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Add betafpv AIO and tmotor AIO (#3413)
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Co-authored-by: Florian Sansou <florian.sansou@enac.fr>
This commit is contained in:
Florian Sansou
2025-04-01 12:53:08 +02:00
committed by GitHub
parent 56a0f850e6
commit 33ebce980a
24 changed files with 6424 additions and 3 deletions
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24
conf/airframes/ENAC/conf_enac.xml
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@@ -62,7 +62,7 @@
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/competitions/IMAV2023_dynamic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
settings_modules="modules/electrical.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/jevois.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml modules/switch_servo.xml modules/tag_tracking.xml"
gui_color="#c6d33e3ef958"
/>
<aircraft
@@ -87,4 +87,26 @@
settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/e_identification_fr.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/logger_sd_chibios.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="#ffff7d7d0000"
/>
<aircraft
name="CROW"
ac_id="5"
airframe="airframes/ENAC/quadrotor/crow_indoor.xml"
radio="radios/FrSky_X-Lite.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/ENAC/ENAC_stadium.xml"
settings=""
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/electrical.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
gui_color="red"
/>
<aircraft
name="GOOSE"
ac_id="7"
airframe="airframes/ENAC/quadrotor/goose.xml"
radio="radios/FrSky_X-Lite.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/ENAC/ENAC_stadium.xml"
settings=""
settings_modules="modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
gui_color="red"
/>
</conf>

240
conf/airframes/ENAC/quadrotor/crow_indoor.xml Normal file
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@@ -0,0 +1,240 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<airframe name="Crow">
<description>
* Autopilot: BetaFPV AIO 35A
* Telemetry: ESP 32 dronebridge
* GPS: datalink
* RC: SBUS
</description>
<firmware name="rotorcraft">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<!-- <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/> -->
<configure name="RTOS_DEBUG" value="TRUE" />
<target name="ap" board="betafpv_aiof7">
<module name="radio_control" type="sbus"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
<!-- <define name="INS_EKF2_OPTITRACK" value="TRUE"/> -->
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="USE_GPS"/>
<define name="AHRS_USE_GPS_HEADING" value="TRUE" />
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<module name="telemetry" type="xbee_api">
<configure name="MODEM_PORT" value="UART2" />
</module>
<!-- <module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="usb_serial" />
</module> -->
<!-- <configure name="MODEM_PORT" value="UART2" /> -->
<!-- DroneBridge -->
<!-- <module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART6" />
<configure name="MODEM_BAUD" value="B115200" />
</module> -->
<module name="actuators" type="dshot">
<define name="DSHOT_SPEED" value="600"/>
</module>
<!-- <module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_PWM1"/>
<define name="USE_PWM2"/>
<define name="USE_PWM3"/>
<define name="USE_PWM4"/>
<define name="USE_DSHOT_TIM3" value="0"></define>
<define name="USE_DSHOT_TIM4" value="0"></define>
<define name="USE_DSHOT_TIM5" value="0"></define>
</module> -->
<module name="board" type="betafpv_aiof7">
</module>
<!-- <configure name="IMU_ODR" value="1KHZ" /> -->
<!-- <configure name="GYRO_RANGE" value="500DPS" /> -->
<module name="gps" type="optitrack"/>
<module name="stabilization" type="indi"/>
<module name="guidance" type="indi"/>
<module name="ahrs" type="int_cmpl_quat"/>
<!-- <module name="ahrs" type="float_dcm"/> -->
<module name="ins" type="gps_passthrough"/>
<!-- <module name="ins"/> -->
<!-- <module name="ins" type="ekf2"/> -->
<!-- <module name="preflight_checks"/> -->
<!-- <module name="flight_recorder"/> -->
<module name="sys_mon"></module>
<module name="shell">
<configure name="SHELL_PORT" value="usb_serial_debug"/>
</module>
</firmware>
<servos driver="DShot">
<servo name="BR" no="1" min="0" neutral="100" max="2000"/>
<servo name="BL" no="2" min="0" neutral="100" max="2000"/>
<servo name="FR" no="3" min="0" neutral="100" max="2000"/>
<servo name="FL" no="4" min="0" neutral="100" max="2000"/>
</servos>
<!-- <servos driver="Pwm">
<servo name="BR" no="1" min="1000" neutral="1100" max="2000"/>
<servo name="BL" no="2" min="1000" neutral="1100" max="2000"/>
<servo name="FR" no="3" min="1000" neutral="1100" max="2000"/>
<servo name="FL" no="4" min="1000" neutral="1100" max="2000"/>
</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>
<command_laws>
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="IMU_ACCEL_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="24"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale" value="true"/>
</field>
<field name="neutral" value="-9,1,75" type="int[]"/>
<field name="scale" value="{{23855,47132,18064},{9728,19217,7339}}"/>
</field>
</define>
<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="STABILIZATION_ATTITUDE" 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="60" 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_">
<define name="NUM_ACT" value="4"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="120"/>
<define name="REF_ERR_Q" value="130"/>
<define name="REF_ERR_R" value="120"/>
<define name="REF_RATE_P" value="15"/>
<define name="REF_RATE_Q" value="15"/>
<define name="REF_RATE_R" value="10"/>
<define name="MAX_R" value="60" unit="deg/s"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="4.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
<!-- Full INDI -->
<!-- control effectiveness -->
<define name="G1" type="matrix">
<field value="{ -20.0, -20.0, 20.0, 20.0 }"/>
<field value="{ 20.0, -20.0, -20.0, 20.0 }"/>
<field value="{ -3.0, 3.0, -3.0, 3.0 }"/>
<field value="{ -1.0, -1.0, -1.0, -1.0 }"/>
</define>
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{ -80, 80, -80, 80.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_FREQ" value="{10.10, 10.10, 10.10, 10.10}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
<define name="ALLOCATION_PSEUDO_INVERSE" value="TRUE"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
<define name="REF_MIN_ZD" value="-2."/>
<define name="REF_MAX_ZD" value=" 2."/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="REF_MAX_SPEED" value="0.5"/>
<define name="REF_MAX_ACCEL" value="2."/>
</section>
<section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
<define name="SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="THRUST_DYNAMICS_FREQ" value="25.64"/>
<define name="RC_DEBUG" value="FALSE"/>
<define name="SPEED_GAINZ" value="2.5"/>
</section>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="0.25"/>
<define name="NAV_CLIMB_VSPEED" value="0.8"/>
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
</section>
<section name="BAT">
<define name="CRITIC_BAT_LEVEL" value="7.45" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="7.37" unit="V"/>
<define name="BAT_NB_CELLS" value="2"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="FAILSAFE_FIXED_THROTTLE" value="0.4"/>
</section>
<!-- <section name="MISC">
<define name="INS_EKF2_GPS_COURSE_YAW" value="TRUE"/>
</section> -->
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-0.5"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="COMMANDS_NB" value="4"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>
</airframe>

