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Merge pull request #2657 from paparazzi/portage_chibios_203

Browse Source 
Update to ChibiOS 20.3
This commit is contained in:
Gautier Hattenberger
2021-02-03 09:22:50 +01:00
committed by GitHub
parent 9230b506be 90bd77f07e
commit c522927a69
73 changed files with 1550 additions and 10011 deletions
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conf/Makefile.chibios
+5 -12
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@@ -199,13 +199,15 @@ endif
# Project name defined in board makefile
# Imported source files and paths
# Licensing files.
include $(CHIBIOS)/os/license/license.mk
# Startup files.
include $(CHIBIOS)/os/common/startup/ARMCMx/compilers/GCC/mk/$(CHIBIOS_BOARD_STARTUP)
# HAL-OSAL files (optional).
include $(CHIBIOS)/os/hal/hal.mk
include $(CHIBIOS)/os/hal/ports/STM32/$(CHIBIOS_BOARD_PLATFORM)
include $(CHIBIOS_BOARD_DIR)/board.mk
include $(CHIBIOS)/os/hal/osal/rt/osal.mk
include $(CHIBIOS)/os/hal/osal/rt-nil/osal.mk
# RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
@@ -220,15 +222,8 @@ LDSCRIPT= $(CHIBIOS_LINKER_DIR)/$(CHIBIOS_BOARD_LINKER)
# C sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CSRC = $(STARTUPSRC) \
$(KERNSRC) \
$(PORTSRC) \
$(OSALSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
CSRC = $(ALLCSRC) \
$(CHIBIOS)/os/various/syscalls.c \
$(FATFSSRC) \
$(CHIBIOS_BOARD_MAIN)
ECSRC = $(filter %.c, $($(TARGET).srcs))
@@ -261,9 +256,7 @@ TCPPSRC =
# List ASM source files here
ASMXSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(CHIBIOS)/os/license $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(FATFSINC) \
$(CHIBIOS)/os/various $(CHIBIOS_BOARD_DIR) $(CHIBIOS_PROJECT_DIR)
INCDIR = $(CONFDIR) $(ALLINC) $(CHIBIOS_BOARD_DIR)
# Output directory and files
BUILDDIR := $(AIRCRAFT_BUILD_DIR)/$(TARGET)
conf/airframes/AGGIEAIR/aggieair_conf.xml
-11
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@@ -54,17 +54,6 @@
settings_modules="modules/battery_monitor.xml modules/lidar_sf11.xml modules/nav_skid_landing.xml modules/nav_survey_poly_osam.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="#ffffffffffff"
/>
<aircraft
name="ECU"
ac_id="3"
airframe="airframes/AGGIEAIR/aggieair_ecu_example.xml"
radio="radios/AGGIEAIR/aggieair_taranis.xml"
telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/vms_ecu_demo.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_mlkf.xml modules/imu_common.xml modules/gps.xml"
gui_color="#00009e93ffff"
/>
<aircraft
name="El_Captain"
ac_id="8"
conf/airframes/AGGIEAIR/aggieair_ecu_example.xml
-246
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@@ -1,246 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!--
Viking Motorsports ECU example
-->
<airframe name="ECU">
<firmware name="fixedwing">
<target name="ap" board="vms_ecu_1.0_chibios">
<configure name="PERIODIC_FREQUENCY" value="120"/>
<module name="radio_control" type="sbus"/>
</target>
<!-- Communication -->
<module name="telemetry" type="transparent">
<configure name="MODEM_PORT" value="UART3"/>
<configure name="MODEM_BAUD" value="B57600"/>
</module>
<!-- Sensors -->
<module name="gps" type="ublox">
<configure name="GPS_PORT" value="UART6"/>
<configure name="GPS_BAUD" value="B115200"/>
</module>
<module name="imu" type="lisa_m_v2.1"/>
<module name="ahrs" type="float_mlkf"/>
<module name="ins"/>
<module name="control"/>
<module name="navigation"/>
<module name="sys_mon"/>
<module name="vms_ecu_demo"/>
</firmware>
<!-- commands section -->
<!-- Servo Configuration -->
<servos>
<servo name="THROTTLE" no="0" min="1100" neutral="1100" max="1900"/>
<servo name="AILERON_RIGHT" no="1" min="900" neutral="1500" max="2100"/>
<servo name="AILERON_LEFT" no="2" min="2100" neutral="1500" max="900"/>
<servo name="ELEVATOR" no="3" min="2100" neutral="1500" max="900"/>
<servo name="RUDDER" no="4" min="2100" neutral="1500" max="900"/>
<servo name="FLAP" no="5" min="900" neutral="1500" max="2100"/>
</servos>
<!-- Servo Command Structure -->
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="FLAP" failsafe_value="0"/>
</commands>
<!-- RC Command Structure -->
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="FLAP" value="@FLAP"/>
</rc_commands>
<!-- Define RC commands to Servo in Auto Mode -->
<auto_rc_commands>
<set command="YAW" value="@YAW"/>
<set command="FLAP" value="@FLAP"/>
</auto_rc_commands>
<!-- Define Mixing Parameters -->
<section name="MIXER">
<define name="AILERON_AILERON_RATE" value="0.9"/>
<define name="ELEV_ELEV_RATE" value="0.8"/>
</section>
<!-- Define RC commands to Servos in Manual -->
<command_laws>
<let var="aileron" value="@ROLL * AILERON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * ELEV_ELEV_RATE"/>
<set servo="THROTTLE" value="@THROTTLE"/>
<set servo="AILERON_RIGHT" value="$aileron"/> <!--flip signs if necessary -->
<set servo="AILERON_LEFT" value=" - $aileron"/>
<set servo="ELEVATOR" value="$elevator"/>
<set servo="RUDDER" value="@YAW"/>
<set servo="FLAP" value="@FLAP"/>
</command_laws>
<!-- Define Max Roll and Pitch setpoints in Auto1 -->
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="0.7"/>
<define name="MAX_PITCH" value="0.6"/>
</section>
<section name="IMU" prefix="IMU_">
<!--
<define name="ACCEL_X_NEUTRAL" value="-50"/>
<define name="ACCEL_Y_NEUTRAL" value="189"/>
<define name="ACCEL_Z_NEUTRAL" value="270"/>
<define name="ACCEL_X_SENS" value="0.59633793275" integer="16"/>
<define name="ACCEL_Y_SENS" value="0.616609304777" integer="16"/>
<define name="ACCEL_Z_SENS" value="0.624348656549" integer="16"/>
-->
<define name="MAG_X_NEUTRAL" value="75"/>
<define name="MAG_Y_NEUTRAL" value="-10"/>
<define name="MAG_Z_NEUTRAL" value="7"/>
<define name="MAG_X_SENS" value="4.12309023427" integer="16"/>
<define name="MAG_Y_SENS" value="4.23759023915" integer="16"/>
<define name="MAG_Z_SENS" value="4.61141601045" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="180." unit="deg" />
<define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
<define name="BODY_TO_IMU_PSI" value="90." unit="deg" />
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" 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>
<!-- Define current estimator and Battery Level Warnings -->
<section name="BAT">
<define name="MILLIAMP_AT_FULL_THROTTLE" value="50000"/>
<define name="CURRENT_ESTIMATION_NONLINEARITY" value="1.3"/>
<!-- Flight values -->
<!--
<define name="MAX_BAT_LEVEL" value="16.5" unit="V" />
<define name="LOW_BAT_LEVEL" value="14.1" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="13.8" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="13.5" unit="V"/>
-->
<!-- Simulator values -->
<define name="MAX_BAT_LEVEL" value="5.0" unit="V" />
<define name="LOW_BAT_LEVEL" value="4.0" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="3.5" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="3.0" unit="V"/>
</section>
<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="16." unit="m/s"/> <!-- GCS only -->
<define name="CARROT" value="5." unit="s"/> <!-- GCS only -->
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
</section>
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<!-- TODO: double check the power controls settings, this value seems to be outdated -->
<!--define name="POWER_CTL_BAT_NOMINAL" value="23.2" unit="volt"/-->
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.136"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="3."/>
<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.40"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.20"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.70"/>
<define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.142"/>
<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
<!-- auto pitch inner loop -->
<define name="AUTO_PITCH_PGAIN" value="0.1"/>
<define name="AUTO_PITCH_IGAIN" value="0.025"/>
<define name="AUTO_PITCH_MAX_PITCH" value="0.31415" unit="rad"/>
<define name="AUTO_PITCH_MIN_PITCH" value="-0.31415" unit="rad"/>
<!-- landing control loop -->
<define name="LANDING_THROTTLE_PGAIN" value="600.0"/>
<define name="LANDING_THROTTLE_IGAIN" value="10.0"/>
<define name="LANDING_THROTTLE_MAX" value="0.65"/>
<define name="LANDING_DESIRED_SPEED" value="18" unit="m/s"/>
<define name="LANDING_PITCH_PGAIN" value="0.1"/>
<define name="LANDING_PITCH_IGAIN" value="0.1"/>
<define name="LANDING_PITCH_LIMITS" value="0.2" unit="rad"/>
<define name="LANDING_PITCH_FLARE" value="0.06"/>
<define name="LANDING_ALT_THROTTLE_KILL" value="15" unit="m"/>
<define name="LANDING_ALT_FLARE" value="5" unit="m"/>
</section>
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.135"/>
<define name="COURSE_DGAIN" value="0.35"/>
<define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.35" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.2" unit="rad"/>
<define name="PITCH_PGAIN" value="12900."/>
<!-- ORIGINAL GAIN
<define name="PITCH_DGAIN" value="1.5"/>
-->
<!-- SIMULATOR GAIN -->
<define name="PITCH_DGAIN" value="151.5"/>
<define name="ELEVATOR_OF_ROLL" value="1250"/>
<define name="ROLL_ATTITUDE_GAIN" value="9000"/>
<define name="ROLL_RATE_GAIN" value="1600"/>
<define name="ROLL_SLEW" value="0.1"/>
</section>
<section name="AGGRESSIVE" prefix="AGR_">
<define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
<define name="BLEND_END" value="10"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes CANNOT BE ZERO!!-->
<define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb -->
<define name="CLIMB_PITCH" value="0.13"/><!-- Pitch for Aggressive Climb -->
<define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive Decent -->
<define name="DESCENT_PITCH" value="-0.1"/><!-- 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="1.0"/>
</section>
<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="5" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>
<!-- Launcher Takeoff Configuration -->
<section name="LAUNCHER" prefix="LAUNCHER_TAKEOFF_">
<define name="PITCH" value="0.23" unit="rad"/>
<define name="HEIGHT" value="70" unit="m"/>
<define name="MIN_SPEED_CIRCLE" value="8" unit="m/s"/>
<define name="DISTANCE" value="30" unit="m"/>
<define name="MIN_SPEED_LINE" value="5" unit="m/s"/>
</section>
</airframe>
conf/airframes/ENAC/conf_enac.xml
+68 -2
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@@ -1,4 +1,15 @@
<conf>
<aircraft
name="APOGEE"
ac_id="3"
airframe="airframes/ENAC/fixed-wing/apogee.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/fixedwing_flight_recorder.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/gps.xml modules/guidance_basic_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
name="ARD2_101"
ac_id="101"
@@ -40,9 +51,20 @@
telemetry="telemetry/fixedwing_flight_recorder.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/airspeed_ms45xx_i2c.xml modules/air_data.xml modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="#fdeb90060000"
/>
<aircraft
name="CRAZYFLIE"
ac_id="5"
airframe="airframes/ENAC/quadrotor/crazyflie_2.1.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_madgwick.xml modules/air_data.xml modules/gps.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_extended.xml modules/nav_basic_rotorcraft.xml modules/opticflow_pmw3901.xml modules/range_forcefield.xml modules/sonar_vl53l1x.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
name="CYFOAM"
ac_id="6"
@@ -76,6 +98,50 @@
settings_modules="[modules/gps_ubx_ucenter.xml] modules/gps.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/airspeed_adc.xml modules/imu_common.xml modules/ahrs_float_dcm.xml"
gui_color="#ffff7d7d0000"
/>
<aircraft
name="LISAMX"
ac_id="10"
airframe="airframes/examples/quadrotor_lisa_mx.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_float_mlkf.xml modules/air_data.xml modules/geo_mag.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_basic_rotorcraft.xml modules/stabilization_int_quat.xml modules/stabilization_rate.xml"
gui_color="blue"
/>
<aircraft
name="MATEK"
ac_id="7"
airframe="airframes/ENAC/fixed-wing/matek_f765_wing.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/gps.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="NUCLEO"
ac_id="4"
airframe="airframes/ENAC/nucleo144_test.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/gps.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="PX4FMUv5"
ac_id="8"
airframe="airframes/tudelft/mentor.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_attitude_fw.xml"
gui_color="blue"
/>
<aircraft
name="TAWAKI"
ac_id="1"
@@ -84,7 +150,7 @@
telemetry="telemetry/fixedwing_flight_recorder.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/air_data.xml modules/nav_basic_fw.xml modules/guidance_full_pid_fw.xml modules/stabilization_adaptive_fw.xml modules/gps.xml modules/imu_common.xml modules/ahrs_float_dcm.xml modules/ahrs_float_cmpl_quat.xml modules/ins_float_invariant.xml"
