0" unit="%"/>
|
||||
<define name="DEFAULT_ROLL" value="0.15" unit="rad"/>
|
||||
<define name="DEFAULT_PITCH" value="-0.1" unit="rad"/>
|
||||
<define name="HOME_RADIUS" value="60" unit="m"/>
|
||||
</section>
|
||||
|
||||
|
||||
<!-- ******************************** SIMU ********************************* -->
|
||||
<section name="SIMU">
|
||||
<define name="YAW_RESPONSE_FACTOR" value="0.5"/> <!-- a to low of a value gives bad simulation results -->
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,177 +0,0 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
|
||||
<airframe name="STM32F4 Discovery Board test">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="stm32f4_discovery">
|
||||
<module name="radio_control" type="spektrum">
|
||||
<define name="RADIO_MODE" value="RADIO_AUX1"/>
|
||||
</module>
|
||||
</target>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<!--define name="SERVO_HZ" value="400"/-->
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="aspirin_v2.1">
|
||||
<configure name="ASPIRIN_2_SPI_DEV" value="spi1"/>
|
||||
<configure name="ASPIRIN_2_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
|
||||
</module>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="int_cmpl_quat">
|
||||
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
|
||||
</module>
|
||||
<module name="ins"/>
|
||||
</firmware>
|
||||
|
||||
<firmware name="test_progs">
|
||||
<target name="test_adc" board="stm32f4_discovery"/>
|
||||
<target name="test_lis302dl" board="stm32f4_discovery">
|
||||
<define name="STM32F4_DISCOVERY_SPI1_FOR_LIS302"/>
|
||||
</target>
|
||||
</firmware>
|
||||
|
||||
<modules main_freq="512">
|
||||
</modules>
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="FRONT" no="0" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="BACK" no="1" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="RIGHT" no="2" min="1000" neutral="1100" max="1900"/>
|
||||
<servo name="LEFT" no="3" min="1000" neutral="1100" max="1900"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<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="4"/>
|
||||
<define name="SCALE" value="256"/>
|
||||
<!-- front/back turning CW, right/left CCW -->
|
||||
<define name="ROLL_COEF" value="{ 0, 0, -256, 256 }"/>
|
||||
<define name="PITCH_COEF" value="{ 256, -256, 0, 0 }"/>
|
||||
<define name="YAW_COEF" value="{ -256, -256, 256, 256 }"/>
|
||||
<define name="THRUST_COEF" value="{ 256, 256, 256, 256 }"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
|
||||
<set servo="FRONT" value="motor_mixing.commands[0]"/>
|
||||
<set servo="BACK" value="motor_mixing.commands[1]"/>
|
||||
<set servo="RIGHT" value="motor_mixing.commands[2]"/>
|
||||
<set servo="LEFT" value="motor_mixing.commands[3]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
<define name="ACCEL_X_NEUTRAL" value="11"/>
|
||||
<define name="ACCEL_Y_NEUTRAL" value="11"/>
|
||||
<define name="ACCEL_Z_NEUTRAL" value="-25"/>
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="-179"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="-21"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="79"/>
|
||||
<define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<define name="H_X" value="0.3770441"/>
|
||||
<define name="H_Y" value="0.0193986"/>
|
||||
<define name="H_Z" value="0.9259921"/>
|
||||
</section>
|
||||
|
||||
<section name="INS" prefix="INS_">
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="1000"/>
|
||||
<define name="PHI_DGAIN" value="400"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="1000"/>
|
||||
<define name="THETA_DGAIN" value="400"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="500"/>
|
||||