272
conf/airframes/ENAC/quadrotor/goose.xml Normal file
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@@ -0,0 +1,272 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd">
<airframe name="Goose">
<description>
* Autopilot: TMOTOR AIO 35A
* Telemetry: ESP 32 dronebridge
* GPS: datalink
* RC: SBUS
</description>
<firmware name="rotorcraft">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<!-- <configure name="AHRS_PROPAGATE_FREQUENCY" value="$(PERIODIC_FREQUENCY)"/> -->
<configure name="RTOS_DEBUG" value="FALSE" />
<!-- <define name="BMP280_SYNC_SEND"/> -->
<target name="ap" board="tmotor_aiof7">
<module name="radio_control" type="sbus"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
<!-- <define name="INS_EKF2_OPTITRACK" value="TRUE"/> -->
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<!-- <module name="telemetry" type="xbee_api">
</module> -->
<!-- <module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="usb_serial" />
</module> -->
<!-- <configure name="MODEM_PORT" value="UART2" /> -->
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART5" />
<configure name="MODEM_BAUD" value="B115200" />
</module>
<module name="actuators" type="dshot">
<define name="DSHOT_SPEED" value="600"/>
</module>
<!-- <module name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
<define name="USE_PWM1"/>
<define name="USE_PWM2"/>
<define name="USE_PWM3"/>
<define name="USE_PWM4"/>
<define name="USE_DSHOT_TIM3" value="0"></define>
<define name="USE_DSHOT_TIM4" value="0"></define>
<define name="USE_DSHOT_TIM5" value="0"></define>
</module> -->
<module name="board" type="tmotor_aiof7">
</module>
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
<configure name="GPS_PORT" value="UART4"/>
</module>
<module name="mag" type="hmc59xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="MODULE_HMC58XX_SYNC_SEND" value="FALSE"/>
<define name="USE_I2C2"/>
</module>
<module name="stabilization" type="indi"/>
<module name="guidance" type="indi"/>
<!-- <module name="ahrs" type="int_cmpl_quat"/> -->
<!-- <module name="ahrs" type="float_dcm"/> -->
<!-- <module name="ins" type="gps_passthrough"/> -->
<!-- <module name="ins"/> -->
<module name="ins" type="ekf2"/>
<!-- <module name="preflight_checks"/> -->
<!-- <module name="flight_recorder"/> -->
<!-- <module name="sys_mon"></module>
<module name="shell">
<configure name="SHELL_PORT" value="usb_serial_debug"/>
</module> -->
</firmware>
<servos driver="DShot">
<servo name="BL" no="1" min="0" neutral="100" max="2000"/>
<servo name="BR" no="2" min="0" neutral="100" max="2000"/>
<servo name="FL" no="3" min="0" neutral="100" max="2000"/>
<servo name="FR" no="4" min="0" neutral="100" max="2000"/>
</servos>
<!-- <servos driver="Pwm">
<servo name="BR" no="1" min="1000" neutral="1100" max="2000"/>
<servo name="BL" no="2" min="1000" neutral="1100" max="2000"/>
<servo name="FR" no="3" min="1000" neutral="1100" max="2000"/>
<servo name="FL" no="4" min="1000" neutral="1100" max="2000"/>
</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>
<command_laws>
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="9"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale" value="true"/>
<field name="rotation" value="true"/>
</field>
<field name="neutral" value="46,23,6" type="int[]"/>
<field name="scale" value="{{1753,57088,52129},{357,11657,10783}}"/>
<field value="TMOTOR_AIO_IMU_ROT"/>
</field>
</define>
<define name="GYRO_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="9"/>
<field name="calibrated" type="struct">
<field name="neutral" value="false"/>
<field name="scale" value="false"/>
<field name="rotation" value="true"/>
</field>
<field value="TMOTOR_AIO_IMU_ROT"/>
</field>
</define>
<define name="MAG_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="2"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale" value="true"/>
<field name="rotation" value="true"/>
</field>
<field name="neutral" value="-73,-128,17" type="int[]"/>
<field name="scale" value="{{610,13504,52135},{163,3657,14546}}"/>
<field value="TMOTOR_AIO_MAG_ROT"/>
</field>
</define>
<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="STABILIZATION_ATTITUDE" 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="60" 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_">
<define name="NUM_ACT" value="4"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="120"/>
<define name="REF_ERR_Q" value="130"/>
<define name="REF_ERR_R" value="120"/>
<define name="REF_RATE_P" value="15"/>
<define name="REF_RATE_Q" value="15"/>
<define name="REF_RATE_R" value="10"/>
<define name="MAX_R" value="60" unit="deg/s"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="4.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
<!-- Full INDI -->
<!-- control effectiveness -->
<define name="G1" type="matrix">
<field value="{ -20.0, -20.0, 20.0, 20.0 }"/>
<field value="{ 20.0, -20.0, -20.0, 20.0 }"/>
<field value="{ -3.0, 3.0, -3.0, 3.0 }"/>
<field value="{ -1.0, -1.0, -1.0, -1.0 }"/>
</define>
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{ -80, 80, -80, 80.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_FREQ" value="{10.10, 10.10, 10.10, 10.10}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
<define name="ALLOCATION_PSEUDO_INVERSE" value="TRUE"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
<define name="REF_MIN_ZD" value="-2."/>
<define name="REF_MAX_ZD" value=" 2."/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="REF_MAX_SPEED" value="0.5"/>
<define name="REF_MAX_ACCEL" value="2."/>
</section>
<section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
<define name="SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="THRUST_DYNAMICS_FREQ" value="25.64"/>
<define name="RC_DEBUG" value="FALSE"/>
<define name="SPEED_GAINZ" value="2.5"/>
</section>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="2."/>
<define name="NAV_CLIMB_VSPEED" value="2.5"/>
<define name="NAV_DESCEND_VSPEED" value="-1.5"/>
</section>
<section name="BAT">
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
<define name="LOW_BAT_LEVEL" value="7.1" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6" unit="V"/>
<define name="BAT_NB_CELLS" value="2"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="FAILSAFE_FIXED_THROTTLE" value="0.4"/>
</section>
<section name="INS" prefix="INS_">
<!--muret-->
<define name="H_X" value="0.5180"/>
<define name="H_Y" value="-0.0071"/>
<define name="H_Z" value="0.8554"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-0.5"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="COMMANDS_NB" value="4"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>
</airframe>

189
conf/airframes/test_boards/aiof7_betafpv.xml Normal file
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@@ -0,0 +1,189 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="AIO F7 Test File">
<firmware name="rotorcraft">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<configure name="RTOS_DEBUG" value="TRUE" />
<target name="ap" board="betafpv_aiof7">
<module name="radio_control" type="sbus"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<define name="USE_GPS"/>
<define name="AHRS_USE_GPS_HEADING" value="TRUE" />
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<module name="telemetry" type="xbee_api">
<configure name="MODEM_PORT" value="UART2" />
</module>
<module name="actuators" type="dshot">
<define name="DSHOT_SPEED" value="600"/>
</module>
<module name="board" type="betafpv_aiof7">
</module>
<module name="gps" type="optitrack"/>
<module name="stabilization" type="indi"/>
<module name="guidance" type="indi"/>
<module name="ahrs" type="int_cmpl_quat"/>
<module name="ins" type="gps_passthrough"/>
<module name="sys_mon"></module>
<module name="shell">
<configure name="SHELL_PORT" value="usb_serial_debug"/>
</module>
</firmware>
<servos driver="DShot">
<servo name="BR" no="1" min="0" neutral="100" max="2000"/>
<servo name="BL" no="2" min="0" neutral="100" max="2000"/>
<servo name="FR" no="3" min="0" neutral="100" max="2000"/>
<servo name="FL" no="4" min="0" neutral="100" max="2000"/>
</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>
<command_laws>
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="IMU_ACCEL_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="24"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale" value="true"/>
</field>
<field name="neutral" value="-9,1,75" type="int[]"/>
<field name="scale" value="{{23855,47132,18064},{9728,19217,7339}}"/>
</field>
</define>
<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="STABILIZATION_ATTITUDE" 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="60" 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_">
<define name="NUM_ACT" value="4"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="120"/>
<define name="REF_ERR_Q" value="130"/>
<define name="REF_ERR_R" value="120"/>
<define name="REF_RATE_P" value="15"/>
<define name="REF_RATE_Q" value="15"/>
<define name="REF_RATE_R" value="10"/>
<define name="MAX_R" value="60" unit="deg/s"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="4.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
<!-- Full INDI -->
<!-- control effectiveness -->
<define name="G1" type="matrix">
<field value="{ -20.0, -20.0, 20.0, 20.0 }"/>
<field value="{ 20.0, -20.0, -20.0, 20.0 }"/>
<field value="{ -3.0, 3.0, -3.0, 3.0 }"/>
<field value="{ -1.0, -1.0, -1.0, -1.0 }"/>
</define>
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{ -80, 80, -80, 80.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_FREQ" value="{10.10, 10.10, 10.10, 10.10}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
<define name="ALLOCATION_PSEUDO_INVERSE" value="TRUE"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
<define name="REF_MIN_ZD" value="-2."/>
<define name="REF_MAX_ZD" value=" 2."/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="REF_MAX_SPEED" value="0.5"/>
<define name="REF_MAX_ACCEL" value="2."/>
</section>
<section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
<define name="SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="THRUST_DYNAMICS_FREQ" value="25.64"/>
<define name="RC_DEBUG" value="FALSE"/>
<define name="SPEED_GAINZ" value="2.5"/>
</section>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="0.25"/>
<define name="NAV_CLIMB_VSPEED" value="0.8"/>
<define name="NAV_DESCEND_VSPEED" value="-0.5"/>
</section>
<section name="BAT">
<define name="CRITIC_BAT_LEVEL" value="7.45" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="7.37" unit="V"/>
<define name="BAT_NB_CELLS" value="2"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="FAILSAFE_FIXED_THROTTLE" value="0.4"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-0.5"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="COMMANDS_NB" value="4"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>
</airframe>