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/ahrs_float_dcm.xml modules/air_data.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="blue"
/>
<aircraft
conf/airframes/FLIXR/flixr_conf.xml
-11
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@@ -32,17 +32,6 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/imu_common.xml"
gui_color="blue"
/>
<aircraft
name="discovery"
ac_id="9"
airframe="airframes/FLIXR/flixr_discovery.xml"
radio="radios/mc20.xml"
telemetry="telemetry/default_fixedwing_imu.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
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"
gui_color="blue"
/>
<aircraft
name="flixr_lisamx"
ac_id="42"
conf/airframes/FLIXR/flixr_discovery.xml
-369
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@@ -1,369 +0,0 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<!-- ST Model Discovery (http://www.sheng-teng.com/)
TWOG1 (http://wiki.paparazziuav.org/wiki/TWOG/v1.0)
* uBlox LEA5H and Sarantel helix GPS antenna
-->
<airframe name="Discovery">
<firmware name="fixedwing">
<target name="ap" board="twog_1.0">
<configure name="PERIODIC_FREQUENCY" value="960"/> <!-- IMU FREQ -->
<configure name="AHRS_PROPAGATE_FREQUENCY" value="120"/>
<configure name="AHRS_CORRECT_FREQUENCY" value="60"/>
<configure name="AHRS_ALIGNER_LED" value="2"/>
<configure name="SYS_TIME_LED" value="1"/>
<configure name="GPS_LED" value="none"/>
<!-- for airspeed sensor
<define name="USE_I2C0"/>
-->
</target>
<target name="sim" board="pc"/>
<define name="LOITER_TRIM"/>
<define name="USE_PITCH_TRIM"/> <!-- basically same as loiter trim, but for adaptive-->
<define name="USE_GYRO_PITCH_RATE"/>
<define name="WIND_INFO"/>
<!-- Communication -->
<module name="telemetry" type="transparent"/>
<module name="radio_control" type="ppm"/>
<!--module name="settings" type="rc"/-->
<!-- Control -->
<module name="control" type="new"/>
<module name="navigation"/>
<module name="ahrs" type="int_cmpl_quat">
<configure name="USE_MAGNETOMETER" value="0"/>
<define name="AHRS_USE_GPS_HEADING" value="1"/>
</module>
<module name="ins" type="alt_float"/>
<!-- Sensors -->
<module name="imu" type="b2_v1.0">
<configure name="NO_MAG" value="1"/>
</module>
<module name="gps" type="ublox"/>
<module name="current_sensor">
<configure name="ADC_CURRENT_SENSOR" value="ADC_3"/>
</module>
<module name="switch" type="servo"/>
<module name="sys_mon"/>
<module name="adc_generic">
<configure name="ADC_CHANNEL_GENERIC1" value="ADC_4"/> <!-- voltage sensor -->
</module>
</firmware>
<firmware name="setup">
<target name="tunnel" board="twog_1.0" />
<target name="usb_tunnel" board="twog_1.0">
<configure name="TUNNEL_PORT" value="UART1"/>
</target>
</firmware>
<firmware name="test_progs">
<configure name="SYS_TIME_LED" value="1"/>
<target name="test_gpio" board="twog_1.0"/>
<target name="test_sys_time_timer" board="twog_1.0"/>
<target name="test_telemetry" board="twog_1.0"/>
</firmware>
<!-- Define here to which CONNECTOR NUMBER the servo is connected to, on the autopilot cicuit board -->
<servos>
<servo name="MOTOR" no="0" min="1100" neutral="1100" max="1900"/>
<servo name="ELEVATOR" no="2" min="1100" neutral="1500" max="1900"/>
<servo name="AILERON_RIGHT" no="3" min="1000" neutral="1500" max="1000"/>
<servo name="AILERON_LEFT" no="4" min="1000" neutral="1500" max="2000"/>
<servo name="RUDDER" no="6" min="1000" neutral="1500" max="2000"/>
<servo name="HATCH" no="7" min="1100" neutral="1100" max="1900"/>
</servos>
<section name="SWITCH_SERVO" PREFIX="SWITCH_SERVO_">
<define name="SERVO" value="HATCH"/>
<define name="ON_VALUE" value="SERVO_HATCH_MIN"/>
<define name="OFF_VALUE" value="SERVO_HATCH_MAX"/>
</section>
<!-- commands section -->
<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="2000"/>
<axis name="HATCH" failsafe_value="-9599"/>
<!-- maybe set to open position so we can insert the payload -->
</commands>
<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
</rc_commands>
<auto_rc_commands>
<!-- To still be able to use rudder, which is needed with sidewind landing in auto1 stabilization mode only YAW -->
<set command="YAW" value="@YAW"/>
</auto_rc_commands>
<!--For mixed controlflaps -->
<section name="MIXER">
<define name="AILERON_DIFF" value="0.7"/>
<define name="COMBI_SWITCH" value="0.3"/>
</section>
<command_laws>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="ELEVATOR" value="@PITCH"/>
<set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
<let var="roll" value="@ROLL"/>
<set servo="AILERON_LEFT" value="($roll > 0 ? 1: AILERON_DIFF) * $roll"/>
<set servo="AILERON_RIGHT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
<!--set servo="HATCH" value="@HATCH"/-->
</command_laws>
<section name="IMU" prefix="IMU_">
<define name="GYRO_P_CHAN" value="1"/>
<define name="GYRO_Q_CHAN" value="2"/>
<define name="GYRO_R_CHAN" value="0"/>
<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="-1"/>
<define name="GYRO_P_NEUTRAL" value="32362"/>
<define name="GYRO_R_NEUTRAL" value="32080"/>
<define name="GYRO_Q_NEUTRAL" value="32096"/>
<define name="GYRO_P_SENS" value="1.1032765" integer="16"/>
<define name="GYRO_R_SENS" value="1.1360802599" integer="16"/>
<define name="GYRO_Q_SENS" value="1.1249874614" integer="16"/>
<define name="ACCEL_X_CHAN" value="3"/>
<define name="ACCEL_Y_CHAN" value="6"/>
<define name="ACCEL_Z_CHAN" value="5"/>
<define name="ACCEL_X_SIGN" value="-1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="-1"/>
<define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.45106376" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.47825717" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="31886"/>
<define name="ACCEL_Z_NEUTRAL" value="32162"/>
<define name="ACCEL_Y_NEUTRAL" value="32941"/>
<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0."/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>
<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>
<!-- Munich -->
<section name="AHRS" prefix="AHRS_">
<define name="H_X" value="0.4357869"/>
<define name="H_Y" value="0.0177010"/>
<define name="H_Z" value="0.8998758"/>
</section>
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0." unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0." unit="deg"/>
</section>
<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="55" unit="deg"/>
<define name="MAX_PITCH" value="35" unit="deg"/>
</section>
<section name="BAT">
<define name="MilliAmpereOfAdc(adc)" value="(adc*88)"/>
<!-- <define name="ADC_CHANNEL_VOLTAGE" value="ADC_4" /> -->
<!-- The real multiplier is unknown we take 2 as test example -->
<!-- <define name="VoltageOfAdc(adc)" value ="(adc*2)"/> -->
<!-- If NO current-volts sensor installed uncomment below -->
<!--define name="MILLIAMP_AT_FULL_THROTTLE" value="17000" unit="mA"/-->
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/> <!-- 3S lipo 3.1*3=9.3 -->
<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"/> <!-- 3S lipo 4.2*3=12.6 -->
</section>
<section name="MISC">
<define name="MINIMUM_AIRSPEED" value="9.0" unit="m/s"/>
<define name="NOMINAL_AIRSPEED" value="14.0" unit="m/s"/>
<define name="MAXIMUM_AIRSPEED" value="22.0" unit="m/s"/>
<define name="CARROT" value="5.0" unit="s"/>
<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
<define name="CONTROL_FREQUENCY" value="60" unit="Hz"/>
<!--UNLOCKED_HOME_MODE if set to TRUE means that HOME mode does not get stuck.
If not set before when you would enter home mode you had to flip a bit via the GCS to get out. -->
<!--define name="UNLOCKED_HOME_MODE" value="TRUE"/-->
<!-- RC_LOST_MODE means that if your RC Transmitter signal is not received anymore in the autopilot, e.g. you switch it off
or fly a long range mission you define the wanted mode behaviour here.
If you do not define it, it defaults to flying to the flightplan HOME -->
<!--define name="RC_LOST_MODE" value="PPRZ_MODE_AUTO2"/-->
<define name="DEFAULT_CIRCLE_RADIUS" value="50.0"/>
<!-- The Glide definitions are used for calculating the touch down point during auto landing -->
<!--
-->
</section>
<!-- ******************* VERTICAL CONTROL ********************************** -->
<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.2" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="0.04" unit="(m/s)/m"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2." unit="m/s"/>
<!-- Cruise throttle + limits -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.65" unit="%"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.40" unit="%"/>
<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.90" unit="%"/>
<define name="THROTTLE_SLEW_LIMITER" value="0.5" unit="s"/>
<define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
<define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-20)"/>
<!-- Climb loop (throttle) -->
<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_PGAIN" value="0.007" unit="%/(m/s)"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
<define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
<!-- Climb loop (pitch) -->
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
<!--define name="AUTO_PITCH_PGAIN" value="0.0"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.0"/-->
<define name="AUTO_PITCH_PGAIN" value="0.052"/>
<define name="AUTO_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_PITCH_IGAIN" value="0.065"/>
<!-- airspeed control -->
<!--define name="AUTO_AIRSPEED_SETPOINT" value="12."/>
<define name="AUTO_AIRSPEED_THROTTLE_PGAIN" value="0.1"/>
<define name="AUTO_AIRSPEED_THROTTLE_DGAIN" value="0.12"/>
<define name="AUTO_AIRSPEED_THROTTLE_IGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_PGAIN" value="0.06"/>
<define name="AUTO_AIRSPEED_PITCH_DGAIN" value="0.0"/>
<define name="AUTO_AIRSPEED_PITCH_IGAIN" value="0.042"/>
<define name="AIRSPEED_MAX" value="25"/>
<define name="AIRSPEED_MIN" value="8"/-->
<!-- groundspeed control -->
<!--define name="AUTO_GROUNDSPEED_SETPOINT" value="15"/>
<define name="AUTO_GROUNDSPEED_PGAIN" value="1."/>
<define name="AUTO_GROUNDSPEED_IGAIN" value="0."/-->
<!-- Loiter and Dash trimming -->
<define name="AUTO_THROTTLE_LOITER_TRIM" value="0" unit="pprz_t"/>
<define name="AUTO_THROTTLE_DASH_TRIM" value="0" unit="pprz_t"/>
<define name="PITCH_LOITER_TRIM" value="0" unit="pprz_t"/>
<define name="PITCH_DASH_TRIM" value="0" unit="pprz_t"/>
</section>
<!-- ******************* HORIZONTAL CONTROL ******************************** -->
<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.1"/>
<!-- <define name="COURSE_IGAIN" value="0.01"/> -->
<!-- <define name="COURSE_DGAIN" value="0.02"/> -->
<!-- <define name="COURSE_PRE_BANK_CORRECTION" value="0.5"/> -->
<!-- maybe handy to avoid over corner with lots of wind and small airframe -->
<!-- <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(4)"/> -->
<define name="ROLL_MAX_SETPOINT" value="50" unit="deg"/>
<define name="PITCH_MAX_SETPOINT" value="35" unit="deg"/>
<define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/>
<define name="ROLL_ATTITUDE_GAIN" value="7500."/>
<define name="ROLL_RATE_GAIN" value="1500"/>
<!-- only for stabilization adaptive -->
<define name="ROLL_IGAIN" value="500"/>
<define name="ROLL_KFFA" value="0."/>
<define name="ROLL_KFFD" value="0."/>
<!-- ** Maximal roll angle change per 1/60 of second ** -->
<!--define name="ROLL_SLEW" value="0.6"/--> <!-- was 0.05 -->
<define name="PITCH_PGAIN" value="7000."/>
<!-- only for stabilization adaptive -->
<define name="PITCH_DGAIN" value="1000."/>
<define name="PITCH_IGAIN" value="500."/>
<define name="PITCH_KFFA" value="0."/>
<define name="PITCH_KFFD" value="0."/>
<define name="AILERON_OF_THROTTLE" value="0.0"/>
<define name="PITCH_OF_ROLL" value="0.03"/>
</section>
<!-- ******************************** NAV ********************************** -->
<section name="NAV">
<define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
</section>
<!-- ***************************** AGGRESIVE ******************************* -->
<section name="AGGRESSIVE" prefix="AGR_">
<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!!-->
<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 -->
<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>
conf/airframes/OPENUAS/openuas_eflite_xvert.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="xvert">
<description>
* E-flite X-VERT VTOL (https://www.openuas.org/airframes/)
+ Autopilot: Default STM32F3 based
+ Actuators: Default servos, 2 PWM servo's, 2 escs through some proprietary atmega uart protocol
+ GPS: Ublox M8N GNSS over I2C
+ IMU: MPU6500 on mainboard and external HMC58XX on GNSS module
+ TELEMETRY: Si10xx Chip based with full fledged multifreq firmware
+ CURRENT: A standard Volt and Current sensor on the analog ports
+ RANGER: {none yet}
+ RC: RC over Datalink
NOTES:
+ Hey, calibrate your magneto! Yes, you too ;), unit UKF auto works...