<define name="PSI_DGAIN" value="300"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="300"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<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_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -1,76 +0,0 @@
|
||||
# Hey Emacs, this is a -*- makefile -*-
|
||||
#
|
||||
# stm32f3_discovery_chibios.makefile
|
||||
#
|
||||
#
|
||||
|
||||
BOARD=stm32f3_discovery
|
||||
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
|
||||
USE_FPU=hard
|
||||
|
||||
$(TARGET).CFLAGS += -DSTM32F3 -DPPRZLINK_ENABLE_FD
|
||||
|
||||
##############################################################################
|
||||
# Architecture or project specific options
|
||||
#
|
||||
# Define project name here (target)
|
||||
PROJECT = $(TARGET)
|
||||
|
||||
# Project specific files and paths (see Makefile.chibios for details)
|
||||
CHIBIOS_BOARD_PLATFORM = STM32F3xx/platform.mk
|
||||
CHIBIOS_BOARD_LINKER = STM32F303xC.ld
|
||||
CHIBIOS_BOARD_STARTUP = startup_stm32f3xx.mk
|
||||
|
||||
##############################################################################
|
||||
# Compiler settings
|
||||
#
|
||||
MCU = cortex-m4
|
||||
|
||||
|
||||
# default flash mode is via DFU-UTIL
|
||||
# possibilities: DFU-UTIL, SWD, STLINK
|
||||
FLASH_MODE ?= DFU-UTIL
|
||||
|
||||
HAS_LUFTBOOT = FALSE
|
||||
|
||||
#
|
||||
# default LED configuration
|
||||
#
|
||||
RADIO_CONTROL_LED ?= 4
|
||||
BARO_LED ?= none
|
||||
AHRS_ALIGNER_LED ?= 5
|
||||
GPS_LED ?= 6
|
||||
SYS_TIME_LED ?= 3
|
||||
|
||||
#
|
||||
# default UART configuration (modem, gps, spektrum)
|
||||
#
|
||||
|
||||
MODEM_PORT ?= UART1
|
||||
MODEM_BAUD ?= B57600
|
||||
|
||||
GPS_PORT ?= UART2
|
||||
GPS_BAUD ?= B38400
|
||||
|
||||
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3
|
||||
SBUS_PORT ?= UART3
|
||||
|
||||
|
||||
#
|
||||
# default actuator configuration
|
||||
#
|
||||
# you can use different actuators by adding a configure option to your firmware section
|
||||
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
|
||||
# and by setting the correct "driver" attribute in servo section
|
||||
# e.g. <servo driver="Ppm">
|
||||
#
|
||||
ACTUATORS ?= actuators_pwm
|
||||
@@ -1,55 +0,0 @@
|
||||
# Hey Emacs, this is a -*- makefile -*-
|
||||
#
|
||||
# stm32f4_discovery.makefile
|
||||
#
|
||||
#
|
||||
|
||||
BOARD=stm32f4_discovery
|
||||
BOARD_VERSION=
|
||||
BOARD_CFG=\"boards/$(BOARD).h\"
|
||||
|
||||
ARCH=stm32
|
||||
ARCH_L=f4
|
||||
ARCH_DIR=stm32
|
||||
SRC_ARCH=arch/$(ARCH_DIR)
|
||||
$(TARGET).ARCHDIR = $(ARCH)
|
||||
$(TARGET).LDSCRIPT=$(SRC_ARCH)/stm32f4_discovery.ld
|
||||
|
||||
HARD_FLOAT=yes
|
||||
|
||||
# default flash mode is via usb dfu bootloader
|
||||
# possibilities: STLINK, DFU-UTIL, SWD, JTAG_BMP
|
||||
FLASH_MODE ?= STLINK
|
||||
|
||||
#
|
||||
# default LED configuration
|
||||
#
|
||||
RADIO_CONTROL_LED ?= 4
|
||||
BARO_LED ?= none
|
||||
AHRS_ALIGNER_LED ?= 5
|
||||
GPS_LED ?= 6
|
||||
SYS_TIME_LED ?= 3
|
||||
|
||||
#
|
||||
# default UART configuration (modem, gps, spektrum)
|
||||
#
|
||||
|
||||
MODEM_PORT ?= UART6
|
||||
MODEM_BAUD ?= B57600
|
||||
|
||||
GPS_PORT ?= UART3
|
||||
GPS_BAUD ?= B38400
|
||||
|
||||
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1
|
||||
|
||||
|
||||
#
|
||||
# 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
|
||||
|
||||
@@ -54,7 +54,6 @@
|
||||
<variable name="FLASH_MODE" value="DFU-UTIL"/>
|
||||
<boards>
|
||||
<board name="apogee_.*"/>
|
||||
<board name="stm32f4_discovery"/>
|
||||
<board name="li[s]?a_mx_.*"/>
|
||||
<board name="navstik_.*"/>
|
||||
<board name="elle*"/>
|
||||
@@ -71,7 +70,6 @@
|
||||
<variable name="FLASH_MODE" value="STLINK"/>
|
||||
<boards>
|
||||
<board name="apogee_.*"/>
|
||||
<board name="stm32f4_discovery"/>
|
||||
<board name="li[s]?a_mx_.*"/>
|