225
conf/airframes/test_boards/aiof7_tmotor.xml Normal file
View File

@@ -0,0 +1,225 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="AIO F7 Test File">
<firmware name="rotorcraft">
<configure name="PERIODIC_FREQUENCY" value="500"/>
<configure name="RTOS_DEBUG" value="FALSE" />
<target name="ap" board="tmotor_aiof7">
<module name="radio_control" type="sbus"/>
<define name="RADIO_KILL_SWITCH" value="RADIO_GAIN1"/>
</target>
<target name="nps" board="pc">
<module name="fdm" type="jsbsim"/>
<module name="radio_control" type="ppm"/>
</target>
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART5" />
<configure name="MODEM_BAUD" value="B115200" />
</module>
<module name="actuators" type="dshot">
<define name="DSHOT_SPEED" value="600"/>
</module>
<module name="board" type="tmotor_aiof7">
</module>
<module name="gps" type="ublox">
<configure name="GPS_BAUD" value="B115200"/>
<configure name="GPS_PORT" value="UART4"/>
</module>
<module name="mag" type="hmc59xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="MODULE_HMC58XX_SYNC_SEND" value="FALSE"/>
<define name="USE_I2C2"/>
</module>
<module name="stabilization" type="indi"/>
<module name="guidance" type="indi"/>
<module name="ins" type="ekf2"/>
</firmware>
<servos driver="DShot">
<servo name="BL" no="1" min="0" neutral="100" max="2000"/>
<servo name="BR" no="2" min="0" neutral="100" max="2000"/>
<servo name="FL" no="3" min="0" neutral="100" max="2000"/>
<servo name="FR" no="4" min="0" neutral="100" max="2000"/>
</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>
<command_laws>
<set servo="FR" value="autopilot_get_motors_on() ? actuators_pprz[0] : -MAX_PPRZ"/>
<set servo="BR" value="autopilot_get_motors_on() ? actuators_pprz[1] : -MAX_PPRZ"/>
<set servo="BL" value="autopilot_get_motors_on() ? actuators_pprz[2] : -MAX_PPRZ"/>
<set servo="FL" value="autopilot_get_motors_on() ? actuators_pprz[3] : -MAX_PPRZ"/>
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="ACCEL_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="9"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale" value="true"/>
<field name="rotation" value="true"/>
</field>
<field name="neutral" value="46,23,6" type="int[]"/>
<field name="scale" value="{{1753,57088,52129},{357,11657,10783}}"/>
<field value="TMOTOR_AIO_IMU_ROT"/>
</field>
</define>
<define name="GYRO_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="9"/>
<field name="calibrated" type="struct">
<field name="neutral" value="false"/>
<field name="scale" value="false"/>
<field name="rotation" value="true"/>
</field>
<field value="TMOTOR_AIO_IMU_ROT"/>
</field>
</define>
<define name="MAG_CALIB" type="array">
<field type="struct">
<field name="abi_id" value="2"/>
<field name="calibrated" type="struct">
<field name="neutral" value="true"/>
<field name="scale" value="true"/>
<field name="rotation" value="true"/>
</field>
<field name="neutral" value="-73,-128,17" type="int[]"/>
<field name="scale" value="{{610,13504,52135},{163,3657,14546}}"/>
<field value="TMOTOR_AIO_MAG_ROT"/>
</field>
</define>
<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="STABILIZATION_ATTITUDE" 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="60" 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_">
<define name="NUM_ACT" value="4"/>
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="120"/>
<define name="REF_ERR_Q" value="130"/>
<define name="REF_ERR_R" value="120"/>
<define name="REF_RATE_P" value="15"/>
<define name="REF_RATE_Q" value="15"/>
<define name="REF_RATE_R" value="10"/>
<define name="MAX_R" value="60" unit="deg/s"/>
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="4.0"/>
<define name="FILT_CUTOFF_R" value="4.0"/>
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE"/>
<define name="ADAPTIVE_MU" value="0.0001"/>
<!-- Full INDI -->
<!-- control effectiveness -->
<define name="G1" type="matrix">
<field value="{ -20.0, -20.0, 20.0, 20.0 }"/>
<field value="{ 20.0, -20.0, -20.0, 20.0 }"/>
<field value="{ -3.0, 3.0, -3.0, 3.0 }"/>
<field value="{ -1.0, -1.0, -1.0, -1.0 }"/>
</define>
<!--Counter torque effect of spinning up a rotor-->
<define name="G2" value="{ -80, 80, -80, 80.0 }"/>
<!-- first order actuator dynamics -->
<define name="ACT_FREQ" value="{10.10, 10.10, 10.10, 10.10}"/>
<define name="ESTIMATION_FILT_CUTOFF" value="4.0"/>
<!--Priority for each axis (roll, pitch, yaw and thrust)-->
<define name="ALLOCATION_PSEUDO_INVERSE" value="TRUE"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="REF_MIN_ZDD" value="-0.4*9.81"/>
<define name="REF_MAX_ZDD" value=" 0.4*9.81"/>
<define name="REF_MIN_ZD" value="-2."/>
<define name="REF_MAX_ZD" value=" 2."/>
<define name="NOMINAL_HOVER_THROTTLE" value="0.35"/>
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg"/>
<define name="REF_MAX_SPEED" value="0.5"/>
<define name="REF_MAX_ACCEL" value="2."/>
</section>
<section name="GUIDANCE_INDI" prefix="GUIDANCE_INDI_">
<define name="SPECIFIC_FORCE_GAIN" value="-500.0"/>
<define name="THRUST_DYNAMICS_FREQ" value="25.64"/>
<define name="RC_DEBUG" value="FALSE"/>
<define name="SPEED_GAINZ" value="2.5"/>
</section>
<section name="NAV">
<define name="ARRIVED_AT_WAYPOINT" value="2."/>
<define name="NAV_CLIMB_VSPEED" value="2.5"/>
<define name="NAV_DESCEND_VSPEED" value="-1.5"/>
</section>
<section name="BAT">
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
<define name="LOW_BAT_LEVEL" value="7.1" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="6.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="6" unit="V"/>
<define name="BAT_NB_CELLS" value="2"/>
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
<define name="FAILSAFE_FIXED_THROTTLE" value="0.4"/>
</section>
<section name="INS" prefix="INS_">
<!--muret-->
<define name="H_X" value="0.5180"/>
<define name="H_Y" value="-0.0071"/>
<define name="H_Z" value="0.8554"/>
</section>
<section name="GCS">
<define name="ALT_SHIFT_PLUS_PLUS" value="2"/>
<define name="ALT_SHIFT_PLUS" value="1"/>
<define name="ALT_SHIFT_MINUS" value="-0.5"/>
</section>
<section name="SIMULATOR" prefix="NPS_">
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_x_quad_ccw" type="string"/>
<define name="COMMANDS_NB" value="4"/>
<define name="NO_MOTOR_MIXING" value="TRUE"/>
</section>
</airframe>

22
conf/airframes/test_boards/conf_test_boards.xml
View File

@@ -65,6 +65,17 @@
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/logger_sd_chibios.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="blue"
/>
<aircraft
name="AIOF7BETAFPV"
ac_id="20"
airframe="airframes/test_boards/aiof7_betafpv.xml"
radio="radios/FrSky_X-Lite.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings=""
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/electrical.xml modules/gps.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
gui_color="red"
/>
<aircraft
name="MATEK_H743"
ac_id="9"
@@ -87,4 +98,15 @@
settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="blue"
/>
<aircraft
name="AIOTMOTORF7"
ac_id="6"
airframe="airframes/test_boards/aiof7_tmotor.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_optitrack.xml"
settings=""
settings_modules="modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/guidance_indi.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_rotorcraft.xml modules/stabilization_indi.xml"
gui_color="red"
/>
</conf>

96
conf/boards/betafpv_aiof7.makefile Normal file
View File

@@ -0,0 +1,96 @@
# Hey Emacs, this is a -*- makefile -*-
#
# betafpv_aiof7.makefile
#
# based on STM32F7
# only compatible with ChibiOS
#
MANUFACTURER=betafpv
BOARD=aiof7
BOARD_VERSION=2
BOARD_DIR=$(MANUFACTURER)/$(BOARD)/v$(BOARD_VERSION)
BOARD_CFG=\"arch/chibios/common_board.h\"
ARCH=chibios
$(TARGET).ARCHDIR = $(ARCH)
RTOS=chibios
MCU=cortex-m7
## FPU on F7
USE_FPU=softfp
USE_FPU_OPT= -mfpu=fpv5-sp-d16
USE_LTO ?= yes
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD -DDSHOT_CHANNEL_FIRST_INDEX=1U
##############################################################################
# Architecture or project specific options
#
# Define project name here (target)
PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
CHIBIOS_BOARD_LINKER = STM32F722xE.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
# ITCM flash is a special flash that allow faster operations
# At the moment it is not possible to flash the code in this mode using dfu-util
# but it should work with the BlackMagicProbe or STLINK
# By default, normal flash is used
ifeq ($(USE_ITCM),1)
$(TARGET).CFLAGS += -DUSE_ITCM=1
DFU_ADDR = 0x00200000
else
$(TARGET).CFLAGS += -DUSE_ITCM=0
DFU_ADDR = 0x08000000
endif
##############################################################################
# Compiler settings
#
# default flash mode is via usb dfu bootloader
# possibilities: DFU-UTIL, SWD, STLINK
FLASH_MODE ?= DFU-UTIL
HAS_LUFTBOOT = FALSE
#
# default LED configuration
#
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= none
GPS_LED ?= none
SYS_TIME_LED ?= 1
#
# default UART configuration (modem, gps, spektrum)
#
MODEM_PORT ?= UART6
MODEM_BAUD ?= B57600
GPS_PORT ?= UART1
GPS_BAUD ?= B57600
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3
# single mode
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

97
conf/boards/tmotor_aiof7.makefile Normal file
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@@ -0,0 +1,97 @@
# Hey Emacs, this is a -*- makefile -*-
#
# tmotor_aiof7.makefile
#
# based on STM32F7
# only compatible with ChibiOS
#
MANUFACTURER=tmotor
BOARD=aiof7
BOARD_VERSION=1
BOARD_DIR=$(MANUFACTURER)/$(BOARD)/v$(BOARD_VERSION)
BOARD_CFG=\"arch/chibios/common_board.h\"
# BOARD_CFG=\"boards/$(BOARD_DIR)/$(BOARD)$(MANUFACTURER).h\"
ARCH=chibios
$(TARGET).ARCHDIR = $(ARCH)
RTOS=chibios
MCU=cortex-m7
## FPU on F7
USE_FPU=softfp
USE_FPU_OPT= -mfpu=fpv5-sp-d16
USE_LTO ?= yes
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD -DDSHOT_CHANNEL_FIRST_INDEX=1U
##############################################################################
# Architecture or project specific options
#
# Define project name here (target)
PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
CHIBIOS_BOARD_LINKER = STM32F722xE.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
# ITCM flash is a special flash that allow faster operations
# At the moment it is not possible to flash the code in this mode using dfu-util
# but it should work with the BlackMagicProbe or STLINK
# By default, normal flash is used
ifeq ($(USE_ITCM),1)
$(TARGET).CFLAGS += -DUSE_ITCM=1
DFU_ADDR = 0x00200000
else
$(TARGET).CFLAGS += -DUSE_ITCM=0
DFU_ADDR = 0x08000000
endif
##############################################################################
# Compiler settings
#
# default flash mode is via usb dfu bootloader
# possibilities: DFU-UTIL, SWD, STLINK
FLASH_MODE ?= DFU-UTIL
HAS_LUFTBOOT = FALSE
#
# default LED configuration
#
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= none
GPS_LED ?= none
SYS_TIME_LED ?= 1
#
# default UART configuration (modem, gps, spektrum)
#
MODEM_PORT ?= UART5
MODEM_BAUD ?= B57600
GPS_PORT ?= UART4
GPS_BAUD ?= B57600
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART1
# single mode
SBUS_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

6
conf/flash_modes.xml
View File

@@ -34,6 +34,8 @@
<board name="nucleo.*"/>
<board name="matek_.*"/>
<board name="holybro_.*"/>
<board name="tmotor_aiof7"/>
<board name="betafpv_aiof7"/>
</boards>
</mode>
<mode name="USB CubeProgrammer">
@@ -50,6 +52,8 @@
<board name="nucleo.*"/>
<board name="matek_.*"/>
<board name="holybro_.*"/>
<board name="tmotor_aiof7"/>
<board name="betafpv_aiof7"/>
</boards>
</mode>
<mode name="STLink (SWD)">
@@ -91,6 +95,8 @@
<board name="matek_.*"/>
<board name="holybro_.*"/>
<board name="cube_.*"/>
<board name="betafpv_aiof7"/>
<board name="tmotor_aiof7"/>
</boards>
</mode>
<mode name="BlackMagic Probe (SWD_NOPWR)">