+ Yeah.. and you Accelometer also... EKF2 will like you :)
+ Flashing the firmware is done (For now..) via tiny SWD wires solderd on Main PCB, for Hardcore builder only ;)...
WIP:
+ Many thing to improve, e.g. RC and the Flashing method
</description>
<firmware name="rotorcraft">
<target name="ap" board="xvert_1.0"/>
<define name="BAT_CHECKER_DELAY" value="80" />
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
<!-- To fix the 32k ram limit issue:-->
<!--<define name="PPRZ_TRIG_INT_USE_FLOAT"/>-->
<define name="PPRZ_TRIG_CONST" value="const"/>
<define name="THD_WORKING_AREA_MAIN" value="802"/>
<define name="UART_THREAD_STACK_SIZE" value="190"/>
<define name="I2C_THREAD_STACK_SIZE" value="190"/>
<configure name="USE_MAGNETOMETER" value="TRUE"/>
<module name="telemetry" type="transparent" >
<define name="MODEM_BAUD" value="B57600"/>
</module>
<module name="guidance" type="hybrid"/>
<module name="motor_mixing"/>
<!--<module name="sys_mon"/>-->
<!--<module name="gps" type="ubx_ucenter"/>-->
<module name="send_imu_mag_current"/>
<module name="air_data"/>
<module name="imu" type="mpu9250_i2c">
<configure name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR"/>
<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
</module>
<module name="stabilization" type="indi_simple" />
<module name="ahrs" type="float_cmpl_quat" >
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="float_invariant">
<define name="INS_PROPAGATE_FREQUENCY" value="500"/>
<define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
</module>
<module name="actuators" type="xvert">
<define name="SERVO_HZ" value="400" />
</module>
<module name="radio_control" type="datalink"/>
<module name="gps" type="ubx_i2c">
<configure name="GPS_UBX_I2C_DEV" value="i2c2"/>
</module>
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
</firmware>
<section name="INS" prefix="INS_">
<define name="H_X" value="0.5138"/>
<define name="H_Y" value="0.00019"/>
<define name="H_Z" value="0.8578"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="30"/>
<define name="MAG_Y_NEUTRAL" value="127"/>
<define name="MAG_Z_NEUTRAL" value="140"/>
<define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
<define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="-52"/>
<define name="ACCEL_Y_NEUTRAL" value="-4"/>
<define name="ACCEL_Z_NEUTRAL" value="-7"/>
<define name="ACCEL_X_SENS" value="2.45056441681" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.44991708802" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="90." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
</section>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<servos driver="Xvert">
<servo name="RM" no="0" min="1160" neutral="1200" max="1880"/>
<servo name="LM" no="1" min="1160" neutral="1200" max="1880"/>
<servo name="ELEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVON_LEFT" no="3" min="1000" neutral="1500" max="2000"/>
</servos>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="RM" value="motor_mixing.commands[0]"/>
<set servo="LM" value="motor_mixing.commands[1]"/>
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
<!-- First the correct feedback is stored in variables -->
<let var="aileron_feedback_left" value="@YAW"/>
<let var="aileron_feedback_right" value="@YAW"/>
<let var="elevator_feedback_left" value="-@PITCH"/>
<let var="elevator_feedback_right" value="+@PITCH"/>
<!-- if using PID with gain scheduling -->
<let var="forward_left" value="$aileron_feedback_left + $elevator_feedback_left"/>
<let var="forward_right" value="$aileron_feedback_right + $elevator_feedback_right"/>
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
<set servo="ELEVON_LEFT" value="$forward_left" />
<set servo="ELEVON_RIGHT" value="$forward_right" />
</command_laws>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="2"/>
<define name="SCALE" value="256"/>
<define name="PITCH_COEF" value="{ 0, 0}"/>
<define name="ROLL_COEF" value="{ -256, 256 }"/>
<define name="YAW_COEF" value="{ 0, 0 }"/>
<define name="THRUST_COEF" value="{ 256, 256 }"/>
</section>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE" />
<define name="CALC_TAS_FACTOR" value="FALSE" />
<define name="CALC_AMSL_BARO" value="TRUE" />
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg" />
<define name="SP_MAX_THETA" value="45" unit="deg" />
<define name="SP_MAX_R" value="300" unit="deg/s" />
<define name="DEADBAND_A" value="0" />
<define name="DEADBAND_E" value="0" />
<define name="DEADBAND_R" value="50" />
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.01292" />
<define name="G1_Q" value="0.014867" />
<define name="G1_R" value="0.012055" />
<define name="G2_R" value="0.0" />
<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
<define name="FILTER_ROLL_RATE" value="FALSE" />
<define name="FILTER_PITCH_RATE" value="FALSE" />
<define name="FILTER_YAW_RATE" value="FALSE" />
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="100.0" />
<define name="REF_ERR_Q" value="100.0" />
<define name="REF_ERR_R" value="100.0" />
<define name="REF_RATE_P" value="14.0" />
<define name="REF_RATE_Q" value="14.0" />
<define name="REF_RATE_R" value="14.0" />
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.04" />
<define name="ACT_DYN_Q" value="0.04" />
<define name="ACT_DYN_R" value="0.04" />
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE" />
<define name="ADAPTIVE_MU" value="0.0001" />
<!-- max rates (conservative) -->
<define name="STABILIZATION_INDI_MAX_RATE" value="343.77" unit="deg/s"/>
<define name="STABILIZATION_INDI_MAX_R" value="200" unit="deg/s"/> <!--Does not seem to be applied-->
<define name="FULL_AUTHORITY" value="TRUE"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350" />
<define name="HOVER_KD" value="85" />
<define name="HOVER_KI" value="20" />
<define name="NOMINAL_HOVER_THROTTLE" value="0.6" />
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE" />
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<define name="MAX_BANK" value="30" unit="deg" />
<define name="REF_MAX_SPEED" value="3" unit="m/s" />
<define name="PGAIN" value="50" />
<define name="DGAIN" value="100" />
<define name="IGAIN" value="30" />
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="4.5" />
<define name="DESCEND_VSPEED" value="-1.0" />
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
<define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT" />
<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
</section>
<section name="BAT">
<!-- 2S LiPo with 950mAh -->
<define name="LOW_BAT_LEVEL" value="7.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="7.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
</airframe>
conf/airframes/tudelft/xvert.xml
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="xvert">
<description>
E-flite X-VERT VTOL
* Autopilot: xvert
* IMU: MPU6500 + external HMC58XX
* Actuators: 2 PWM servo's, 2 escs through some proprietary atmega uart protocol
* GPS: Ublox through I2C
* RC: Datalink
</description>
<firmware name="rotorcraft">
<target name="ap" board="xvert_1.0"/>
<define name="BAT_CHECKER_DELAY" value="80" />
<!-- amount of time it take for the bat to check -->
<!-- to avoid bat low spike detection when strong pullup withch draws short sudden power-->
<define name="CATASTROPHIC_BATTERY_KILL_DELAY" value="80" />
<!-- To fix the 32k ram limit issue:-->
<!--<define name="PPRZ_TRIG_INT_USE_FLOAT"/>-->
<define name="PPRZ_TRIG_CONST" value="const"/>
<define name="THD_WORKING_AREA_MAIN" value="1024"/>
<define name="UART_THREAD_STACK_SIZE" value="240"/>
<define name="I2C_THREAD_STACK_SIZE" value="240"/>
<configure name="USE_MAGNETOMETER" value="FALSE"/>
<!-- in seconds-->
<module name="telemetry" type="transparent" >
<define name="MODEM_BAUD" value="57600"/>
</module>
<module name="guidance" type="hybrid"/>
<module name="motor_mixing"/>
<module name="sys_mon"/>
<module name="gps" type="ubx_ucenter"/>
<module name="send_imu_mag_current"/>
<module name="air_data"/>
<module name="imu" type="mpu9250_i2c">
<configure name="IMU_MPU9250_I2C_DEV" value="i2c1"/>
<define name="IMU_MPU9250_READ_MAG" value="FALSE"/>
<define name="IMU_MPU9250_I2C_ADDR" value="MPU9250_ADDR"/>
<define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" /> <!-- Meaning the external hmc-->
</module>
<module name="stabilization" type="indi_simple" />
<module name="ahrs" type="float_cmpl_quat" >
<define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
</module>
<module name="ins" type="float_invariant">
<define name="INS_PROPAGATE_FREQUENCY" value="500"/>
<define name="INS_FINV_MAG_ID" value="MAG_HMC58XX_SENDER_ID"/>
</module>
<module name="actuators" type="xvert">
<define name="SERVO_HZ" value="400" />
</module>
<module name="radio_control" type="datalink"/>
<module name="gps" type="ubx_i2c">
<configure name="GPS_UBX_I2C_DEV" value="i2c2"/>
</module>
<module name="mag" type="hmc58xx">
<configure name="MAG_HMC58XX_I2C_DEV" value="i2c2"/>
<define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
<define name="HMC58XX_CHAN_X" value="1"/>
<define name="HMC58XX_CHAN_Y" value="0"/>
<define name="HMC58XX_CHAN_Z" value="2"/>
<define name="HMC58XX_CHAN_X_SIGN" value="-"/>
<define name="HMC58XX_CHAN_Y_SIGN" value="+"/>
<define name="HMC58XX_CHAN_Z_SIGN" value="+"/>
</module>
</firmware>
<section name="INS" prefix="INS_">
<define name="H_X" value="0.5138"/>
<define name="H_Y" value="0.00019"/>
<define name="H_Z" value="0.8578"/>
</section>
<section name="IMU" prefix="IMU_">
<!-- replace this with your own calibration -->
<define name="MAG_X_NEUTRAL" value="30"/>
<define name="MAG_Y_NEUTRAL" value="127"/>
<define name="MAG_Z_NEUTRAL" value="140"/>
<define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
<define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
<define name="ACCEL_X_NEUTRAL" value="-52"/>
<define name="ACCEL_Y_NEUTRAL" value="-4"/>
<define name="ACCEL_Z_NEUTRAL" value="-7"/>
<define name="ACCEL_X_SENS" value="2.45056441681" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.44991708802" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.44199722843" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="90." unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
<define name="BODY_TO_IMU_PSI" value="90." unit="deg"/>
</section>
<commands>
<axis name="PITCH" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<servos driver="Xvert">
<servo name="RM" no="0" min="1160" neutral="1200" max="1880"/>
<servo name="LM" no="1" min="1160" neutral="1200" max="1880"/>
<servo name="ELEVON_RIGHT" no="2" min="1000" neutral="1500" max="2000"/>
<servo name="ELEVON_LEFT" no="3" min="1000" neutral="1500" max="2000"/>
</servos>
<command_laws>
<call fun="motor_mixing_run(autopilot_get_motors_on(),FALSE,values)"/>
<set servo="RM" value="motor_mixing.commands[0]"/>
<set servo="LM" value="motor_mixing.commands[1]"/>
<!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
<!-- First the correct feedback is stored in variables -->
<let var="aileron_feedback_left" value="@YAW"/>
<let var="aileron_feedback_right" value="@YAW"/>
<let var="elevator_feedback_left" value="-@PITCH"/>
<let var="elevator_feedback_right" value="+@PITCH"/>
<!-- if using PID with gain scheduling -->
<let var="forward_left" value="$aileron_feedback_left + $elevator_feedback_left"/>
<let var="forward_right" value="$aileron_feedback_right + $elevator_feedback_right"/>
<!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
<set servo="ELEVON_LEFT" value="$forward_left" />
<set servo="ELEVON_RIGHT" value="$forward_right" />
</command_laws>