||||
<board name="cc3d"/>
|
||||
<board name="elle*"/>
|
||||
@@ -89,7 +87,6 @@
|
||||
<variable name="FLASH_MODE" value="SWD"/>
|
||||
<boards>
|
||||
<board name="apogee_.*"/>
|
||||
<board name="stm32f4_discovery"/>
|
||||
<board name="li[s]?a_m_.*"/>
|
||||
<board name="li[s]?a_mx_.*"/>
|
||||
<board name="px4fmu_.*"/>
|
||||
@@ -120,7 +117,6 @@
|
||||
<variable name="FLASH_MODE" value="JTAG_BMP"/>
|
||||
<boards>
|
||||
<board name="apogee_*"/>
|
||||
<board name="stm32f4_discovery"/>
|
||||
<board name="li[s]?a_[ms]?_.*"/>
|
||||
<board name="li[s]?a_mx_.*"/>
|
||||
<board name="px4fmu_.*"/>
|
||||
|
||||
@@ -1,34 +0,0 @@
|
||||
/*
|
||||
* Copyright (C) 2013 Gautier Hattenberger
|
||||
*
|
||||
* 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, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/* Linker script for ST STM32F4DISCOVERY (STM32F407VG, 1024K flash, 128K RAM). */
|
||||
|
||||
/* Define memory regions. */
|
||||
MEMORY
|
||||
{
|
||||
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
/* Reserving 128kb at the end of the flash for persistent settings. */
|
||||
rom (rx) : ORIGIN = 0x08000000, LENGTH = 896K
|
||||
}
|
||||
|
||||
/* Include the common ld script. */
|
||||
INCLUDE libopencm3_stm32f4.ld
|
||||
|
||||
@@ -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.*/
|
||||
rccResetAHB1(STM32_GPIO_EN_MASK);
|
||||
rccEnableAHB1(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) {
|
||||
static bool last_status = false;
|
||||
|
||||
(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) {
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -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)
|
||||
@@ -1,301 +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
|
||||
|
||||
/*
|
||||
* STM32F3xx 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 STM32F3xx_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 1
|
||||
#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_ADC12PRES STM32_ADC12PRES_DIV1
|
||||
#define STM32_ADC34PRES STM32_ADC34PRES_DIV1
|
||||
#define STM32_USART1SW STM32_USART1SW_PCLK
|
||||
#define STM32_USART2SW STM32_USART2SW_PCLK
|
||||
#define STM32_USART3SW STM32_USART3SW_PCLK
|
||||
#define STM32_UART4SW STM32_UART4SW_PCLK
|
||||
#define STM32_UART5SW STM32_UART5SW_PCLK
|
||||
#define STM32_I2C1SW STM32_I2C1SW_SYSCLK
|
||||
#define STM32_I2C2SW STM32_I2C2SW_SYSCLK
|
||||
#define STM32_TIM1SW STM32_TIM1SW_PCLK2
|
||||
#define STM32_TIM8SW STM32_TIM8SW_PCLK2
|
||||
#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_DUAL_MODE FALSE
|
||||
#define STM32_ADC_COMPACT_SAMPLES FALSE
|
||||
#define STM32_ADC_USE_ADC1 TRUE
|
||||
#define STM32_ADC_USE_ADC2 FALSE
|
||||
#define STM32_ADC_USE_ADC3 FALSE
|
||||
#define STM32_ADC_USE_ADC4 FALSE
|
||||
#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(1, 1)
|
||||
#define STM32_ADC_ADC2_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
|
||||
#define STM32_ADC_ADC3_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
|
||||
#define STM32_ADC_ADC4_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
|
||||
#define STM32_ADC_ADC1_DMA_PRIORITY 2
|
||||
#define STM32_ADC_ADC2_DMA_PRIORITY 2
|
||||
#define STM32_ADC_ADC3_DMA_PRIORITY 2
|
||||
#define STM32_ADC_ADC4_DMA_PRIORITY 2
|
||||
#define STM32_ADC_ADC12_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC3_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC4_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC4_DMA_IRQ_PRIORITY 5
|
||||
#define STM32_ADC_ADC12_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1
|
||||
#define STM32_ADC_ADC34_CLOCK_MODE ADC_CCR_CKMODE_AHB_DIV1
|
||||
|
||||
/*
|
||||
* 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
|
||||
|
||||
/*
|
||||
* DAC driver system settings.