19
conf/modules/board_betafpv_aiof7.xml Normal file
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@@ -0,0 +1,19 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="board_betafpv_aiof7" dir="boards">
<doc>
<description>
Autoload several onboard sensors for the betafpv aiof7 board with proper configuration
- IMU (ICM42688)
- Baro (Externe)
- Mag (Externe)
</description>
</doc>
<dep>
<depends>imu_icm42688</depends>
</dep>
<makefile target="!sim|nps|fbw">
<configure name="IMU_SPI_DEV" value="spi1" case="upper|lower"/>
<configure name="IMU_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
</makefile>
</module>

25
conf/modules/board_tmotor_aiof7.xml Normal file
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@@ -0,0 +1,25 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="board_tmotor_aiof7" dir="boards">
<doc>
<description>
Autoload several onboard sensors for the T-Motor aiof7 board with proper configuration
- IMU (MPU6500)
- Baro (BMP280 SPI)
- Mag (Externe)
</description>
</doc>
<dep>
<depends>imu_mpu6000,baro_bmp280</depends>
</dep>
<makefile target="!sim|nps|fbw">
<configure name="IMU_SPI_DEV" value="spi1" case="upper|lower"/>
<configure name="IMU_SPI_SLAVE_IDX" value="SPI_SLAVE0"/>
<define name="TMOTOR_AIO_IMU_ROT" value=".body_to_sensor={{16383,0,0,0,-16383,0,0,0,-16382}}"/>
<define name="TMOTOR_AIO_MAG_ROT" value=".body_to_sensor={{11585,11585,0,-11585,11585,0,0,0,16382}}"/>
<configure name="BMP280_USE_SPI" value="TRUE"/>
<configure name="BMP280_DEV" value="spi3"/>
<configure name="BMP280_SLAVE_IDX" value="SPI_SLAVE3"/>
</makefile>
</module>

13
conf/modules/boards/betafpv_aiof7.xml Normal file
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@@ -0,0 +1,13 @@
<!DOCTYPE module SYSTEM "../module.dtd">
<module name="betafpv_aiof7" dir="boards">
<doc>
<description>
Specific configuration for betafpv AIO F7
</description>
</doc>
<dep>
<depends>hard_fault_recovery</depends>
</dep>
<makefile target="!sim|nps|fbw"/>
</module>

13
conf/modules/boards/tmotor_aiof7.xml Normal file
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@@ -0,0 +1,13 @@
<!DOCTYPE module SYSTEM "../module.dtd">
<module name="tmotor_aiof7" dir="boards">
<doc>
<description>
Specific configuration for T-Motor AIO F7
</description>
</doc>
<dep>
<depends>hard_fault_recovery</depends>
</dep>
<makefile target="!sim|nps|fbw"/>
</module>

136
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@@ -0,0 +1,136 @@
/*
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.
*/
/*
* ST32F722xE generic setup.
*
* RAM0 - Data, Heap.
* RAM3 - Main Stack, Process Stack, BSS, NOCACHE, ETH.
*
* Notes:
* BSS is placed in DTCM RAM in order to simplify DMA buffers management.
*/
MEMORY
{
flash0 (rx) : org = 0x08000000, len = 1M /* Flash as AXIM (writable) */
flash1 (rx) : org = 0x00200000, len = 1M /* Flash as ITCM */
flash2 (rx) : org = 0x00000000, len = 0
flash3 (rx) : org = 0x00000000, len = 0
flash4 (rx) : org = 0x00000000, len = 0
flash5 (rx) : org = 0x00000000, len = 0
flash6 (rx) : org = 0x00000000, len = 0
flash7 (rx) : org = 0x00000000, len = 0
ram0 (wx) : org = 0x20010000, len = 192k /* SRAM1 + SRAM2 */
ram1 (wx) : org = 0x20010000, len = 176k /* SRAM1 */
ram2 (wx) : org = 0x2003C000, len = 16k /* SRAM2 */
ram3 (wx) : org = 0x20000000, len = 64k /* DTCM-RAM */
ram4 (wx) : org = 0x00000000, len = 16k /* ITCM-RAM */
ram5 (wx) : org = 0x40024000, len = 4k /* BCKP SRAM */
ram6 (wx) : org = 0x00000000, len = 0
ram7 (wx) : org = 0x00000000, len = 0
}
/* For each data/text section two region are defined, a virtual region
and a load region (_LMA suffix).*/
/* Flash region to be used for exception vectors.*/
REGION_ALIAS("VECTORS_FLASH", flash1);
REGION_ALIAS("VECTORS_FLASH_LMA", flash0);
/* Flash region to be used for constructors and destructors.*/
REGION_ALIAS("XTORS_FLASH", flash1);
REGION_ALIAS("XTORS_FLASH_LMA", flash0);
/* Flash region to be used for code text.*/
REGION_ALIAS("TEXT_FLASH", flash1);
REGION_ALIAS("TEXT_FLASH_LMA", flash0);
/* Flash region to be used for read only data.*/
REGION_ALIAS("RODATA_FLASH", flash0);
REGION_ALIAS("RODATA_FLASH_LMA", flash0);
/* Flash region to be used for various.*/
REGION_ALIAS("VARIOUS_FLASH", flash1);
REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);
/* Flash region to be used for RAM(n) initialization data.*/
REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);
/* RAM region to be used for Main stack. This stack accommodates the processing
of all exceptions and interrupts.*/
REGION_ALIAS("MAIN_STACK_RAM", ram3);
/* RAM region to be used for the process stack. This is the stack used by
the main() function.*/
REGION_ALIAS("PROCESS_STACK_RAM", ram3);
/* RAM region to be used for data segment.*/
REGION_ALIAS("DATA_RAM", ram0);
REGION_ALIAS("DATA_RAM_LMA", flash0);
/* RAM region to be used for BSS segment.*/
REGION_ALIAS("BSS_RAM", ram3);
/* RAM region to be used for the default heap.*/
REGION_ALIAS("HEAP_RAM", ram0);
/* Stack rules inclusion.*/
INCLUDE rules_stacks.ld
/*===========================================================================*/
/* Custom sections for STM32F7xx. */
/*===========================================================================*/
/* RAM region to be used for nocache segment.*/
REGION_ALIAS("NOCACHE_RAM", ram3);
/* RAM region to be used for eth segment.*/
REGION_ALIAS("ETH_RAM", ram3);
SECTIONS
{
/* Special section for non cache-able areas.*/
.nocache (NOLOAD) : ALIGN(4)
{
__nocache_base__ = .;
*(.nocache)
*(.nocache.*)
*(.bss.__nocache_*)
. = ALIGN(4);
__nocache_end__ = .;
} > NOCACHE_RAM
/* Special section for Ethernet DMA non cache-able areas.*/
.eth (NOLOAD) : ALIGN(4)
{
__eth_base__ = .;
*(.eth)
*(.eth.*)
*(.bss.__eth_*)
. = ALIGN(4);
__eth_end__ = .;
} > ETH_RAM
}
/* Code rules inclusion.*/
INCLUDE rules_code.ld
/* Data rules inclusion.*/
INCLUDE rules_data.ld
/* Memory rules inclusion.*/
INCLUDE rules_memory.ld

9
sw/airborne/boards/betafpv/aiof7/v2/Makefile Normal file
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@@ -0,0 +1,9 @@
# file board.h is generated from file board.cfg by a script which is hosted here :
# https://github.com/alex31/chibios_enac_various_common/blob/master/TOOLS/boardGen.pl
# documentation is here :
# https://github.com/alex31/chibios_enac_various_common/blob/master/TOOLS/DOC/boardGen.pdf
board.h: aiof7.cfg Makefile
boardGen.pl --no-pp-line $< $@