<section name="AIR_DATA" prefix="AIR_DATA_">
<define name="CALC_AIRSPEED" value="FALSE" />
<define name="CALC_TAS_FACTOR" value="FALSE" />
<define name="CALC_AMSL_BARO" value="TRUE" />
</section>
<section name="RC_SETPOINT" prefix="STABILIZATION_ATTITUDE_">
<!-- setpoint limits for attitude stabilization rc flight -->
<define name="SP_MAX_PHI" value="45" unit="deg" />
<define name="SP_MAX_THETA" value="45" unit="deg" />
<define name="SP_MAX_R" value="300" unit="deg/s" />
<define name="DEADBAND_A" value="0" />
<define name="DEADBAND_E" value="0" />
<define name="DEADBAND_R" value="50" />
</section>
<section name="STABILIZATION_ATTITUDE_INDI" prefix="STABILIZATION_INDI_">
<!-- control effectiveness -->
<define name="G1_P" value="0.01292" />
<define name="G1_Q" value="0.014867" />
<define name="G1_R" value="0.012055" />
<define name="G2_R" value="0.0" />
<!-- For the bebop2 we need to filter the roll rate due to the dampers -->
<define name="FILTER_ROLL_RATE" value="FALSE" />
<define name="FILTER_PITCH_RATE" value="FALSE" />
<define name="FILTER_YAW_RATE" value="FALSE" />
<!-- reference acceleration for attitude control -->
<define name="REF_ERR_P" value="100.0" />
<define name="REF_ERR_Q" value="100.0" />
<define name="REF_ERR_R" value="100.0" />
<define name="REF_RATE_P" value="14.0" />
<define name="REF_RATE_Q" value="14.0" />
<define name="REF_RATE_R" value="14.0" />
<!-- second order filter parameters -->
<define name="FILT_CUTOFF" value="3.2"/>
<define name="FILT_CUTOFF_R" value="3.2"/>
<!-- first order actuator dynamics -->
<define name="ACT_DYN_P" value="0.04" />
<define name="ACT_DYN_Q" value="0.04" />
<define name="ACT_DYN_R" value="0.04" />
<!-- Adaptive Learning Rate -->
<define name="USE_ADAPTIVE" value="FALSE" />
<define name="ADAPTIVE_MU" value="0.0001" />
<!-- max rates (conservative) -->
<define name="STABILIZATION_INDI_MAX_RATE" value="343.77" unit="deg/s"/>
<define name="STABILIZATION_INDI_MAX_R" value="200" unit="deg/s"/> <!--Does not seem to be applied-->
<define name="FULL_AUTHORITY" value="TRUE"/>
</section>
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
<define name="HOVER_KP" value="350" />
<define name="HOVER_KD" value="85" />
<define name="HOVER_KI" value="20" />
<define name="NOMINAL_HOVER_THROTTLE" value="0.6" />
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE" />
</section>
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
<!-- Good weather -->
<define name="MAX_BANK" value="20" unit="deg" />
<define name="REF_MAX_SPEED" value="2" unit="m/s" />
<!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="50" />
<define name="DGAIN" value="100" />
<define name="IGAIN" value="30" />
</section>
<section name="NAVIGATION" prefix="NAV_">
<define name="CLIMB_VSPEED" value="4.5" />
<define name="DESCEND_VSPEED" value="-1.0" />
</section>
<section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT" />
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
<define name="MODE_AUTO2" value="AP_MODE_RC_DIRECT" />
<define name="NO_RC_THRUST_LIMIT" value="TRUE" />
</section>
<section name="BAT">
<!-- 2S LiPo with 950mAh -->
<define name="LOW_BAT_LEVEL" value="7.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="7.3" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="7.0" unit="V"/>
<define name="MAX_BAT_LEVEL" value="8.4" unit="V"/>
</section>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="2"/>
<define name="SCALE" value="256"/>
<define name="PITCH_COEF" value="{ 0, 0}"/>
<define name="ROLL_COEF" value="{ -256, 256 }"/>
<define name="YAW_COEF" value="{ 0, 0 }"/>
<define name="THRUST_COEF" value="{ 256, 256 }"/>
</section>
</airframe>
conf/airframes/untested/stm32f4_discovery_test.xml
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<!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>
conf/boards/stm32f3_discovery_1.0_chibios.makefile
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# 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 = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F3xx/platform.mk
CHIBIOS_BOARD_LINKER = STM32F303xC.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f3xx.mk
##############################################################################
# Compiler settings
#
MCU = cortex-m4
# default flash mode is via DFU-UTIL
# possibilities: DFU-UTIL, SWD, STLINK
FLASH_MODE ?= DFU-UTIL
HAS_LUFTBOOT = FALSE
#
# default LED configuration
#
RADIO_CONTROL_LED ?= 4
BARO_LED ?= none
AHRS_ALIGNER_LED ?= 5
GPS_LED ?= 6
SYS_TIME_LED ?= 3
#
# default UART configuration (modem, gps, spektrum)
#
MODEM_PORT ?= UART1
MODEM_BAUD ?= B57600
GPS_PORT ?= UART2
GPS_BAUD ?= B38400
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART3
SBUS_PORT ?= UART3
#
# default actuator configuration
#
# you can use different actuators by adding a configure option to your firmware section
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
# and by setting the correct "driver" attribute in servo section
# e.g. <servo driver="Ppm">
#
ACTUATORS ?= actuators_pwm
conf/boards/stm32f4_discovery.makefile
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# Hey Emacs, this is a -*- makefile -*-
#
# stm32f4_discovery.makefile
#
#
BOARD=stm32f4_discovery
BOARD_VERSION=
BOARD_CFG=\"boards/$(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
conf/boards/vms_ecu_1.0_chibios.makefile
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@@ -1,76 +0,0 @@
# Hey Emacs, this is a -*- makefile -*-
#
# VMS_ECU_1.0_chibios.makefile
#
#
BOARD=vms_ecu
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 F4
USE_FPU=hard
$(TARGET).CFLAGS += -DSTM32F4 -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
#
# Define project name here (target)
PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F4xx/platform.mk
CHIBIOS_BOARD_LINKER = STM32F407xG.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f4xx.mk
##############################################################################
# Compiler settings
#
MCU = cortex-m4
# default flash mode is via usb dfu bootloader
# possibilities: DFU-UTIL, SWD, STLINK
FLASH_MODE ?= SWD
HAS_LUFTBOOT = FALSE
#
# default LED configuration
#
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= none
GPS_LED ?= none
SYS_TIME_LED ?= none
#
# default UART configuration (modem, gps, spektrum)
#
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2
MODEM_PORT ?= UART2
MODEM_BAUD ?= B57600
GPS_PORT ?= UART6
GPS_BAUD ?= B38400
SBUS_PORT ?= UART5
#
# default actuator configuration
#
# you can use different actuators by adding a configure option to your firmware section
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
# and by setting the correct "driver" attribute in servo section
# e.g. <servo driver="Ppm">
#
ACTUATORS ?= actuators_pwm
conf/boards/xvert_1.0.makefile
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# Hey Emacs, this is a -*- makefile -*-
#
# stm32f37_vortex_chibios.makefile
#
#
BOARD=xvert
BOARD_VERSION=1.0
BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION)
BOARD_CFG=\"boards/$(BOARD_DIR)/board.h\"
ARCH=chibios
$(TARGET).ARCHDIR = $(ARCH)
RTOS=chibios
## FPU on F3
##TODO: there is some bug when using the hard FPU unit!!
USE_FPU=no
$(TARGET).CFLAGS += -DPPRZLINK_ENABLE_FD
##############################################################################
# Architecture or project specific options
#
# Define project name here (target)
PROJECT = $(TARGET)
# Project specific files and paths (see Makefile.chibios for details)
CHIBIOS_BOARD_PLATFORM = STM32F37x/platform.mk
CHIBIOS_BOARD_LINKER = STM32F373xC.ld
CHIBIOS_BOARD_STARTUP = startup_stm32f3xx.mk
##############################################################################
# Compiler settings
#
MCU = cortex-m4
# default flash mode is via DFU-UTIL
# possibilities: DFU-UTIL, SWD, SWD_NOPWR, STLINK
FLASH_MODE ?= SWD_NOPWR
HAS_LUFTBOOT = FALSE
#
# default LED configuration
#
SYS_TIME_LED ?= 1
RADIO_CONTROL_LED ?= none
BARO_LED ?= none
AHRS_ALIGNER_LED ?= 2
GPS_LED ?= none
#
# default UART configuration (modem, gps, spektrum)
#
MODEM_PORT ?= UART2
MODEM_BAUD ?= B57600
#
# default actuator configuration
#
# you can use different actuators by adding a configure option to your firmware section
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
# and by setting the correct "driver" attribute in servo section
# e.g. <servo driver="Ppm">
#
ACTUATORS ?= actuators_xvert
conf/conf_tests.xml
-11
View File
@@ -274,17 +274,6 @@
settings_modules="modules/gps.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_dcm.xml modules/imu_common.xml"
gui_color="blue"
/>
<aircraft
name="VMS_ECU"
ac_id="47"
airframe="airframes/AGGIEAIR/aggieair_ecu_example.xml"
radio="radios/AGGIEAIR/aggieair_taranis.xml"
telemetry="telemetry/AGGIEAIR/aggieair_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/vms_ecu_demo.xml modules/nav_basic_fw.xml modules/guidance_basic_fw.xml modules/stabilization_attitude_fw.xml modules/ahrs_float_mlkf.xml modules/imu_common.xml modules/gps.xml"
gui_color="#00009e93ffff"
/>
<aircraft
name="Yapa2_XSens"
ac_id="29"
conf/firmwares/subsystems/shared/baro_board.makefile
-19
View File
@@ -290,25 +290,6 @@ else ifeq ($(BOARD), chimera)
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
else ifeq ($(BOARD), xvert)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
BARO_BOARD_CFLAGS += -DUSE_I2C2
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_ADDR=MS5611_I2C_SLAVE_ADDR_ALT
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
else ifeq ($(BOARD), vms_ecu)
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_SPI
include $(CFG_SHARED)/spi_master.makefile
BARO_BOARD_CFLAGS += -DUSE_SPI2 -DUSE_SPI_SLAVE3
BARO_BOARD_CFLAGS += -DBB_MS5611_SPI_DEV=spi2
BARO_BOARD_CFLAGS += -DBB_MS5611_SLAVE_IDX=SPI_SLAVE3
BARO_BOARD_SRCS += peripherals/ms5611.c
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
endif # check board
BARO_LED ?= none
conf/flash_modes.xml
-5
View File
@@ -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_.*"/>
@@ -102,7 +99,6 @@
<board name="lia_.*"/>
<board name="chimera_.*"/>
<board name="tawaki_.*"/>
<board name="vms_ecu_.*"/>
<board name="crazyflie_.*"/>
<board name="nucleo.*"/>
<board name="matek_.*"/>
@@ -121,7 +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_.*"/>
conf/modules/actuators_xvert.xml
-25
View File
@@ -1,25 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="actuators_esc32" dir="actuators" task="actuators">
<doc>
<description>
Actuators Driver for x-vert vtol escs
</description>
<configure name="ESCS_PORT" value="usb_serial" description="Port used to connect to the atmegas escs."/>
<configure name="ESCS_BAUD" value="250000" description="Baud rate for ESCS_PORT if a UART"/>
</doc>
<header>
<file name="actuators_xvert.h" dir="subsystems/actuators"/>
</header>
<makefile target="ap">
<define name="ACTUATORS"/>
<file_arch name="actuators_xvert.c" dir="subsystems/actuators"/>
<file_arch name="actuators_pwm_arch.c" dir="subsystems/actuators"/>
<configure name="ESCS_PORT" default="uart1" case="upper|lower"/>
<configure name="ESCS_BAUD" default="250000"/>
<define name="USE_$(ESCS_PORT_UPPER)"/>
<define name="ESCS_UART" value="$(ESCS_PORT_LOWER)"/>
<define name="$(ESCS_PORT_UPPER)_BAUD" value="$(ESCS_BAUD)"/>
</makefile>
</module>
conf/modules/vms_ecu_demo.xml
-45
View File
@@ -1,45 +0,0 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="vms_ecu_demo" dir="fsae_electric">
<doc>
<description>
A simple module for Viking Motorsports Engine Control Unit demonstration,
showing it usability for Formula SAE student competition.