|
||||
*/
|
||||
#define STM32_DAC_DUAL_MODE FALSE
|
||||
#define STM32_DAC_USE_DAC1_CH1 TRUE
|
||||
#define STM32_DAC_USE_DAC1_CH2 TRUE
|
||||
#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY 10
|
||||
#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY 10
|
||||
#define STM32_DAC_DAC1_CH1_DMA_PRIORITY 2
|
||||
#define STM32_DAC_DAC1_CH2_DMA_PRIORITY 2
|
||||
|
||||
/*
|
||||
* 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_IRQ_PRIORITY 6
|
||||
#define STM32_EXT_EXTI21_22_29_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_TIM1 FALSE
|
||||
#define STM32_GPT_USE_TIM2 FALSE
|
||||
#define STM32_GPT_USE_TIM3 FALSE
|
||||
#define STM32_GPT_USE_TIM4 FALSE
|
||||
#define STM32_GPT_USE_TIM6 FALSE
|
||||
#define STM32_GPT_USE_TIM7 FALSE
|
||||
#define STM32_GPT_USE_TIM8 FALSE
|
||||
#define STM32_GPT_TIM1_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM2_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM3_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM4_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM6_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM7_IRQ_PRIORITY 7
|
||||
#define STM32_GPT_TIM8_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_TIM1 FALSE
|
||||
#define STM32_ICU_USE_TIM2 FALSE
|
||||
#define STM32_ICU_USE_TIM3 FALSE
|
||||
#define STM32_ICU_USE_TIM4 FALSE
|
||||
#define STM32_ICU_USE_TIM8 FALSE
|
||||
#define STM32_ICU_TIM1_IRQ_PRIORITY 7
|
||||
#define STM32_ICU_TIM2_IRQ_PRIORITY 7
|
||||
#define STM32_ICU_TIM3_IRQ_PRIORITY 7
|
||||
#define STM32_ICU_TIM4_IRQ_PRIORITY 7
|
||||
#define STM32_ICU_TIM8_IRQ_PRIORITY 7
|
||||
|
||||
/*
|
||||
* PWM driver system settings.
|
||||
*/
|
||||
#define STM32_PWM_USE_ADVANCED FALSE
|
||||
#define STM32_PWM_USE_TIM1 FALSE
|
||||
#ifndef STM32_PWM_USE_TIM2
|
||||
#define STM32_PWM_USE_TIM2 TRUE
|
||||
#endif
|
||||
#ifndef STM32_PWM_USE_TIM3
|
||||
#define STM32_PWM_USE_TIM3 TRUE
|
||||
#endif
|
||||
#define STM32_PWM_USE_TIM4 FALSE
|
||||
#define STM32_PWM_USE_TIM8 FALSE
|
||||
#define STM32_PWM_TIM1_IRQ_PRIORITY 7
|
||||
#define STM32_PWM_TIM2_IRQ_PRIORITY 7
|
||||
#define STM32_PWM_TIM3_IRQ_PRIORITY 7
|
||||
#define STM32_PWM_TIM4_IRQ_PRIORITY 7
|
||||
#define STM32_PWM_TIM8_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 FALSE
|
||||
#define STM32_UART_USE_USART2 FALSE
|
||||
#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 TRUE
|
||||
#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 */
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user