260
sw/airborne/boards/betafpv/aiof7/v2/aiof7.cfg Normal file
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@@ -0,0 +1,260 @@
MCU_MODEL = STM32F722R(C-E)Tx
CHIBIOS_VERSION = 3.0
HEADER
/*
* Board identifier.
*/
#define BOARD_AIOF7
#define BOARD_NAME "AIO F7"
/*
* Board oscillators-related settings.
*/
#if !defined(STM32_LSECLK)
#define STM32_LSECLK 32768U
#endif
#define STM32_LSEDRV (3U << 3U)
#if !defined(STM32_HSECLK)
#define STM32_HSECLK 8000000U
#endif
/*
* Board voltages.
* Required for performance limits calculation.
*/
#define STM32_VDD 300U
/*
* MCU type as defined in the ST header.
*/
#define STM32F722xx
/**
* DSHOT
*/
#define DSHOT_TIM3_TELEMETRY_DEV NULL
#define DSHOT_TIM4_TELEMETRY_DEV NULL
#define DSHOT_TIM5_TELEMETRY_DEV NULL
#ifndef USE_DSHOT_TIM3
#define USE_DSHOT_TIM3 1 // SERVO1 SERVO2
#endif
#ifndef USE_DSHOT_TIM4
#define USE_DSHOT_TIM4 1 // SERVO5 SERVO6
#endif
#ifndef USE_DSHOT_TIM5
#define USE_DSHOT_TIM5 1 // SERVO3 SERVO4
#endif
#if USE_DSHOT_TIM3 // SERVO1 SERVO2 on TIM3
#define DSHOT_SERVO_1 1
#define DSHOT_SERVO_1_GPIO PAL_PORT(LINE_SERVO1)
#define DSHOT_SERVO_1_PIN PAL_PAD(LINE_SERVO1)
#define DSHOT_SERVO_1_AF AF_LINE_SERVO1
#define DSHOT_SERVO_1_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO1_TIM)
#define DSHOT_SERVO_1_CHANNEL SERVO1_TIM_CH
#define DSHOT_SERVO_2 2
#define DSHOT_SERVO_2_GPIO PAL_PORT(LINE_SERVO2)
#define DSHOT_SERVO_2_PIN PAL_PAD(LINE_SERVO2)
#define DSHOT_SERVO_2_AF AF_LINE_SERVO2
#define DSHOT_SERVO_2_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO2_TIM)
#define DSHOT_SERVO_2_CHANNEL SERVO2_TIM_CH
#define DSHOT_CONF_TIM3 1
#define DSHOT_CONF3_DEF { \
.dma_stream = STM32_PWM3_UP_DMA_STREAM, \
.dma_channel = STM32_PWM3_UP_DMA_CHANNEL, \
.pwmp = &PWMD3, \
.tlm_sd = DSHOT_TIM3_TELEMETRY_DEV, \
.dma_buf = &dshot3DmaBuffer, \
.dcache_memory_in_use = false \
}
#endif
#if USE_DSHOT_TIM4 // SERVO5 SERVO6 on TIM4
#define DSHOT_SERVO_5 5
#define DSHOT_SERVO_5_GPIO PAL_PORT(LINE_SERVO5)
#define DSHOT_SERVO_5_PIN PAL_PAD(LINE_SERVO5)
#define DSHOT_SERVO_5_AF AF_LINE_SERVO5
#define DSHOT_SERVO_5_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO5_TIM)
#define DSHOT_SERVO_5_CHANNEL SERVO5_TIM_CH
#define DSHOT_SERVO_6 6
#define DSHOT_SERVO_6_GPIO PAL_PORT(LINE_SERVO6)
#define DSHOT_SERVO_6_PIN PAL_PAD(LINE_SERVO6)
#define DSHOT_SERVO_6_AF AF_LINE_SERVO6
#define DSHOT_SERVO_6_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO6_TIM)
#define DSHOT_SERVO_6_CHANNEL SERVO6_TIM_CH
#define DSHOT_CONF_TIM4 1
#define DSHOT_CONF4_DEF { \
.dma_stream = STM32_PWM4_UP_DMA_STREAM, \
.dma_channel = STM32_PWM4_UP_DMA_CHANNEL, \
.pwmp = &PWMD4, \
.tlm_sd = DSHOT_TIM4_TELEMETRY_DEV, \
.dma_buf = &dshot4DmaBuffer, \
.dcache_memory_in_use = false \
}
#endif
#if USE_DSHOT_TIM5 // SERVO3 SERVO4 on TIM5
#define DSHOT_SERVO_3 3
#define DSHOT_SERVO_3_GPIO PAL_PORT(LINE_SERVO3)
#define DSHOT_SERVO_3_PIN PAL_PAD(LINE_SERVO3)
#define DSHOT_SERVO_3_AF AF_LINE_SERVO3
#define DSHOT_SERVO_3_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO3_TIM)
#define DSHOT_SERVO_3_CHANNEL SERVO3_TIM_CH
#define DSHOT_SERVO_4 4
#define DSHOT_SERVO_4_GPIO PAL_PORT(LINE_SERVO4)
#define DSHOT_SERVO_4_PIN PAL_PAD(LINE_SERVO4)
#define DSHOT_SERVO_4_AF AF_LINE_SERVO4
#define DSHOT_SERVO_4_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO4_TIM)
#define DSHOT_SERVO_4_CHANNEL SERVO4_TIM_CH
#define DSHOT_CONF_TIM5 1
#define DSHOT_CONF5_DEF { \
.dma_stream = STM32_PWM5_UP_DMA_STREAM, \
.dma_channel = STM32_PWM5_UP_DMA_CHANNEL, \
.pwmp = &PWMD5, \
.tlm_sd = DSHOT_TIM5_TELEMETRY_DEV, \
.dma_buf = &dshot5DmaBuffer, \
.dcache_memory_in_use = false \
}
#endif
/*
* enable TIM5, TIM3, TIM4 by default
*/
#ifndef USE_PWM_TIM3
#define USE_PWM_TIM3 1
#endif
#ifndef USE_PWM_TIM4
#define USE_PWM_TIM4 1
#endif
#ifndef USE_PWM_TIM5
#define USE_PWM_TIM5 1
#endif
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_1
#endif
#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f)*10.91*adc)
CONFIG
# PIN NAME PERIPH_TYPE AF_NUMBER or
# PIN NAME FUNCTION PP_or_OPENDRAIN PIN_SPEED PULL_RESISTOR INITIAL_LEVEL AF_NUMBER
# SPEED : SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH
#
# DEFAULT AND SYS
#
# 'SYS' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'ADC' => ['ANALOG', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_LOW'],
# 'PWM' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_LOW'],
# 'ICU' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'I2C' => ['ALTERNATE', 'OPENDRAIN', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
# 'SPI' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'UART' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
# 'OTG' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'ETH' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'FSMC' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'SDIO' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
# 'SDIOCK' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'CAN' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'DCMI' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'LED' => ['OUTPUT', 'PUSHPULL', 'SPEED_VERYLOW', 'FLOATING', 'LEVEL_LOW'],
# 'PASSIVE' => ['INPUT', 'PUSHPULL', 'SPEED_VERYLOW', 'FLOATING', 'LEVEL_LOW']);
#
# SYSTEM
A13 SWDIO SYS AF:SYS_JTMS-SWDIO
A14 SWCLK SYS AF:SYS_JTCK-SWCLK
# C14 OSC32_IN SYS AF0
# C15 OSC32_OUT SYS AF0
H00 OSC_IN SYS AF0
H01 OSC_OUT SYS AF0
#DEFAULT
DEFAULT INPUT PUSHPULL SPEED_VERYLOW PULLDOWN LEVEL_LOW AF0
# ACTIVE PINS
PA00 SERVO4 PWM AF:TIM5_CH1 ()
PA01 SERVO3 PWM AF:TIM5_CH2 ()
PA02 UART2_TX UART AF:USART2_TX
PA03 UART2_RX UART AF:USART2_RX
PA04 SPI_SLAVE0 OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH # GYRO1_EXT_CS
PA05 SPI1_CLK SPI AF:SPI1_SCK
PA06 SPI1_MISO SPI AF:SPI1_MISO
PA07 SPI1_MOSI SPI AF:SPI1_MOSI
PA08 AUX PWM AF:TIM1_CH1 ()
PA09 UART1_TX UART AF:USART1_TX
PA10 UART1_RX UART AF:USART1_RX
PA11 OTG_FS_DM OTG AF:USB_OTG_FS_DM
PA12 OTG_FS_DP OTG AF:USB_OTG_FS_DP
PA15 SPI_SLAVE1 OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH # OSD_EXT_CS
PB00 SERVO1 PWM AF:TIM3_CH3 ()
PB01 SERVO2 PWM AF:TIM3_CH4 ()
PB02 GYRO_EXTI_2 INPUT PULLUP
PB03 SPI3_CLK SPI AF:SPI3_SCK
PB04 SPI3_MISO SPI AF:SPI3_MISO
PB05 SPI3_MOSI SPI AF:SPI3_MOSI
PB06 SERVO5 PWM AF:TIM4_CH1 ()
PB07 SERVO6 PWM AF:TIM4_CH2 ()
PB08 I2C1_SCL I2C AF:I2C1_SCL
PB09 I2C1_SDA I2C AF:I2C1_SDA
PB10 UART3_TX UART AF:USART3_TX
PB11 RC1 UART AF:USART3_RX ()
PB12 SPI_SLAVE2 OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH # FLASH_EXT_CS
PB13 SPI2_CLK SPI AF:SPI2_SCK
PB14 SPI2_MISO SPI AF:SPI2_MISO
PB15 SPI2_MOSI SPI AF:SPI2_MOSI
PC00 ADC1 ADC ADC1_IN10 ()
PC03 SPI_SLAVE3 OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH # GYRO2_EXT_CS
PC04 GYRO_EXTI_1 INPUT PULLUP
PC06 UART6_TX UART AF:USART6_TX
PC07 UART6_RX UART AF:USART6_RX
PC10 UART4_TX UART AF:UART4_TX
PC11 UART4_RX UART AF:UART4_RX
PC12 UART5_TX UART AF:UART5_TX
PC13 SPI_SLAVE4 OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH # BARO_EXT_CS
PC14 BEEPER OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_LOW
PC15 LED1 LED
PD02 UART5_RX UART AF:UART5_RX
# GROUPS
GROUP ENERGY_SAVE_INPUT %NAME=~/^AUX_[A-B][0-9]+|LED[0-9]+|.*_CS$/