More info at https://wiki.paparazziuav.org/wiki/VMS_ECU
</description>
<section name="ECU">
<!-- optionally define parameters here -->
</section>
</doc>
<settings>
<dl_settings>
<dl_settings NAME="ECU">
<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="ams_status" type="bool" shortname="AMS_EN" module="modules/fsae_electric/vms_ecu_demo"/>
<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="pwr_ready" type="bool" shortname="PWR_READY" module="modules/fsae_electric/vms_ecu_demo"/>
<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="pwr_stdby" type="bool" shortname="PWR_STDBY" module="modules/fsae_electric/vms_ecu_demo"/>
<dl_setting min="0" max="1" step="1" values="FALSE|TRUE" var="rtds" type="bool" shortname="RTDS" module="modules/fsae_electric/vms_ecu_demo"/>
<dl_setting min="0" max="4095" step="1" var="dac_1" type="uint16" shortname="DAC_1" module="modules/fsae_electric/vms_ecu_demo" handler="UpdateDac1"/>
<dl_setting min="0" max="4095" step="1" var="dac_2" type="uint16" shortname="DAC_2" module="modules/fsae_electric/vms_ecu_demo" handler="UpdateDac2"/>
</dl_settings>
</dl_settings>
</settings>
<header>
<file name="vms_ecu_demo.h"/>
</header>
<init fun="vms_ecu_demo_init()"/>
<periodic fun="vms_ecu_demo_periodic()" freq="10."/>
<periodic fun="vms_ecu_demo_downlink()" freq="4." autorun="TRUE"/>
<makefile>
<file name="vms_ecu_demo.c"/>
<define name="USE_DAC1" value="1" />
<define name="USE_DAC2" value="1" />
<define name="USE_CAN1" value="1" />
<define name="USE_CAN2" value="1" />
</makefile>
</module>
conf/userconf/OPENUAS/openuas_all_ac.xml
-11
View File
@@ -318,15 +318,4 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/airspeed_adc.xml modules/photogrammetry_calculator.xml modules/gps.xml modules/gps_ubx_ucenter.xml modules/guidance_energy.xml modules/imu_common.xml modules/tune_airspeed.xml modules/nav_basic_fw.xml modules/nav_smooth.xml modules/nav_survey_poly_osam.xml modules/stabilization_attitude_fw.xml modules/digital_cam_uart.xml"
gui_color="#fffffac7c07a"
/>
<aircraft
name="XVert"
ac_id="217"
airframe="airframes/OPENUAS/openuas_eflite_xvert.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/ahrs_float_cmpl_quat.xml modules/air_data.xml modules/gps.xml modules/guidance_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_rotorcraft.xml modules/stabilization_indi_simple.xml"
gui_color="#fffff3c90091"
/>
</conf>
conf/userconf/tudelft/conf.xml
-12
View File
@@ -591,16 +591,4 @@
settings_modules="modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_quat.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml modules/gps_ubx_ucenter.xml"
gui_color="#b29eb22cffff"
/>
<aircraft
name="xvert"
ac_id="69"
airframe="airframes/tudelft/xvert.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft_slow.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/gps.xml modules/ahrs_float_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/air_data.xml modules/gps_ubx_ucenter.xml modules/guidance_hybrid.xml"
gui_color="#ffffcccaccca"
release="2a6ad556f183875fa9fb8072d774beec7ba55701"
/>
</conf>
sw/airborne/arch/chibios/STM32F107xC.ld
+17 -17
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
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.
@@ -19,22 +19,22 @@
*/
MEMORY
{
flash0 : org = 0x08002000, len = 256k
flash1 : org = 0x00000000, len = 0
flash2 : org = 0x00000000, len = 0
flash3 : org = 0x00000000, len = 0
flash4 : org = 0x00000000, len = 0
flash5 : org = 0x00000000, len = 0
flash6 : org = 0x00000000, len = 0
flash7 : org = 0x00000000, len = 0
ram0 : org = 0x20000000, len = 64k
ram1 : org = 0x00000000, len = 0
ram2 : org = 0x00000000, len = 0
ram3 : org = 0x00000000, len = 0
ram4 : org = 0x00000000, len = 0
ram5 : org = 0x00000000, len = 0
ram6 : org = 0x00000000, len = 0
ram7 : org = 0x00000000, len = 0
flash0 (rx) : org = 0x08002000, len = 256k
flash1 (rx) : org = 0x00000000, len = 0
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 = 0x20000000, len = 64k
ram1 (wx) : org = 0x00000000, len = 0
ram2 (wx) : org = 0x00000000, len = 0
ram3 (wx) : org = 0x00000000, len = 0
ram4 (wx) : org = 0x00000000, len = 0
ram5 (wx) : org = 0x00000000, len = 0
ram6 (wx) : org = 0x00000000, len = 0
ram7 (wx) : org = 0x00000000, len = 0
}
/* For each data/text section two region are defined, a virtual region
sw/airborne/arch/chibios/STM32F407xG.ld
+17 -17
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
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.
@@ -20,22 +20,22 @@
*/
MEMORY
{
flash0 : org = 0x08004000, len = 1M
flash1 : org = 0x00000000, len = 0
flash2 : org = 0x00000000, len = 0
flash3 : org = 0x00000000, len = 0
flash4 : org = 0x00000000, len = 0
flash5 : org = 0x00000000, len = 0
flash6 : org = 0x00000000, len = 0
flash7 : org = 0x00000000, len = 0
ram0 : org = 0x20000000, len = 128k /* SRAM1 + SRAM2 */
ram1 : org = 0x20000000, len = 112k /* SRAM1 */
ram2 : org = 0x2001C000, len = 16k /* SRAM2 */
ram3 : org = 0x00000000, len = 0
ram4 : org = 0x10000000, len = 64k /* CCM SRAM */
ram5 : org = 0x40024000, len = 4k /* BCKP SRAM */
ram6 : org = 0x00000000, len = 0
ram7 : org = 0x00000000, len = 0
flash0 (rx) : org = 0x08004000, len = 1M
flash1 (rx) : org = 0x00000000, len = 0
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 = 0x20000000, len = 128k /* SRAM1 + SRAM2 */
ram1 (wx) : org = 0x20000000, len = 112k /* SRAM1 */
ram2 (wx) : org = 0x2001C000, len = 16k /* SRAM2 */
ram3 (wx) : org = 0x00000000, len = 0
ram4 (wx) : org = 0x10000000, len = 64k /* CCM SRAM */
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
sw/airborne/arch/chibios/STM32F76xxI.ld
+24 -20
View File
@@ -25,37 +25,37 @@
*/
MEMORY
{
flash0 : org = 0x08008000, len = 2M /* Flash as AXIM (writable) */
flash1 : org = 0x00200000, len = 0 /* Flash as ITCM */
flash2 : org = 0x00000000, len = 0
flash3 : org = 0x00000000, len = 0
flash4 : org = 0x00000000, len = 0
flash5 : org = 0x00000000, len = 0
flash6 : org = 0x00000000, len = 0
flash7 : org = 0x00000000, len = 0
ram0 : org = 0x20020000, len = 384k /* SRAM1 + SRAM2 */
ram1 : org = 0x20020000, len = 368k /* SRAM1 */
ram2 : org = 0x2007C000, len = 16k /* SRAM2 */
ram3 : org = 0x20000000, len = 128k /* DTCM-RAM */
ram4 : org = 0x00000000, len = 16k /* ITCM-RAM */
ram5 : org = 0x40024000, len = 4k /* BCKP SRAM */
ram6 : org = 0x00000000, len = 0
ram7 : org = 0x00000000, len = 0
flash0 (rx) : org = 0x08008000, len = 2M /* Flash as AXIM (writable) */
flash1 (rx) : org = 0x00200000, len = 2M /* 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 = 0x20020000, len = 384k /* SRAM1 + SRAM2 */
ram1 (wx) : org = 0x20020000, len = 368k /* SRAM1 */
ram2 (wx) : org = 0x2007C000, len = 16k /* SRAM2 */
ram3 (wx) : org = 0x20000000, len = 128k /* 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", flash0);
REGION_ALIAS("VECTORS_FLASH", flash1);
REGION_ALIAS("VECTORS_FLASH_LMA", flash0);
/* Flash region to be used for constructors and destructors.*/
REGION_ALIAS("XTORS_FLASH", flash0);
REGION_ALIAS("XTORS_FLASH", flash1);
REGION_ALIAS("XTORS_FLASH_LMA", flash0);
/* Flash region to be used for code text.*/
REGION_ALIAS("TEXT_FLASH", flash0);
REGION_ALIAS("TEXT_FLASH", flash1);
REGION_ALIAS("TEXT_FLASH_LMA", flash0);
/* Flash region to be used for read only data.*/
@@ -63,7 +63,7 @@ REGION_ALIAS("RODATA_FLASH", flash0);
REGION_ALIAS("RODATA_FLASH_LMA", flash0);
/* Flash region to be used for various.*/
REGION_ALIAS("VARIOUS_FLASH", flash0);
REGION_ALIAS("VARIOUS_FLASH", flash1);
REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);
/* Flash region to be used for RAM(n) initialization data.*/
@@ -130,3 +130,7 @@ INCLUDE rules_code.ld
/* Data rules inclusion.*/
INCLUDE rules_data.ld
/* Memory rules inclusion.*/
INCLUDE rules_memory.ld
sw/airborne/arch/chibios/chconf.h
+161 -31
View File
@@ -15,7 +15,7 @@
*/
/**
* @file templates/chconf.h
* @file rt/templates/chconf.h
* @brief Configuration file template.
* @details A copy of this file must be placed in each project directory, it
* contains the application specific kernel settings.
@@ -29,7 +29,7 @@
#define CHCONF_H
#define _CHIBIOS_RT_CONF_
#define _CHIBIOS_RT_CONF_VER_5_1_
#define _CHIBIOS_RT_CONF_VER_6_1_
/*===========================================================================*/
/**
@@ -40,29 +40,36 @@
/**
* @brief System time counter resolution.
* @note Allowed values are 16 or 32 bits.
* @note Allowed values are 16, 32 or 64 bits.
*/
#if !defined(CH_CFG_ST_RESOLUTION)
#define CH_CFG_ST_RESOLUTION 32
#endif
/**
* @brief System tick frequency.
* @details Frequency of the system timer that drives the system ticks. This
* setting also defines the system tick time unit.
*/
#if !defined(CH_CFG_ST_FREQUENCY)
#define CH_CFG_ST_FREQUENCY 10000
#endif
/**
* @brief Time intervals data size.
* @note Allowed values are 16, 32 or 64 bits.
*/
#if !defined(CH_CFG_INTERVALS_SIZE)
#define CH_CFG_INTERVALS_SIZE 32
#endif
/**
* @brief Time types data size.
* @note Allowed values are 16 or 32 bits.
*/
#if !defined(CH_CFG_TIME_TYPES_SIZE)
#define CH_CFG_TIME_TYPES_SIZE 32
#endif
/**
* @brief Time delta constant for the tick-less mode.
@@ -72,7 +79,9 @@
* The value one is not valid, timeouts are rounded up to
* this value.
*/
#if !defined(CH_CFG_ST_TIMEDELTA)
#define CH_CFG_ST_TIMEDELTA 0
#endif
/** @} */
@@ -95,20 +104,9 @@
* @note The round robin preemption is not supported in tickless mode and
* must be set to zero in that case.
*/
#if !defined(CH_CFG_TIME_QUANTUM)
#define CH_CFG_TIME_QUANTUM 10
/**
* @brief Managed RAM size.
* @details Size of the RAM area to be managed by the OS. If set to zero
* then the whole available RAM is used. The core memory is made
* available to the heap allocator and/or can be used directly through
* the simplified core memory allocator.
*
* @note In order to let the OS manage the whole RAM the linker script must
* provide the @p __heap_base__ and @p __heap_end__ symbols.
* @note Requires @p CH_CFG_USE_MEMCORE.
*/
#define CH_CFG_MEMCORE_SIZE 0
#endif
/**
* @brief Idle thread automatic spawn suppression.
@@ -117,7 +115,9 @@
* function becomes the idle thread and must implement an
* infinite loop.
*/
#if !defined(CH_CFG_NO_IDLE_THREAD)
#define CH_CFG_NO_IDLE_THREAD FALSE
#endif
/** @} */
@@ -136,7 +136,9 @@
* @note This is not related to the compiler optimization options.
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_OPTIMIZE_SPEED)
#define CH_CFG_OPTIMIZE_SPEED TRUE
#endif
/** @} */
@@ -154,7 +156,9 @@
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_TM)
#define CH_CFG_USE_TM TRUE
#endif
/**
* @brief Threads registry APIs.
@@ -162,7 +166,9 @@
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_REGISTRY)
#define CH_CFG_USE_REGISTRY TRUE
#endif
/**
* @brief Threads synchronization APIs.
@@ -171,7 +177,9 @@
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_WAITEXIT)
#define CH_CFG_USE_WAITEXIT TRUE
#endif
/**
* @brief Semaphores APIs.
@@ -179,7 +187,9 @@
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_SEMAPHORES)
#define CH_CFG_USE_SEMAPHORES TRUE
#endif
/**
* @brief Semaphores queuing mode.
@@ -190,7 +200,9 @@
* requirements.
* @note Requires @p CH_CFG_USE_SEMAPHORES.
*/
#if !defined(CH_CFG_USE_SEMAPHORES_PRIORITY)
#define CH_CFG_USE_SEMAPHORES_PRIORITY FALSE
#endif
/**
* @brief Mutexes APIs.
@@ -198,7 +210,9 @@
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_MUTEXES)
#define CH_CFG_USE_MUTEXES TRUE
#endif
/**
* @brief Enables recursive behavior on mutexes.
@@ -208,7 +222,9 @@
* @note The default is @p FALSE.
* @note Requires @p CH_CFG_USE_MUTEXES.
*/
#if !defined(CH_CFG_USE_MUTEXES_RECURSIVE)
#define CH_CFG_USE_MUTEXES_RECURSIVE FALSE
#endif
/**
* @brief Conditional Variables APIs.
@@ -218,7 +234,9 @@
* @note The default is @p TRUE.
* @note Requires @p CH_CFG_USE_MUTEXES.
*/
#if !defined(CH_CFG_USE_CONDVARS)
#define CH_CFG_USE_CONDVARS TRUE
#endif
/**
* @brief Conditional Variables APIs with timeout.
@@ -228,7 +246,9 @@
* @note The default is @p TRUE.
* @note Requires @p CH_CFG_USE_CONDVARS.
