From 8efc24099c42d58d455dded7ec9a2978807e2146 Mon Sep 17 00:00:00 2001 From: Felix Ruess Date: Wed, 7 Aug 2013 17:03:47 +0200 Subject: [PATCH] [boards] stm32f4_discovery board file for some testing --- sw/airborne/boards/stm32f4_discovery.h | 236 +++++++++++++++++++++++++ 1 file changed, 236 insertions(+) create mode 100755 sw/airborne/boards/stm32f4_discovery.h diff --git a/sw/airborne/boards/stm32f4_discovery.h b/sw/airborne/boards/stm32f4_discovery.h new file mode 100755 index 0000000000..288385d132 --- /dev/null +++ b/sw/airborne/boards/stm32f4_discovery.h @@ -0,0 +1,236 @@ +#ifndef CONFIG_STM32F4_DISCOVERY_H +#define CONFIG_STM32F4_DISCOVERY_H + +#define BOARD_STM32F4_DISCOVERY + +/* STM32F4_DISCOVERY has a 8MHz external clock and 168MHz internal. */ +#define EXT_CLK 8000000 +#define AHB_CLK 168000000 + +/* + * Onboard LEDs + */ + +/* orange, on PD13 */ +#ifndef USE_LED_3 +#define USE_LED_3 1 +#endif +#define LED_3_GPIO GPIOD +#define LED_3_GPIO_CLK RCC_AHB1ENR_IOPDEN +#define LED_3_GPIO_PIN GPIO13 +#define LED_3_AFIO_REMAP ((void)0) +#define LED_3_GPIO_ON gpio_set +#define LED_3_GPIO_OFF gpio_clear + +/* green, on PD12 */ +#ifndef USE_LED_4 +#define USE_LED_4 1 +#endif +#define LED_4_GPIO GPIOD +#define LED_4_GPIO_CLK RCC_AHB1ENR_IOPDEN +#define LED_4_GPIO_PIN GPIO12 +#define LED_4_AFIO_REMAP ((void)0) +#define LED_4_GPIO_ON gpio_set +#define LED_4_GPIO_OFF gpio_clear + +/* red, PD14 */ +#ifndef USE_LED_5 +#define USE_LED_5 1 +#endif +#define LED_5_GPIO GPIOD +#define LED_5_GPIO_CLK RCC_AHB1ENR_IOPDEN +#define LED_5_GPIO_PIN GPIO14 +#define LED_5_AFIO_REMAP ((void)0) +#define LED_5_GPIO_ON gpio_set +#define LED_5_GPIO_OFF gpio_clear + +/* blue, PD15 */ +#ifndef USE_LED_6 +#define USE_LED_6 1 +#endif +#define LED_6_GPIO GPIOD +#define LED_6_GPIO_CLK RCC_AHB1ENR_IOPDEN +#define LED_6_GPIO_PIN GPIO15 +#define LED_6_AFIO_REMAP ((void)0) +#define LED_6_GPIO_ON gpio_set +#define LED_6_GPIO_OFF gpio_clear + + +/* UART */ +#define UART1_GPIO_AF GPIO_AF7 +#define UART1_GPIO_PORT_RX GPIOA +#define UART1_GPIO_RX GPIO10 +#define UART1_GPIO_PORT_TX GPIOB +#define UART1_GPIO_TX GPIO6 + +#define UART2_GPIO_AF GPIO_AF7 +#define UART2_GPIO_PORT_RX GPIOA +#define UART2_GPIO_RX GPIO3 +#define UART2_GPIO_PORT_TX GPIOA +#define UART2_GPIO_TX GPIO2 + +#define UART4_GPIO_AF GPIO_AF8 +#define UART4_GPIO_PORT_RX GPIOA +#define UART4_GPIO_RX GPIO1 +#define UART4_GPIO_PORT_TX GPIOA +#define UART4_GPIO_TX GPIO0 + +#define UART6_GPIO_AF GPIO_AF8 +#define UART6_GPIO_PORT_RX GPIOC +#define UART6_GPIO_RX GPIO7 +#define UART6_GPIO_PORT_TX GPIOC +#define UART6_GPIO_TX GPIO6 + + +/* SPI */ +#define SPI1_GPIO_AF GPIO_AF5 +#define SPI1_GPIO_PORT_MISO GPIOA +#define SPI1_GPIO_MISO GPIO6 +#define SPI1_GPIO_PORT_MOSI GPIOA +#define SPI1_GPIO_MOSI GPIO7 +#define SPI1_GPIO_PORT_SCK GPIOA +#define SPI1_GPIO_SCK GPIO5 + +#define SPI_SELECT_SLAVE0_PORT GPIOB +#define SPI_SELECT_SLAVE0_PIN GPIO9 + + +/* I2C mapping */ +#define I2C1_GPIO_PORT GPIOB +#define I2C1_GPIO_SCL GPIO8 +#define I2C1_GPIO_SDA GPIO9 + +#define I2C2_GPIO_PORT GPIOB +#define I2C2_GPIO_SCL GPIO10 +#define I2C2_GPIO_SDA GPIO11 + +#define I2C3_GPIO_PORT_SCL GPIOA +#define I2C3_GPIO_PORT_SDA GPIOC +#define I2C3_GPIO_SCL GPIO8 +#define I2C3_GPIO_SDA GPIO9 + + +/* + * PPM + */ +#define USE_PPM_TIM1 1 + +#define PPM_CHANNEL TIM_IC1 +#define PPM_TIMER_INPUT TIM_IC_IN_TI1 +#define