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sw/airborne/boards/betafpv/aiof7/v2/mcuconf_board.h Normal file
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@@ -0,0 +1,499 @@
/*
ChibiOS - Copyright (C) 2006..2020 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
/*
* STM32F7xx 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 STM32F7xx_MCUCONF
#define STM32F722_MCUCONF
#define STM32F732_MCUCONF
#define STM32F723_MCUCONF
#define STM32F733_MCUCONF
/*
* Memory attributes settings.
*/
// #define STM32_NOCACHE_ENABLE FALSE
// #define STM32_NOCACHE_MPU_REGION MPU_REGION_6
// #define STM32_NOCACHE_RBAR 0x2004C000U
// #define STM32_NOCACHE_RASR MPU_RASR_SIZE_16K
/*
* HAL driver system settings.
*/
#define STM32_NO_INIT FALSE
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0
#define STM32_BKPRAM_ENABLE FALSE
#define STM32_HSI_ENABLED TRUE
#define STM32_LSI_ENABLED TRUE
#define STM32_HSE_ENABLED TRUE
#define STM32_LSE_ENABLED FALSE
#define STM32_CLOCK48_REQUIRED TRUE
#define STM32_SW STM32_SW_PLL
#define STM32_PLLSRC STM32_PLLSRC_HSE
#define STM32_PLLM_VALUE 8
#define STM32_PLLN_VALUE 432
#define STM32_PLLP_VALUE 4
#define STM32_PLLQ_VALUE 9
#define STM32_HPRE STM32_HPRE_DIV1
#define STM32_PPRE1 STM32_PPRE1_DIV4
#define STM32_PPRE2 STM32_PPRE2_DIV2
#if HAL_USE_RTC
#define STM32_RTCSEL STM32_RTCSEL_LSI
#else
#define STM32_RTCSEL STM32_RTCSEL_NOCLOCK
#endif
#define STM32_RTCPRE_VALUE 8 // 25
#define STM32_MCO1SEL STM32_MCO1SEL_HSI
#define STM32_MCO1PRE STM32_MCO1PRE_DIV1
#define STM32_MCO2SEL STM32_MCO2SEL_SYSCLK
#define STM32_MCO2PRE STM32_MCO2PRE_DIV1
#define STM32_TIMPRE_ENABLE FALSE
#define STM32_I2SSRC STM32_I2SSRC_OFF
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SP_VALUE 4
#define STM32_PLLI2SQ_VALUE 4
#define STM32_PLLI2SR_VALUE 4
#define STM32_PLLI2SDIVQ_VALUE 1
#define STM32_PLLSAIN_VALUE 192
#define STM32_PLLSAIP_VALUE 4
#define STM32_PLLSAIQ_VALUE 4
#define STM32_PLLSAIR_VALUE 4
#define STM32_PLLSAIDIVQ_VALUE 1
#define STM32_PLLSAIDIVR_VALUE 2
#define STM32_SAI1SEL STM32_SAI1SEL_OFF
#define STM32_SAI2SEL STM32_SAI2SEL_OFF
#define STM32_LCDTFT_REQUIRED FALSE
#define STM32_USART1SEL STM32_USART1SEL_PCLK2
#define STM32_USART2SEL STM32_USART2SEL_PCLK1
#define STM32_USART3SEL STM32_USART3SEL_PCLK1
#define STM32_UART4SEL STM32_UART4SEL_PCLK1
#define STM32_UART5SEL STM32_UART5SEL_PCLK1
#define STM32_USART6SEL STM32_USART6SEL_PCLK2
#define STM32_UART7SEL STM32_UART7SEL_PCLK1
#define STM32_UART8SEL STM32_UART8SEL_PCLK1
#define STM32_I2C1SEL STM32_I2C1SEL_PCLK1
#define STM32_I2C2SEL STM32_I2C2SEL_PCLK1
#define STM32_I2C3SEL STM32_I2C3SEL_PCLK1
#define STM32_LPTIM1SEL STM32_LPTIM1SEL_PCLK1
#define STM32_CECSEL STM32_CECSEL_LSE //TAWAKI 1
#define STM32_CK48MSEL STM32_CK48MSEL_PLL
#define STM32_SDMMC1SEL STM32_SDMMC1SEL_PLL48CLK
#define STM32_SDMMC2SEL STM32_SDMMC2SEL_PLL48CLK
#define STM32_SRAM2_NOCACHE FALSE//TAWAKI 1
/*
* IRQ system settings.
*/
#define STM32_IRQ_EXTI0_PRIORITY 6
#define STM32_IRQ_EXTI1_PRIORITY 6
#define STM32_IRQ_EXTI2_PRIORITY 6
#define STM32_IRQ_EXTI3_PRIORITY 6
#define STM32_IRQ_EXTI4_PRIORITY 6
#define STM32_IRQ_EXTI5_9_PRIORITY 6
#define STM32_IRQ_EXTI10_15_PRIORITY 6
#define STM32_IRQ_EXTI16_PRIORITY 6
#define STM32_IRQ_EXTI17_PRIORITY 6
#define STM32_IRQ_EXTI18_PRIORITY 6
#define STM32_IRQ_EXTI19_PRIORITY 6
#define STM32_IRQ_EXTI20_PRIORITY 6
#define STM32_IRQ_EXTI21_PRIORITY 6
#define STM32_IRQ_EXTI22_PRIORITY 6
#define STM32_IRQ_EXTI23_PRIORITY 6
#define STM32_IRQ_TIM1_BRK_TIM9_PRIORITY 7
#define STM32_IRQ_TIM1_UP_TIM10_PRIORITY 7
#define STM32_IRQ_TIM1_TRGCO_TIM11_PRIORITY 7
#define STM32_IRQ_TIM1_CC_PRIORITY 7
#define STM32_IRQ_TIM2_PRIORITY 7
#define STM32_IRQ_TIM3_PRIORITY 7
#define STM32_IRQ_TIM4_PRIORITY 7
#define STM32_IRQ_TIM5_PRIORITY 7
#define STM32_IRQ_TIM6_PRIORITY 7
#define STM32_IRQ_TIM7_PRIORITY 7
#define STM32_IRQ_TIM8_BRK_TIM12_PRIORITY 7
#define STM32_IRQ_TIM8_UP_TIM13_PRIORITY 7
#define STM32_IRQ_TIM8_TRGCO_TIM14_PRIORITY 7
#define STM32_IRQ_TIM8_CC_PRIORITY 7
#define STM32_IRQ_USART1_PRIORITY 12
#define STM32_IRQ_USART2_PRIORITY 12
#define STM32_IRQ_USART3_PRIORITY 12
#define STM32_IRQ_UART4_PRIORITY 12
#define STM32_IRQ_UART5_PRIORITY 12
#define STM32_IRQ_USART6_PRIORITY 12
#define STM32_IRQ_UART7_PRIORITY 12
#define STM32_IRQ_UART8_PRIORITY 12
/*
* ADC driver system settings.
*/
#define STM32_ADC_ADCPRE ADC_CCR_ADCPRE_DIV8
#define STM32_ADC_USE_ADC1 TRUE
#define STM32_ADC_USE_ADC2 FALSE
#define STM32_ADC_USE_ADC3 FALSE
#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 4)
#define STM32_ADC_ADC2_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
#define STM32_ADC_ADC3_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
#define STM32_ADC_ADC1_DMA_PRIORITY 2
#define STM32_ADC_ADC2_DMA_PRIORITY 2
#define STM32_ADC_ADC3_DMA_PRIORITY 2
#define STM32_ADC_IRQ_PRIORITY 6
#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 6
#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY 6
#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY 6
/*
* 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 FALSE
#define STM32_DAC_USE_DAC1_CH2 FALSE
#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
#define STM32_DAC_DAC1_CH1_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_DAC_DAC1_CH2_DMA_STREAM STM32_DMA_STREAM_ID(1, 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_TIM5 FALSE
#define STM32_GPT_USE_TIM6 FALSE
#define STM32_GPT_USE_TIM7 FALSE
#define STM32_GPT_USE_TIM8 FALSE
#define STM32_GPT_USE_TIM9 FALSE
#define STM32_GPT_USE_TIM10 FALSE
#define STM32_GPT_USE_TIM11 FALSE
#define STM32_GPT_USE_TIM12 FALSE
#define STM32_GPT_USE_TIM13 FALSE
#define STM32_GPT_USE_TIM14 FALSE
/*
* I2C driver system settings.
*/
#if USE_I2C1
#define STM32_I2C_USE_I2C1 TRUE
#else
#define STM32_I2C_USE_I2C1 FALSE
#endif
#define STM32_I2C_USE_I2C2 FALSE
#define STM32_I2C_USE_I2C3 FALSE
#define STM32_I2C_BUSY_TIMEOUT 50
#define STM32_I2C_I2C1_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
#define STM32_I2C_I2C2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2C_I2C3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
#define STM32_I2C_I2C3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_I2C_I2C1_IRQ_PRIORITY 5
#define STM32_I2C_I2C2_IRQ_PRIORITY 5
#define STM32_I2C_I2C3_IRQ_PRIORITY 5
#define STM32_I2C_I2C1_DMA_PRIORITY 3
#define STM32_I2C_I2C2_DMA_PRIORITY 3
#define STM32_I2C_I2C3_DMA_PRIORITY 3
#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_TIM5 FALSE
#define STM32_ICU_USE_TIM8 FALSE
#define STM32_ICU_USE_TIM9 FALSE
#define STM32_ICU_USE_TIM10 FALSE
#define STM32_ICU_USE_TIM11 FALSE
#define STM32_ICU_USE_TIM12 FALSE
#define STM32_ICU_USE_TIM13 FALSE