*/
#if !defined(CH_CFG_USE_CONDVARS_TIMEOUT)
#define CH_CFG_USE_CONDVARS_TIMEOUT TRUE
#endif
/**
* @brief Events Flags APIs.
@@ -236,7 +256,9 @@
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_EVENTS)
#define CH_CFG_USE_EVENTS TRUE
#endif
/**
* @brief Events Flags APIs with timeout.
@@ -246,7 +268,9 @@
* @note The default is @p TRUE.
* @note Requires @p CH_CFG_USE_EVENTS.
*/
#if !defined(CH_CFG_USE_EVENTS_TIMEOUT)
#define CH_CFG_USE_EVENTS_TIMEOUT TRUE
#endif
/**
* @brief Synchronous Messages APIs.
@@ -255,7 +279,9 @@
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_MESSAGES)
#define CH_CFG_USE_MESSAGES TRUE
#endif
/**
* @brief Synchronous Messages queuing mode.
@@ -266,7 +292,31 @@
* requirements.
* @note Requires @p CH_CFG_USE_MESSAGES.
*/
#if !defined(CH_CFG_USE_MESSAGES_PRIORITY)
#define CH_CFG_USE_MESSAGES_PRIORITY FALSE
#endif
/**
* @brief Dynamic Threads APIs.
* @details If enabled then the dynamic threads creation APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_CFG_USE_WAITEXIT.
* @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
*/
#if !defined(CH_CFG_USE_DYNAMIC)
#define CH_CFG_USE_DYNAMIC TRUE
#endif
/** @} */
/*===========================================================================*/
/**
* @name OSLIB options
* @{
*/
/*===========================================================================*/
/**
* @brief Mailboxes APIs.
@@ -276,7 +326,9 @@
* @note The default is @p TRUE.
* @note Requires @p CH_CFG_USE_SEMAPHORES.
*/
#if !defined(CH_CFG_USE_MAILBOXES)
#define CH_CFG_USE_MAILBOXES TRUE
#endif
/**
* @brief Core Memory Manager APIs.
@@ -285,7 +337,24 @@
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_MEMCORE)
#define CH_CFG_USE_MEMCORE TRUE
#endif
/**
* @brief Managed RAM size.
* @details Size of the RAM area to be managed by the OS. If set to zero
* then the whole available RAM is used. The core memory is made
* available to the heap allocator and/or can be used directly through
* the simplified core memory allocator.
*
* @note In order to let the OS manage the whole RAM the linker script must
* provide the @p __heap_base__ and @p __heap_end__ symbols.
* @note Requires @p CH_CFG_USE_MEMCORE.
*/
#if !defined(CH_CFG_MEMCORE_SIZE)
#define CH_CFG_MEMCORE_SIZE 0
#endif
/**
* @brief Heap Allocator APIs.
@@ -297,7 +366,9 @@
* @p CH_CFG_USE_SEMAPHORES.
* @note Mutexes are recommended.
*/
#if !defined(CH_CFG_USE_HEAP)
#define CH_CFG_USE_HEAP TRUE
#endif
/**
* @brief Memory Pools Allocator APIs.
@@ -306,27 +377,64 @@
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_MEMPOOLS)
#define CH_CFG_USE_MEMPOOLS TRUE
#endif
/**
* @brief Objects FIFOs APIs.
* @brief Objects FIFOs APIs.
* @details If enabled then the objects FIFOs APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_OBJ_FIFOS)
#define CH_CFG_USE_OBJ_FIFOS TRUE
#endif
/**
* @brief Dynamic Threads APIs.
* @details If enabled then the dynamic threads creation APIs are included
* @brief Pipes APIs.
* @details If enabled then the pipes APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
* @note Requires @p CH_CFG_USE_WAITEXIT.
* @note Requires @p CH_CFG_USE_HEAP and/or @p CH_CFG_USE_MEMPOOLS.
*/
#define CH_CFG_USE_DYNAMIC TRUE
#if !defined(CH_CFG_USE_PIPES)
#define CH_CFG_USE_PIPES TRUE
#endif
/**
* @brief Objects Caches APIs.
* @details If enabled then the objects caches APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_OBJ_CACHES)
#define CH_CFG_USE_OBJ_CACHES TRUE
#endif
/**
* @brief Delegate threads APIs.
* @details If enabled then the delegate threads APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_DELEGATES)
#define CH_CFG_USE_DELEGATES TRUE
#endif
/**
* @brief Jobs Queues APIs.
* @details If enabled then the jobs queues APIs are included
* in the kernel.
*
* @note The default is @p TRUE.
*/
#if !defined(CH_CFG_USE_JOBS)
#define CH_CFG_USE_JOBS TRUE
#endif
/** @} */
@@ -344,39 +452,60 @@
*
* @note The default is @p FALSE.
*/
#if !defined(CH_CFG_USE_FACTORY)
#define CH_CFG_USE_FACTORY TRUE
#endif
/**
* @brief Maximum length for object names.
* @details If the specified length is zero then the name is stored by
* pointer but this could have unintended side effects.
*/
#if !defined(CH_CFG_FACTORY_MAX_NAMES_LENGTH)
#define CH_CFG_FACTORY_MAX_NAMES_LENGTH 8
#endif
/**
* @brief Enables the registry of generic objects.
*/
#if !defined(CH_CFG_FACTORY_OBJECTS_REGISTRY)
#define CH_CFG_FACTORY_OBJECTS_REGISTRY TRUE
#endif
/**
* @brief Enables factory for generic buffers.
*/
#if !defined(CH_CFG_FACTORY_GENERIC_BUFFERS)
#define CH_CFG_FACTORY_GENERIC_BUFFERS TRUE
#endif
/**
* @brief Enables factory for semaphores.
*/
#if !defined(CH_CFG_FACTORY_SEMAPHORES)
#define CH_CFG_FACTORY_SEMAPHORES TRUE
#endif
/**
* @brief Enables factory for mailboxes.
*/
#if !defined(CH_CFG_FACTORY_MAILBOXES)
#define CH_CFG_FACTORY_MAILBOXES TRUE
#endif
/**
* @brief Enables factory for objects FIFOs.
*/
#if !defined(CH_CFG_FACTORY_OBJ_FIFOS)
#define CH_CFG_FACTORY_OBJ_FIFOS TRUE
#endif
/**
* @brief Enables factory for Pipes.
*/
#if !defined(CH_CFG_FACTORY_PIPES) || defined(__DOXYGEN__)
#define CH_CFG_FACTORY_PIPES TRUE
#endif
/** @} */
@@ -436,14 +565,18 @@
*
* @note The default is @p CH_DBG_TRACE_MASK_DISABLED.
*/
#if !defined(CH_DBG_TRACE_MASK)
#define CH_DBG_TRACE_MASK CH_DBG_TRACE_MASK_DISABLED
#endif
/**
* @brief Trace buffer entries.
* @note The trace buffer is only allocated if @p CH_DBG_TRACE_MASK is
* different from @p CH_DBG_TRACE_MASK_DISABLED.
*/
#if !defined(CH_DBG_TRACE_BUFFER_SIZE)
#define CH_DBG_TRACE_BUFFER_SIZE 128
#endif
/**
* @brief Debug option, stack checks.
@@ -505,7 +638,7 @@
* @details User initialization code added to the @p chSysInit() function
* just before interrupts are enabled globally.
*/
#define CH_CFG_SYSTEM_INIT_HOOK(tp) { \
#define CH_CFG_SYSTEM_INIT_HOOK() { \
/* Add threads initialization code here.*/ \
}
@@ -614,6 +747,7 @@
/** @} */
/*===========================================================================*/
/* Port-specific settings (override port settings defaulted in chcore.h). */
/*===========================================================================*/
@@ -622,10 +756,8 @@
#ifndef CORTEX_VTOR_INIT // try to find the correct init address if not defined
#if USE_ITCM // point to correct interrupt vector when using ITCM flash on F7
#define CORTEX_VTOR_INIT 0x00200000U
#if LUFTBOOT // using LUFTBOOT bootloader
#elif LUFTBOOT // using LUFTBOOT bootloader
#if defined(STM32F4)
#define CORTEX_VTOR_INIT 0x00004000U
#elif defined(STM32F7)
@@ -634,15 +766,13 @@
#define CORTEX_VTOR_INIT 0x00002000U
#endif
#else // default value
#define CORTEX_VTOR_INIT 0x08000000U
#endif
#endif // LUFTBOOT
#endif // CORTEX_VTOR_INIT
// allow float for the ChibiOS print function (used with logger)
#define CHPRINTF_USE_FLOAT 1
#endif /* _CHCONF_H_ */
#endif /* CHCONF_H */
/** @} */
sw/airborne/arch/chibios/halconf.h
+187 -47
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
modified by: AggieAir, A Remote Sensing Unmanned Aerial System for Scientific Applications
Utah State University, http://aggieair.usu.edu/
@@ -33,19 +33,14 @@
* @{
*/
#ifndef _HALCONF_H_
#define _HALCONF_H_
#ifndef HALCONF_H
#define HALCONF_H
#define _CHIBIOS_HAL_CONF_
#define _CHIBIOS_HAL_CONF_VER_7_1_
/* include board specific conf */
#include "mcuconf.h"
/**
* @brief Enables the TM subsystem.
*/
#if !defined(HAL_USE_TM) || defined(__DOXYGEN__)
#define HAL_USE_TM FALSE
#endif
/**
* @brief Enables the PAL subsystem.
*/
@@ -75,6 +70,12 @@
#endif
#endif
/**
* @brief Enables the cryptographic subsystem.
*/
#if !defined(HAL_USE_CRY) || defined(__DOXYGEN__)
#define HAL_USE_CRY FALSE
#endif
/**
* @brief Enables the DAC subsystem.
@@ -88,17 +89,17 @@
#endif
/**
* @brief Enables the EXT subsystem.
* @brief Enables the EFlash subsystem.
*/
#if !defined(HAL_USE_EXT) || defined(__DOXYGEN__)
#define HAL_USE_EXT FALSE
#if !defined(HAL_USE_EFL) || defined(__DOXYGEN__)
#define HAL_USE_EFL FALSE
#endif
/**
* @brief Enables the GPT subsystem.
*/
#if !defined(HAL_USE_GPT) || defined(__DOXYGEN__)
#define HAL_USE_GPT FALSE
#define HAL_USE_GPT FALSE
#endif
/**
@@ -116,7 +117,7 @@
* @brief Enables the I2S subsystem.
*/
#if !defined(HAL_USE_I2S) || defined(__DOXYGEN__)
#define HAL_USE_I2S FALSE
#define HAL_USE_I2S FALSE
#endif
/**
@@ -138,42 +139,42 @@
* @brief Enables the MAC subsystem.
*/
#if !defined(HAL_USE_MAC) || defined(__DOXYGEN__)
#define HAL_USE_MAC FALSE
#define HAL_USE_MAC FALSE
#endif
/**
* @brief Enables the MMC_SPI subsystem.
*/
#if !defined(HAL_USE_MMC_SPI) || defined(__DOXYGEN__)
#define HAL_USE_MMC_SPI FALSE
#define HAL_USE_MMC_SPI FALSE
#endif
/**
* @brief Enables the PWM subsystem.
*/
#if !defined(HAL_USE_PWM) || defined(__DOXYGEN__)
#define HAL_USE_PWM TRUE
#define HAL_USE_PWM TRUE
#endif
/**
* @brief Enables the RTC subsystem.
*/
#if !defined(HAL_USE_RTC) || defined(__DOXYGEN__)
#define HAL_USE_RTC FALSE
#define HAL_USE_RTC FALSE
#endif
/**
* @brief Enables the SDC subsystem.
*/
#if !defined(HAL_USE_SDC) || defined(__DOXYGEN__)
#define HAL_USE_SDC FALSE
#define HAL_USE_SDC FALSE
#endif
/**
* @brief Enables the SERIAL subsystem.
*/
#if !defined(HAL_USE_SERIAL) || defined(__DOXYGEN__)
#if USE_UART1 || USE_UART2 || USE_UART3 || USE_UART4 || USE_UART5 || USE_UART6
#if USE_UART1 || USE_UART2 || USE_UART3 || USE_UART4 || USE_UART5 || USE_UART6 || USE_UART7 || USE_UART8
#define HAL_USE_SERIAL TRUE
#else
#define HAL_USE_SERIAL FALSE
@@ -191,6 +192,13 @@
#endif
#endif
/**
* @brief Enables the SIO subsystem.
*/
#if !defined(HAL_USE_SIO) || defined(__DOXYGEN__)
#define HAL_USE_SIO FALSE
#endif
/**
* @brief Enables the SPI subsystem.
*/
@@ -202,11 +210,18 @@
#endif
#endif
/**
* @brief Enables the TRNG subsystem.
*/
#if !defined(HAL_USE_TRNG) || defined(__DOXYGEN__)
#define HAL_USE_TRNG FALSE
#endif
/**
* @brief Enables the UART subsystem.
*/
#if !defined(HAL_USE_UART) || defined(__DOXYGEN__)
#define HAL_USE_UART FALSE
#define HAL_USE_UART FALSE
#endif
/**
@@ -224,7 +239,34 @@
* @brief Enables the WDG subsystem.