PPM_IRQ NVIC_TIM1_CC_IRQ +#define PPM_IRQ2 NVIC_TIM1_UP_TIM10_IRQ +// Capture/Compare InteruptEnable and InterruptFlag +#define PPM_CC_IE TIM_DIER_CC1IE +#define PPM_CC_IF TIM_SR_CC1IF +#define PPM_GPIO_PORT GPIOA +#define PPM_GPIO_PIN GPIO8 +#define PPM_GPIO_AF GPIO_AF1 + + +/* + * Spektrum + */ +/* The line that is pulled low at power up to initiate the bind process */ +#define SPEKTRUM_BIND_PIN GPIO8 +#define SPEKTRUM_BIND_PIN_PORT GPIOA + +#define SPEKTRUM_UART2_RCC_REG &RCC_APB2ENR +#define SPEKTRUM_UART2_RCC_DEV RCC_APB2ENR_USART1EN +#define SPEKTRUM_UART2_BANK GPIOA +#define SPEKTRUM_UART2_PIN GPIO10 +#define SPEKTRUM_UART2_AF GPIO_AF7 +#define SPEKTRUM_UART2_IRQ NVIC_USART1_IRQ +#define SPEKTRUM_UART2_ISR usart1_isr +#define SPEKTRUM_UART2_DEV USART1 + + +/* Onboard ADCs */ +#define USE_AD_TIM4 1 + +#define BOARD_ADC_CHANNEL_1 9 +#define BOARD_ADC_CHANNEL_2 15 +#define BOARD_ADC_CHANNEL_3 14 +#define BOARD_ADC_CHANNEL_4 4 + +#ifndef USE_AD1 +#define USE_AD1 1 +#endif +/* provide defines that can be used to access the ADC_x in the code or airframe file + * these directly map to the index number of the 4 adc channels defined above + * 4th (index 3) is used for bat monitoring by default + */ +// AUX 1 +#define ADC_1 ADC1_C1 +#ifdef USE_ADC_1 +#ifndef ADC_1_GPIO_CLOCK_PORT +#define ADC_1_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPBEN +#define ADC_1_INIT() gpio_mode_setup(GPIOB, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO1) +#endif +#define USE_AD1_1 1 +#else +#define ADC_1_GPIO_CLOCK_PORT 0 +#define ADC_1_INIT() {} +#endif + +// AUX 2 +#define ADC_2 ADC1_C2 +#ifdef USE_ADC_2 +#ifndef ADC_2_GPIO_CLOCK_PORT +#define ADC_2_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPCEN +#define ADC_2_INIT() gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO5) +#endif +#define USE_AD1_2 1 +#else +#define ADC_2_GPIO_CLOCK_PORT 0 +#define ADC_2_INIT() {} +#endif + +// AUX 3 +#define ADC_3 ADC1_C3 +#ifdef USE_ADC_3 +#ifndef ADC_3_GPIO_CLOCK_PORT +#define ADC_3_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPCEN +#define ADC_3_INIT() gpio_mode_setup(GPIOC, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO4) +#endif +#define USE_AD1_3 1 +#else +#define ADC_3_GPIO_CLOCK_PORT 0 +#define ADC_3_INIT() {} +#endif + +// BAT +#define ADC_4 ADC1_C4 +#ifndef ADC_4_GPIO_CLOCK_PORT +#define ADC_4_GPIO_CLOCK_PORT RCC_AHB1ENR_IOPAEN +#define ADC_4_INIT() gpio_mode_setup(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE, GPIO4) +#endif +#define USE_AD1_4 1 + +/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/ +#ifndef ADC_CHANNEL_VSUPPLY +#define ADC_CHANNEL_VSUPPLY ADC_4 +#endif + +#define ADC_GPIO_CLOCK_PORT (ADC_1_GPIO_CLOCK_PORT | ADC_2_GPIO_CLOCK_PORT | ADC_3_GPIO_CLOCK_PORT | ADC_4_GPIO_CLOCK_PORT) + +/* GPIO mapping for ADC1 pins, overwrites the default in arch/stm32/mcu_periph/adc_arch.c */ +#ifdef USE_AD1 +#define ADC1_GPIO_INIT(gpio) { \ + ADC_1_INIT(); \ + ADC_2_INIT(); \ + ADC_3_INIT(); \ + ADC_4_INIT(); \ + } +#endif // USE_AD1 + +#define DefaultVoltageOfAdc(adc) (0.00485*adc) + + +/* Default actuators driver */ +#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h" +#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y) +#define ActuatorsDefaultInit() ActuatorsPwmInit() +#define ActuatorsDefaultCommit() ActuatorsPwmCommit() + + +#endif /* CONFIG_STM32F4_DISCOVERY_H */