#define STM32_ICU_USE_TIM14 FALSE
/*
* PWM driver system settings.
*/
#define STM32_PWM_USE_ADVANCED FALSE
#ifndef STM32_PWM_USE_TIM1
#define STM32_PWM_USE_TIM1 TRUE
#endif
#ifndef STM32_PWM_USE_TIM3
#define STM32_PWM_USE_TIM3 TRUE
#endif
#ifndef STM32_PWM_USE_TIM4
#define STM32_PWM_USE_TIM4 TRUE
#endif
#ifndef STM32_PWM_USE_TIM5
#define STM32_PWM_USE_TIM5 TRUE
#endif
#define STM32_PWM_USE_TIM2 FALSE
#define STM32_PWM_USE_TIM8 FALSE
#define STM32_PWM_USE_TIM9 FALSE
#define STM32_PWM_USE_TIM10 FALSE
#define STM32_PWM_USE_TIM11 FALSE
#define STM32_PWM_USE_TIM12 FALSE
#define STM32_PWM_USE_TIM13 FALSE
#define STM32_PWM_USE_TIM14 FALSE
#define STM32_PWM3_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
#define STM32_PWM3_UP_DMA_CHANNEL 5
#define STM32_PWM3_UP_DMA_IRQ_PRIORITY 6
#define STM32_PWM3_UP_DMA_PRIORITY 2
#define STM32_PWM4_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
#define STM32_PWM4_UP_DMA_CHANNEL 2
#define STM32_PWM4_UP_DMA_IRQ_PRIORITY 6
#define STM32_PWM4_UP_DMA_PRIORITY 2
#define STM32_PWM5_UP_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_PWM5_UP_DMA_CHANNEL 6
#define STM32_PWM5_UP_DMA_IRQ_PRIORITY 6
#define STM32_PWM5_UP_DMA_PRIORITY 2
/*
* RTC driver system settings.
*/
#define STM32_RTC_PRESA_VALUE 32
#define STM32_RTC_PRESS_VALUE 1024
#define STM32_RTC_CR_INIT 0
#define STM32_RTC_TAMPCR_INIT 0
/*
* SDC driver system settings.
*/
#define STM32_SDC_USE_SDMMC1 TRUE
#define STM32_SDC_USE_SDMMC2 FALSE
#define STM32_SDC_SDMMC_UNALIGNED_SUPPORT TRUE
#define STM32_SDC_SDMMC_WRITE_TIMEOUT 250
#define STM32_SDC_SDMMC_READ_TIMEOUT 25
#define STM32_SDC_SDMMC_CLOCK_DELAY 10
#define STM32_SDC_SDMMC_PWRSAV FALSE
#define STM32_SDC_SDMMC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
#define STM32_SDC_SDMMC2_DMA_STREAM STM32_DMA_STREAM_ID(2, 0)
#define STM32_SDC_SDMMC1_DMA_PRIORITY 3
#define STM32_SDC_SDMMC2_DMA_PRIORITY 3
#define STM32_SDC_SDMMC1_IRQ_PRIORITY 9
#define STM32_SDC_SDMMC2_IRQ_PRIORITY 9
/*
* SERIAL driver system settings.
*/
#ifndef STM32_SERIAL_USE_USART1
#if USE_UART1
#define STM32_SERIAL_USE_USART1 TRUE
#else
#define STM32_SERIAL_USE_USART1 FALSE
#endif
#endif
#ifndef STM32_SERIAL_USE_USART2
#if USE_UART2
#define STM32_SERIAL_USE_USART2 TRUE
#else
#define STM32_SERIAL_USE_USART2 FALSE
#endif
#endif
#ifndef STM32_SERIAL_USE_USART3
#if USE_UART3
#define STM32_SERIAL_USE_USART3 TRUE
#else
#define STM32_SERIAL_USE_USART3 FALSE
#endif
#endif
#ifndef STM32_SERIAL_USE_UART4
#if USE_UART4
#define STM32_SERIAL_USE_UART4 TRUE
#else
#define STM32_SERIAL_USE_UART4 FALSE
#endif
#endif
#ifndef STM32_SERIAL_USE_USART6
#if USE_UART6
#define STM32_SERIAL_USE_USART6 TRUE
#else
#define STM32_SERIAL_USE_USART6 FALSE
#endif
#endif
/*
* SIO driver system settings.
*/
#define STM32_SIO_USE_USART1 FALSE
#define STM32_SIO_USE_USART2 FALSE
#define STM32_SIO_USE_USART3 FALSE
#define STM32_SIO_USE_UART4 FALSE
#define STM32_SIO_USE_UART5 FALSE
#define STM32_SIO_USE_USART6 FALSE
#define STM32_SIO_USE_UART7 FALSE
#define STM32_SIO_USE_UART8 FALSE
/*
* 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_USE_SPI4 FALSE
#define STM32_SPI_USE_SPI5 FALSE
#define STM32_SPI_SPI1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0)
#define STM32_SPI_SPI1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
#define STM32_SPI_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_SPI_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_SPI_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_SPI_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_SPI_SPI4_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0)
#define STM32_SPI_SPI4_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
#define STM32_SPI_SPI5_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
#define STM32_SPI_SPI5_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 4)
#define STM32_SPI_SPI1_DMA_PRIORITY 1
#define STM32_SPI_SPI2_DMA_PRIORITY 1
#define STM32_SPI_SPI3_DMA_PRIORITY 1
#define STM32_SPI_SPI4_DMA_PRIORITY 1
#define STM32_SPI_SPI5_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_SPI4_IRQ_PRIORITY 10
#define STM32_SPI_SPI5_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
/*
* TRNG driver system settings.
*/
#define STM32_TRNG_USE_RNG1 FALSE
/*
* 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_USE_UART4 FALSE
#define STM32_UART_USE_UART5 FALSE
#define STM32_UART_USE_USART6 FALSE
#define STM32_UART_USE_UART7 FALSE
#define STM32_UART_USE_UART8 FALSE
#define STM32_UART_USART1_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
#define STM32_UART_USART1_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7)
#define STM32_UART_USART2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_UART_USART2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
#define STM32_UART_USART3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 1)
#define STM32_UART_USART3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_UART_UART4_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
#define STM32_UART_UART4_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_UART_UART5_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_UART_UART5_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_UART_USART6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
#define STM32_UART_USART6_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 7)
#define STM32_UART_UART7_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_UART_UART7_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 1)
#define STM32_UART_UART8_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
#define STM32_UART_UART8_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_UART_USART1_DMA_PRIORITY 0
#define STM32_UART_USART2_DMA_PRIORITY 0
#define STM32_UART_USART3_DMA_PRIORITY 0
#define STM32_UART_UART4_DMA_PRIORITY 0
#define STM32_UART_UART5_DMA_PRIORITY 0
#define STM32_UART_USART6_DMA_PRIORITY 0
#define STM32_UART_UART7_DMA_PRIORITY 0
#define STM32_UART_UART8_DMA_PRIORITY 0
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
/*
* USB driver system settings.
*/
#define STM32_USB_USE_OTG1 TRUE
#define STM32_USB_USE_OTG2 FALSE
#define STM32_USB_OTG1_IRQ_PRIORITY 14
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 1024
/*
* WDG driver system settings.
*/
#define STM32_WDG_USE_IWDG FALSE
/*
* WSPI driver system settings.
*/
#define STM32_WSPI_USE_QUADSPI1 FALSE
#define STM32_WSPI_QUADSPI1_DMA_STREAM STM32_DMA_STREAM_ID(2, 7)
/*
sdlog message buffer and queue configuration
*/
// #define SDLOG_QUEUE_BUCKETS 1024
// #define SDLOG_MAX_MESSAGE_LEN 300
// #define SDLOG_NUM_FILES 2
// #define SDLOG_ALL_BUFFERS_SIZE (SDLOG_NUM_FILES*16*1024)
#endif /* MCUCONF_H */