*/
#if !defined(HAL_USE_WDG) || defined(__DOXYGEN__)
#define HAL_USE_WDG FALSE
#define HAL_USE_WDG FALSE
#endif
/**
* @brief Enables the WSPI subsystem.
*/
#if !defined(HAL_USE_WSPI) || defined(__DOXYGEN__)
#define HAL_USE_WSPI FALSE
#endif
/*===========================================================================*/
/* PAL driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(PAL_USE_CALLBACKS) || defined(__DOXYGEN__)
#define PAL_USE_CALLBACKS FALSE
#endif
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(PAL_USE_WAIT) || defined(__DOXYGEN__)
#define PAL_USE_WAIT TRUE
#endif
/*===========================================================================*/
@@ -236,7 +278,7 @@
* @note Disabling this option saves both code and data space.
*/
#if !defined(ADC_USE_WAIT) || defined(__DOXYGEN__)
#define ADC_USE_WAIT TRUE
#define ADC_USE_WAIT TRUE
#endif
/**
@@ -244,7 +286,7 @@
* @note Disabling this option saves both code and data space.
*/
#if !defined(ADC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define ADC_USE_MUTUAL_EXCLUSION TRUE
#define ADC_USE_MUTUAL_EXCLUSION TRUE
#endif
/*===========================================================================*/
@@ -255,7 +297,56 @@
* @brief Sleep mode related APIs inclusion switch.
*/
#if !defined(CAN_USE_SLEEP_MODE) || defined(__DOXYGEN__)
#define CAN_USE_SLEEP_MODE TRUE
#define CAN_USE_SLEEP_MODE TRUE
#endif
/**
* @brief Enforces the driver to use direct callbacks rather than OSAL events.
*/
#if !defined(CAN_ENFORCE_USE_CALLBACKS) || defined(__DOXYGEN__)
#define CAN_ENFORCE_USE_CALLBACKS FALSE
#endif
/*===========================================================================*/
/* CRY driver related settings. */
/*===========================================================================*/
/**
* @brief Enables the SW fall-back of the cryptographic driver.
* @details When enabled, this option, activates a fall-back software
* implementation for algorithms not supported by the underlying
* hardware.
* @note Fall-back implementations may not be present for all algorithms.
*/
#if !defined(HAL_CRY_USE_FALLBACK) || defined(__DOXYGEN__)
#define HAL_CRY_USE_FALLBACK FALSE
#endif
/**
* @brief Makes the driver forcibly use the fall-back implementations.
*/
#if !defined(HAL_CRY_ENFORCE_FALLBACK) || defined(__DOXYGEN__)
#define HAL_CRY_ENFORCE_FALLBACK FALSE
#endif
/*===========================================================================*/
/* DAC driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(DAC_USE_WAIT) || defined(__DOXYGEN__)
#define DAC_USE_WAIT TRUE
#endif
/**
* @brief Enables the @p dacAcquireBus() and @p dacReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(DAC_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define DAC_USE_MUTUAL_EXCLUSION TRUE
#endif
/*===========================================================================*/
@@ -266,7 +357,7 @@
* @brief Enables the mutual exclusion APIs on the I2C bus.
*/
#if !defined(I2C_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define I2C_USE_MUTUAL_EXCLUSION TRUE
#define I2C_USE_MUTUAL_EXCLUSION TRUE
#endif
/*===========================================================================*/
@@ -274,17 +365,17 @@
/*===========================================================================*/
/**
* @brief Enables an event sources for incoming packets.
* @brief Enables the zero-copy API.
*/
#if !defined(MAC_USE_ZERO_COPY) || defined(__DOXYGEN__)
#define MAC_USE_ZERO_COPY FALSE
#define MAC_USE_ZERO_COPY FALSE
#endif
/**
* @brief Enables an event sources for incoming packets.
*/
#if !defined(MAC_USE_EVENTS) || defined(__DOXYGEN__)
#define MAC_USE_EVENTS TRUE
#define MAC_USE_EVENTS TRUE
#endif
/*===========================================================================*/
@@ -300,7 +391,7 @@
* use a DMA channel and heavily loads the CPU.
*/
#if !defined(MMC_NICE_WAITING) || defined(__DOXYGEN__)
#define MMC_NICE_WAITING TRUE
#define MMC_NICE_WAITING TRUE
#endif
/*===========================================================================*/
@@ -312,7 +403,7 @@
* @note Attempts are performed at 10mS intervals.
*/
#if !defined(SDC_INIT_RETRY) || defined(__DOXYGEN__)
#define SDC_INIT_RETRY 100
#define SDC_INIT_RETRY 100
#endif
/**
@@ -321,7 +412,7 @@
* at @p FALSE.
*/
#if !defined(SDC_MMC_SUPPORT) || defined(__DOXYGEN__)
#define SDC_MMC_SUPPORT FALSE
#define SDC_MMC_SUPPORT FALSE
#endif
/**
@@ -331,7 +422,21 @@
* lower priority, this may slow down the driver a bit however.
*/
#if !defined(SDC_NICE_WAITING) || defined(__DOXYGEN__)
#define SDC_NICE_WAITING TRUE
#define SDC_NICE_WAITING TRUE
#endif
/**
* @brief OCR initialization constant for V20 cards.
*/
#if !defined(SDC_INIT_OCR_V20) || defined(__DOXYGEN__)
#define SDC_INIT_OCR_V20 0x50FF8000U
#endif
/**
* @brief OCR initialization constant for non-V20 cards.
*/
#if !defined(SDC_INIT_OCR) || defined(__DOXYGEN__)
#define SDC_INIT_OCR 0x80100000U
#endif
/*===========================================================================*/
@@ -344,18 +449,18 @@
* default configuration.
*/
#if !defined(SERIAL_DEFAULT_BITRATE) || defined(__DOXYGEN__)
#define SERIAL_DEFAULT_BITRATE 57600
#define SERIAL_DEFAULT_BITRATE 57600
#endif
/**
* @brief Serial buffers size.
* @details Configuration parameter, you can change the depth of the queue
* buffers depending on the requirements of your application.
* @note The default is 64 bytes for both the transmission and receive
* @note The default is 16 bytes for both the transmission and receive
* buffers.
*/
#if !defined(SERIAL_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_BUFFERS_SIZE 1024
#define SERIAL_BUFFERS_SIZE 1024
#endif
/*===========================================================================*/
@@ -370,7 +475,7 @@
* buffers.
*/
#if !defined(SERIAL_USB_BUFFERS_SIZE) || defined(__DOXYGEN__)
#define SERIAL_USB_BUFFERS_SIZE 256
#define SERIAL_USB_BUFFERS_SIZE 256
#endif
/**
@@ -378,7 +483,7 @@
* @note The default is 2 buffers.
*/
#if !defined(SERIAL_USB_BUFFERS_NUMBER) || defined(__DOXYGEN__)
#define SERIAL_USB_BUFFERS_NUMBER 2
#define SERIAL_USB_BUFFERS_NUMBER 2
#endif
/*===========================================================================*/
@@ -390,7 +495,15 @@
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_USE_WAIT) || defined(__DOXYGEN__)
#define SPI_USE_WAIT TRUE
#define SPI_USE_WAIT TRUE
#endif
/**
* @brief Enables circular transfers APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_USE_CIRCULAR) || defined(__DOXYGEN__)
#define SPI_USE_CIRCULAR FALSE
#endif
/**
@@ -398,7 +511,15 @@
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define SPI_USE_MUTUAL_EXCLUSION TRUE
#define SPI_USE_MUTUAL_EXCLUSION TRUE
#endif
/**
* @brief Handling method for SPI CS line.
* @note Disabling this option saves both code and data space.
*/
#if !defined(SPI_SELECT_MODE) || defined(__DOXYGEN__)
#define SPI_SELECT_MODE SPI_SELECT_MODE_PAD
#endif
/*===========================================================================*/
@@ -410,7 +531,7 @@
* @note Disabling this option saves both code and data space.
*/
#if !defined(UART_USE_WAIT) || defined(__DOXYGEN__)
#define UART_USE_WAIT FALSE
#define UART_USE_WAIT FALSE
#endif
/**
@@ -418,7 +539,7 @@
* @note Disabling this option saves both code and data space.
*/
#if !defined(UART_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define UART_USE_MUTUAL_EXCLUSION FALSE
#define UART_USE_MUTUAL_EXCLUSION FALSE
#endif
/*===========================================================================*/
@@ -430,10 +551,29 @@
* @note Disabling this option saves both code and data space.
*/
#if !defined(USB_USE_WAIT) || defined(__DOXYGEN__)
#define USB_USE_WAIT FALSE
#define USB_USE_WAIT FALSE
#endif
#endif /* _HALCONF_H_ */
/*===========================================================================*/
/* WSPI driver related settings. */
/*===========================================================================*/
/**
* @brief Enables synchronous APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(WSPI_USE_WAIT) || defined(__DOXYGEN__)
#define WSPI_USE_WAIT TRUE
#endif
/**
* @brief Enables the @p wspiAcquireBus() and @p wspiReleaseBus() APIs.
* @note Disabling this option saves both code and data space.
*/
#if !defined(WSPI_USE_MUTUAL_EXCLUSION) || defined(__DOXYGEN__)
#define WSPI_USE_MUTUAL_EXCLUSION TRUE
#endif
#endif /* HALCONF_H */
/** @} */
sw/airborne/arch/chibios/mcu_periph/adc_arch.c
+9 -1
View File
@@ -221,10 +221,18 @@ static void adc_sample_time_on_all_channels(uint32_t *smpr1, uint32_t *smpr2, ui
* @param[in] buffer pointer to a @p buffer with samples
* @param[in] n number of samples
*/
void adc1callback(ADCDriver *adcp, adcsample_t *buffer, size_t n)
void adc1callback(ADCDriver *adcp)
{
if (adcp->state != ADC_STOP) {
#if USE_AD1
const size_t n = ADC_BUF_DEPTH / 2U;
// depending on half buffer that has just been filled
// if adcIsBufferComplete return true, the last filled
// half buffer start in the middle of buffer, else, is start at
// beginiing of buffer
const adcsample_t *buffer = adc_samples + (adcIsBufferComplete(adcp) ?
n : 0U);
for (int channel = 0; channel < ADC_NUM_CHANNELS; channel++) {
if (adc1_buffers[channel] != NULL) {
adc1_sum_tmp[channel] = 0;
sw/airborne/arch/chibios/mcu_periph/pwm_input_arch.c
+4 -2
View File
@@ -57,7 +57,8 @@ static ICUConfig pwm_input1_cfg = {
input1_period_cb,
NULL,
PWM_INPUT1_CHANNEL,
0
0,
0xFFFFFFFFU
};
#endif
@@ -85,7 +86,8 @@ static ICUConfig pwm_input2_cfg = {
input2_period_cb,
NULL,
PWM_INPUT2_CHANNEL,
0
0,
0xFFFFFFFFU
};
#endif
sw/airborne/arch/chibios/modules/core/rtos_mon_arch.c
+1 -1
View File
@@ -102,7 +102,7 @@ static void cmd_threads(shell_stream_t *lchp, int argc,const char* const argv[])
chprintf (lchp, "%.8lx %.8lx %6lu %4lu %4lu %9s %9lu %.1f \t%s\r\n",
(uint32_t)tp, (uint32_t)tp->ctx.sp,
get_stack_free (tp),
(uint32_t)tp->prio, (uint32_t)(tp->refs - 1),
(uint32_t)tp->hdr.pqueue.prio, (uint32_t)(tp->refs - 1),
states[tp->state], (uint32_t)tp->time,
stampThreadGetCpuPercent (&threadCpuInfo, idx),
chRegGetThreadNameX(tp));
sw/airborne/arch/chibios/subsystems/actuators/actuators_xvert.c
-130
View File
@@ -1,130 +0,0 @@
/*
* Copyright (C) Kevin van Hecke
*
* This file is part of paparazzi
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file actuators_xvert.c
* @author Kevin van Hecke
* Actuators driver for X-vert VTOL motor controllers. Contains two
* normal pwm servos, and two custom driven escs through a propriety uart
* protocol.
*/
#include "actuators_xvert.h"
#include "subsystems/actuators/actuators_pwm_arch.h"
#include "subsystems/actuators/actuators_pwm.h"
#include "mcu_periph/uart.h"
#define ESCS_PORT (&((ESCS_UART).device))
int32_t actuators_xvert_values[ACTUATORS_PWM_NB];
#define GP 0x107 /* x^8 + x^2 + x + 1 */
#define DI 0xE7
static unsigned char crc8_table[256]; /* 8-bit table */
static int made_table = 0;
static void init_crc8(void)
/*
* Should be called before any other crc function.