2
sw/airborne/boards/tawaki/chibios/v2.0/board.h
View File

@@ -33,7 +33,7 @@
#if !defined(STM32_HSECLK)
#define STM32_HSECLK 8000000U
#define STM32_HSE_BYPASS TRUE
#define STM32_HSE_BYPASS
#endif
/*

2
sw/airborne/boards/tawaki/chibios/v2.0/tawaki_2.0.cfg
View File

@@ -19,7 +19,7 @@ HEADER
#if !defined(STM32_HSECLK)
#define STM32_HSECLK 8000000U
#define STM32_HSE_BYPASS TRUE
#define STM32_HSE_BYPASS
#endif
/*

9
sw/airborne/boards/tmotor/aiof7/v1/Makefile Normal file
View File

@@ -0,0 +1,9 @@
# file board.h is generated from file board.cfg by a script which is hosted here :
# https://github.com/alex31/chibios_enac_various_common/blob/master/TOOLS/boardGen.pl
# documentation is here :
# https://github.com/alex31/chibios_enac_various_common/blob/master/TOOLS/DOC/boardGen.pdf
board.h: aiof7tmotor.cfg Makefile
boardGen.pl --no-pp-line $< $@

287
sw/airborne/boards/tmotor/aiof7/v1/aiof7tmotor.cfg Normal file
View File

@@ -0,0 +1,287 @@
MCU_MODEL = STM32F722R(C-E)Tx
CHIBIOS_VERSION = 3.0
HEADER
/*
* Board identifier.
*/
#define BOARD_AIOF7TMOTOR
#define BOARD_NAME "AIO F7 TMOTOR"
/*
* Board oscillators-related settings.
*/
#if !defined(STM32_LSECLK)
#define STM32_LSECLK 32768U
#endif
#define STM32_LSEDRV (3U << 3U)
#if !defined(STM32_HSECLK)
#define STM32_HSECLK 8000000U
#endif
/*
* Board voltages.
* Required for performance limits calculation.
*/
#define STM32_VDD 300U
/*
* MCU type as defined in the ST header.
*/
#define STM32F722xx
/**
* DSHOT
*/
#define DSHOT_TIM3_TELEMETRY_DEV NULL
#define DSHOT_TIM4_TELEMETRY_DEV NULL
#define DSHOT_TIM8_TELEMETRY_DEV NULL
#ifndef USE_DSHOT_TIM3
#define USE_DSHOT_TIM3 1 // SERVO1 SERVO2 SERVO3 SERVO4
#endif
#ifndef USE_DSHOT_TIM4
#define USE_DSHOT_TIM4 0 // SERVO5 SERVO6 SERVO7
#endif
#ifndef USE_DSHOT_TIM8
#define USE_DSHOT_TIM8 0 // SERVO8
#endif
#if USE_DSHOT_TIM3 // SERVO1 SERVO2 SERVO3 SERVO4 on TIM3
#define DSHOT_SERVO_1 1
#define DSHOT_SERVO_1_GPIO PAL_PORT(LINE_SERVO1)
#define DSHOT_SERVO_1_PIN PAL_PAD(LINE_SERVO1)
#define DSHOT_SERVO_1_AF AF_LINE_SERVO1
#define DSHOT_SERVO_1_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO1_TIM)
#define DSHOT_SERVO_1_CHANNEL SERVO1_TIM_CH
#define DSHOT_SERVO_2 2
#define DSHOT_SERVO_2_GPIO PAL_PORT(LINE_SERVO2)
#define DSHOT_SERVO_2_PIN PAL_PAD(LINE_SERVO2)
#define DSHOT_SERVO_2_AF AF_LINE_SERVO2
#define DSHOT_SERVO_2_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO2_TIM)
#define DSHOT_SERVO_2_CHANNEL SERVO2_TIM_CH
#define DSHOT_SERVO_3 3
#define DSHOT_SERVO_3_GPIO PAL_PORT(LINE_SERVO3)
#define DSHOT_SERVO_3_PIN PAL_PAD(LINE_SERVO3)
#define DSHOT_SERVO_3_AF AF_LINE_SERVO3
#define DSHOT_SERVO_3_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO3_TIM)
#define DSHOT_SERVO_3_CHANNEL SERVO3_TIM_CH
#define DSHOT_SERVO_4 4
#define DSHOT_SERVO_4_GPIO PAL_PORT(LINE_SERVO4)
#define DSHOT_SERVO_4_PIN PAL_PAD(LINE_SERVO4)
#define DSHOT_SERVO_4_AF AF_LINE_SERVO4
#define DSHOT_SERVO_4_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO4_TIM)
#define DSHOT_SERVO_4_CHANNEL SERVO4_TIM_CH
#define DSHOT_CONF_TIM3 1
#define DSHOT_CONF3_DEF { \
.dma_stream = STM32_PWM3_UP_DMA_STREAM, \
.dma_channel = STM32_PWM3_UP_DMA_CHANNEL, \
.pwmp = &PWMD3, \
.tlm_sd = DSHOT_TIM3_TELEMETRY_DEV, \
.dma_buf = &dshot3DmaBuffer, \
.dcache_memory_in_use = false \
}
#endif
#if USE_DSHOT_TIM4 // SERVO5 SERVO6 SERVO7 on TIM4
#define DSHOT_SERVO_5 5
#define DSHOT_SERVO_5_GPIO PAL_PORT(LINE_SERVO5)
#define DSHOT_SERVO_5_PIN PAL_PAD(LINE_SERVO5)
#define DSHOT_SERVO_5_AF AF_LINE_SERVO5
#define DSHOT_SERVO_5_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO5_TIM)
#define DSHOT_SERVO_5_CHANNEL SERVO5_TIM_CH
#define DSHOT_SERVO_6 6
#define DSHOT_SERVO_6_GPIO PAL_PORT(LINE_SERVO6)
#define DSHOT_SERVO_6_PIN PAL_PAD(LINE_SERVO6)
#define DSHOT_SERVO_6_AF AF_LINE_SERVO6
#define DSHOT_SERVO_6_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO6_TIM)
#define DSHOT_SERVO_6_CHANNEL SERVO6_TIM_CH
#define DSHOT_SERVO_7 7
#define DSHOT_SERVO_7_GPIO PAL_PORT(LINE_SERVO7)
#define DSHOT_SERVO_7_PIN PAL_PAD(LINE_SERVO7)
#define DSHOT_SERVO_7_AF AF_LINE_SERVO7
#define DSHOT_SERVO_7_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO7_TIM)
#define DSHOT_SERVO_7_CHANNEL SERVO7_TIM_CH
#define DSHOT_CONF_TIM4 1
#define DSHOT_CONF4_DEF { \
.dma_stream = STM32_PWM4_UP_DMA_STREAM, \
.dma_channel = STM32_PWM4_UP_DMA_CHANNEL, \
.pwmp = &PWMD4, \
.tlm_sd = DSHOT_TIM4_TELEMETRY_DEV, \
.dma_buf = &dshot4DmaBuffer, \
.dcache_memory_in_use = false \
}
#endif
#if USE_DSHOT_TIM8 // SERVO8
#define DSHOT_SERVO_8 8
#define DSHOT_SERVO_8_GPIO PAL_PORT(LINE_SERVO8)
#define DSHOT_SERVO_8_PIN PAL_PAD(LINE_SERVO8)
#define DSHOT_SERVO_8_AF AF_LINE_SERVO8
#define DSHOT_SERVO_8_DRIVER CONCAT_BOARD_PARAM(DSHOTD, SERVO8_TIM)
#define DSHOT_SERVO_8_CHANNEL SERVO8_TIM_CH
#define DSHOT_CONF_TIM8 1
#define DSHOT_CONF8_DEF { \
.dma_stream = STM32_PWM8_UP_DMA_STREAM, \
.dma_channel = STM32_PWM8_UP_DMA_CHANNEL, \
.pwmp = &PWMD8, \
.tlm_sd = DSHOT_TIM8_TELEMETRY_DEV, \
.dma_buf = &dshot8DmaBuffer, \
.dcache_memory_in_use = false \
}
#endif
/*
* enable TIM1, TIM3, TIM4 by default
*/
#ifndef USE_PWM_TIM1
#define USE_PWM_TIM1 0
#endif
#ifndef USE_PWM_TIM3
#define USE_PWM_TIM3 1
#endif
#ifndef USE_PWM_TIM4
#define USE_PWM_TIM4 1
#endif
#ifndef USE_PWM_TIM8
#define USE_PWM_TIM8 1
#endif
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
#ifndef ADC_CHANNEL_VSUPPLY
#define ADC_CHANNEL_VSUPPLY ADC_1
#endif
#define DefaultVoltageOfAdc(adc) ((3.3f/4096.0f)*10.91*adc)
CONFIG
# PIN NAME PERIPH_TYPE AF_NUMBER or
# PIN NAME FUNCTION PP_or_OPENDRAIN PIN_SPEED PULL_RESISTOR INITIAL_LEVEL AF_NUMBER
# SPEED : SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH
#
# DEFAULT AND SYS
#
# 'SYS' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'ADC' => ['ANALOG', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_LOW'],
# 'PWM' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_LOW'],
# 'ICU' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'I2C' => ['ALTERNATE', 'OPENDRAIN', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
# 'SPI' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'UART' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
# 'OTG' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'ETH' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'FSMC' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'SDIO' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
# 'SDIOCK' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'CAN' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'DCMI' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
# 'LED' => ['OUTPUT', 'PUSHPULL', 'SPEED_VERYLOW', 'FLOATING', 'LEVEL_LOW'],
# 'PASSIVE' => ['INPUT', 'PUSHPULL', 'SPEED_VERYLOW', 'FLOATING', 'LEVEL_LOW']);
#
# SYSTEM
A13 SWDIO SYS AF:SYS_JTMS-SWDIO
A14 SWCLK SYS AF:SYS_JTCK-SWCLK
# C14 OSC32_IN SYS AF0
# C15 OSC32_OUT SYS AF0
# H00 OSC_IN SYS AF0
# H01 OSC_OUT SYS AF0
H00 OSC_IN OSC
H01 OSC_OUT OSC
#DEFAULT
DEFAULT INPUT PUSHPULL SPEED_VERYLOW PULLDOWN LEVEL_LOW AF0
# ACTIVE PINS
PA00 UART4_TX UART AF:UART4_TX
PA01 UART4_RX UART AF:UART4_RX
PA02 UART2_TX UART AF:USART2_TX
PA03 UART2_RX UART AF:USART2_RX
PA04 SPI_SLAVE0 OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH #GYRO_CS
PA05 SPI1_CLK SPI AF:SPI1_SCK
PA06 SPI1_MISO SPI AF:SPI1_MISO
PA07 SPI1_MOSI SPI AF:SPI1_MOSI
PA08 AUX PWM AF:TIM1_CH1 ()
PA09 UART1_TX UART AF:USART1_TX
PA10 RC1 UART AF:USART1_RX ()
PA11 OTG_FS_DM OTG AF:USB_OTG_FS_DM
PA12 OTG_FS_DP OTG AF:USB_OTG_FS_DP
PB00 SERVO3 PWM AF:TIM3_CH3 ()
PB01 SERVO4 PWM AF:TIM3_CH4 ()
PB02 LED1 LED
PB03 SPI3_CLK SPI AF:SPI3_SCK
PB04 SPI3_MISO SPI AF:SPI3_MISO
PB05 SPI3_MOSI SPI AF:SPI3_MOSI
PB06 SERVO5 PWM AF:TIM4_CH1 ()
PB07 SERVO7 PWM AF:TIM4_CH2 ()
PB08 SERVO6 PWM AF:TIM4_CH3 ()
PB09 AUX2 PWM AF:TIM11_CH1 ()
PB10 I2C2_SCL I2C AF:I2C2_SCL
PB11 I2C2_SDA I2C AF:I2C2_SDA
PB12 SPI_SLAVE1 OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH #OSD_CS
PB13 SPI2_CLK SPI AF:SPI2_SCK
PB14 SPI2_MISO SPI AF:SPI2_MISO
PB15 SPI2_MOSI SPI AF:SPI2_MOSI
# PC00
PC01 ADC1 ADC ADC1_IN11 () # VBAT_MEAS
PC02 ADC2 ADC ADC1_IN12 () # ADC_CURR
PC04 GYRO_EXTI_1 INPUT PULLUP
PC06 SERVO1 PWM AF:TIM3_CH1 ()
PC07 SERVO2 PWM AF:TIM3_CH2 ()
PC09 SERVO8 PWM AF:TIM8_CH4 ()
PC08 SPI_SLAVE2 OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH #FLASH_CS
PC10 UART3_TX UART AF:USART3_TX
PC11 UART3_RX UART AF:USART3_RX
PC12 UART5_TX UART AF:UART5_TX
PC13 BEEPER OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_LOW
PC15 SPI_SLAVE3 OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH #BARO_CS
PD02 UART5_RX UART AF:UART5_RX
# GROUPS
GROUP ENERGY_SAVE_INPUT %NAME=~/^AUX_[A-B][0-9]+|LED[0-9]+|.*_CS$/

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sw/airborne/boards/tmotor/aiof7/v1/mcuconf_board.h Normal file
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