*/
{
int i, j;
unsigned char crc;
if (!made_table) {
for (i = 0; i < 256; i++) {
crc = i;
for (j = 0; j < 8; j++) {
crc = (crc << 1) ^ ((crc & 0x80) ? DI : 0);
}
crc8_table[i] = crc & 0xFF;
/* printf("table[%d] = %d (0x%X)\n", i, crc, crc); */
}
made_table = 1;
}
}
void crc8(unsigned char *crc, unsigned char m)
/*
* For a byte array whose accumulated crc value is stored in *crc, computes
* resultant crc obtained by appending m to the byte array
*/
{
if (!made_table) {
init_crc8();
}
*crc = crc8_table[(*crc) ^ m];
*crc &= 0xFF;
}
void actuators_xvert_init(void)
{
actuators_pwm_arch_init();
}
void actuators_xvert_commit(void)
{
if (ESCS_PORT->char_available(ESCS_PORT->periph)) {
//unsigned char b1 = ESCS_PORT->get_byte(ESCS_PORT->periph);
}
struct EscData package;
package.start = ESCS_START_BYTE;
package.len = 8;
package.id = 2;
package.d1 = actuators_xvert_values[XVERT_ESC_0];
package.d2 = actuators_xvert_values[XVERT_ESC_1];
//do some package magic:
static bool bitflipper = true;
if (bitflipper) {
package.d1 += ESCS_DATA_FLIPBIT;
} else {
package.d2 += ESCS_DATA_FLIPBIT;
}
package.d1 += ESCS_DATA_MYSTERYBIT;
bitflipper = !bitflipper;
unsigned char crc = 0;
unsigned char *data = (unsigned char *)&package;
for (unsigned char i = 1 ; i < sizeof(struct EscData) - 1; i++) {
crc8(&crc, data[i]);
}
package.crc = crc;
ESCS_PORT->put_buffer(ESCS_PORT->periph, 0, (unsigned char *) &package, sizeof(struct EscData));
//send the pwm signals for the two elerons to the pwm driver:
actuators_pwm_values[PWM_SERVO_2] = actuators_xvert_values[PWM_SERVO_2];
actuators_pwm_values[PWM_SERVO_3] = actuators_xvert_values[PWM_SERVO_3];
actuators_pwm_commit();
}
sw/airborne/arch/chibios/subsystems/actuators/actuators_xvert.h
-61
View File
@@ -1,61 +0,0 @@
/*
* Copyright (C) Kevin van Hecke
*
* This file is part of paparazzi
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**
* @file actuators_xvert.h
* @author Kevin van Hecke
* Actuators driver for X-vert VTOL motor controllers. Contains two normal pwm servos, and two custom driven escs through a propriety uart protocol.
*/
#ifndef ACTUATORS_XVERT_H
#define ACTUATORS_XVERT_H
#include "subsystems/actuators/actuators_pwm_arch.h"
#define ESCS_START_BYTE 0xFE
#define ESCS_DATA_FLIPBIT 16384
#define ESCS_DATA_MYSTERYBIT 32768
struct EscData {
unsigned char start; //0xfe
unsigned char len; //8
unsigned char id; //2
//1200 - 1800, maybe 1100-1900
//1160 = off, max ~1880
//in both data ints, 2e byte toggles the 64 bit (15e bit in total). If on, its the first, if off its the other
//in d2 16e bit always on
uint32_t d1 ;
uint32_t d2 ;
unsigned char crc;
} __attribute__((__packed__));
extern int32_t actuators_xvert_values[ACTUATORS_PWM_NB];
extern void actuators_xvert_commit(void);
extern void actuators_xvert_init(void);
#define ActuatorsXvertInit actuators_xvert_init
#define ActuatorXvertSet(_i, _v) { actuators_xvert_values[_i] = _v; }
#define ActuatorsXvertCommit actuators_xvert_commit
#endif
sw/airborne/arch/chibios/subsystems/radio_control/ppm_arch.c
+2 -1
View File
@@ -83,7 +83,8 @@ static ICUConfig ppm_icucfg = {
icuperiodcb,
icuoverflowcb,
PPM_CHANNEL,
0
0,
0xFFFFFFFFU
};
void ppm_arch_init(void)
sw/airborne/arch/stm32/stm32f4_discovery.ld
-34
View File
@@ -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
sw/airborne/boards/apogee/chibios/v1.0/board.h
+4 -4
View File
@@ -480,15 +480,15 @@
#define PWM_INPUT1_GPIO_PIN GPIO8
#define PWM_INPUT1_GPIO_AF GPIO_AF1
// PWM_INPUT 2 on PA3 (also SERVO 1)
// PWM_INPUT 2 on PA2 (also SERVO 1)
#if (USE_PWM1 && USE_PWM_INPUT2)
#error "PW1 and PWM_INPUT2 are not compatible"
#endif
#define PWM_INPUT2_ICU ICUD9
#define PWM_INPUT2_CHANNEL ICU_CHANNEL_1
#define PWM_INPUT2_ICU ICUD5
#define PWM_INPUT2_CHANNEL ICU_CHANNEL_4
#define PWM_INPUT2_GPIO_PORT GPIOA
#define PWM_INPUT2_GPIO_PIN GPIO2
#define PWM_INPUT2_GPIO_AF GPIO_AF3
#define PWM_INPUT2_GPIO_AF GPIO_AF2
/**
* I2C defines
sw/airborne/boards/apogee/chibios/v1.0/board.mk
+4
View File
@@ -18,3 +18,7 @@ BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/apogee/chibios/v1.0/mcuconf.h
+67 -38
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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.
@@ -14,8 +14,8 @@
limitations under the License.
*/
#ifndef _MCUCONF_H_
#define _MCUCONF_H_
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* STM32F4xx drivers configuration.
@@ -32,11 +32,18 @@
*/
#define STM32F4xx_MCUCONF
#define STM32F405_MCUCONF
#define STM32F415_MCUCONF
#define STM32F407_MCUCONF
#define STM32F417_MCUCONF
/*
* 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 FALSE
#define STM32_HSE_ENABLED TRUE
@@ -60,9 +67,24 @@
#define STM32_I2SSRC STM32_I2SSRC_CKIN
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SR_VALUE 5
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0
#define STM32_BKPRAM_ENABLE FALSE
/*
* 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 15
#define STM32_IRQ_EXTI18_PRIORITY 6
#define STM32_IRQ_EXTI19_PRIORITY 6
#define STM32_IRQ_EXTI20_PRIORITY 6
#define STM32_IRQ_EXTI21_PRIORITY 15
#define STM32_IRQ_EXTI22_PRIORITY 15
/*
* ADC driver system settings.
@@ -111,24 +133,6 @@
#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)
/*
* 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 15
#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_IRQ_PRIORITY 15
#define STM32_EXT_EXTI22_IRQ_PRIORITY 15
/*
* GPT driver system settings.
*/
@@ -190,6 +194,21 @@
#define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
/*
* I2S driver system settings.
*/
#define STM32_I2S_USE_SPI2 FALSE
#define STM32_I2S_USE_SPI3 FALSE
#define STM32_I2S_SPI2_IRQ_PRIORITY 10
#define STM32_I2S_SPI3_IRQ_PRIORITY 10
#define STM32_I2S_SPI2_DMA_PRIORITY 1
#define STM32_I2S_SPI3_DMA_PRIORITY 1
#define STM32_I2S_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_I2S_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_I2S_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2S_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2S_DMA_ERROR_HOOK(i2sp) osalSysHalt("DMA failure")
/*
* ICU driver system settings.
*/
@@ -197,9 +216,9 @@
#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_TIM5 TRUE
#define STM32_ICU_USE_TIM8 FALSE
#define STM32_ICU_USE_TIM9 TRUE
#define STM32_ICU_USE_TIM9 FALSE
#define STM32_ICU_TIM1_IRQ_PRIORITY 7
#define STM32_ICU_TIM2_IRQ_PRIORITY 7
#define STM32_ICU_TIM3_IRQ_PRIORITY 7
@@ -259,6 +278,25 @@
#define STM32_PWM3_UP_DMA_IRQ_PRIORITY 6
#define STM32_PWM3_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_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_WRITE_TIMEOUT_MS 250
#define STM32_SDC_READ_TIMEOUT_MS 15
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT FALSE
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
/*
* SERIAL driver system settings.
*/
@@ -381,21 +419,12 @@
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 512
#define STM32_USB_OTG_THREAD_PRIO HIGHPRIO
#define STM32_USB_OTG_THREAD_STACK_SIZE 256
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
#define STM32_USB_HOST_WAKEUP_DURATION 2
/*
* SDC driver system settings.
* WDG driver system settings.
*/
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
#define STM32_SDC_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT FALSE
#define STM32_SDC_WRITE_TIMEOUT_MS 250
#define STM32_SDC_READ_TIMEOUT_MS 15
#define STM32_WDG_USE_IWDG FALSE
/*
sw/airborne/boards/chimera/chibios/v1.0/board.mk
+4
View File
@@ -18,3 +18,7 @@ BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/chimera/chibios/v1.0/mcuconf.h
+139 -103
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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.
@@ -14,11 +14,11 @@
limitations under the License.
*/
#ifndef _MCUCONF_H_
#define _MCUCONF_H_
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* STM32F4xx drivers configuration.
* 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
@@ -32,6 +32,11 @@
*/
#define STM32F7xx_MCUCONF
#define STM32F765_MCUCONF
#define STM32F767_MCUCONF
#define STM32F777_MCUCONF
#define STM32F769_MCUCONF
#define STM32F779_MCUCONF
/*
* HAL driver system settings.
@@ -68,18 +73,22 @@
#define STM32_MCO1PRE STM32_MCO1PRE_DIV1
#define STM32_MCO2SEL STM32_MCO2SEL_SYSCLK
#define STM32_MCO2PRE STM32_MCO2PRE_DIV4
#define STM32_TIMPRE_ENABLE FALSE
#define STM32_I2SSRC STM32_I2SSRC_PLLI2S
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SP_VALUE 4
#define STM32_PLLI2SQ_VALUE 4
#define STM32_PLLI2SR_VALUE 4
#define STM32_PLLI2SDIVQ_VALUE 2
#define STM32_PLLSAIN_VALUE 192
#define STM32_PLLSAIP_VALUE 4
#define STM32_PLLSAIQ_VALUE 4
#define STM32_PLLSAIR_VALUE 4
#define STM32_PLLSAIDIVQ_VALUE 2
#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
@@ -95,9 +104,53 @@
#define STM32_LPTIM1SEL STM32_LPTIM1SEL_PCLK1
#define STM32_CECSEL STM32_CECSEL_LSE
#define STM32_CK48MSEL STM32_CK48MSEL_PLL
#define STM32_SDMMCSEL STM32_SDMMCSEL_PLL48CLK
#define STM32_SDMMC1SEL STM32_SDMMC1SEL_PLL48CLK
#define STM32_SDMMC2SEL STM32_SDMMC2SEL_PLL48CLK
#define STM32_SRAM2_NOCACHE FALSE
/*
* 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.
*/
@@ -129,8 +182,10 @@
#else
#define STM32_CAN_USE_CAN2 FALSE
#endif
#define STM32_CAN_USE_CAN3 FALSE
#define STM32_CAN_CAN1_IRQ_PRIORITY 11
#define STM32_CAN_CAN2_IRQ_PRIORITY 11
#define STM32_CAN_CAN3_IRQ_PRIORITY 11
/*
* DAC driver system settings.
@@ -146,27 +201,9 @@
#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_CH1_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_DAC_DAC1_CH2_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
/*
* 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 15
#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_IRQ_PRIORITY 15
#define STM32_EXT_EXTI22_IRQ_PRIORITY 15
/*
* GPT driver system settings.
*/
@@ -179,21 +216,14 @@
#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
#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_TIM5_IRQ_PRIORITY 7
#define STM32_GPT_TIM6_IRQ_PRIORITY 7
#define STM32_GPT_TIM7_IRQ_PRIORITY 7
#define STM32_GPT_TIM8_IRQ_PRIORITY 7
#define STM32_GPT_TIM9_IRQ_PRIORITY 7
#define STM32_GPT_TIM11_IRQ_PRIORITY 7
#define STM32_GPT_TIM12_IRQ_PRIORITY 7
#define STM32_GPT_TIM14_IRQ_PRIORITY 7
#define STM32_GPT_USE_TIM15 FALSE
#define STM32_GPT_USE_TIM16 FALSE
#define STM32_GPT_USE_TIM17 FALSE
/*
* I2C driver system settings.
@@ -215,10 +245,10 @@
#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
#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_I2C4_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
//#define STM32_I2C_I2C4_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#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_I2C4_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
#define STM32_I2C_I2C4_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_I2C_I2C1_IRQ_PRIORITY 5
#define STM32_I2C_I2C2_IRQ_PRIORITY 5
#define STM32_I2C_I2C3_IRQ_PRIORITY 5
@@ -251,13 +281,14 @@
#define STM32_ICU_USE_TIM8 FALSE
#endif
#define STM32_ICU_USE_TIM9 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_TIM5_IRQ_PRIORITY 7
#define STM32_ICU_TIM8_IRQ_PRIORITY 7
#define STM32_ICU_TIM9_IRQ_PRIORITY 7
#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
#define STM32_ICU_USE_TIM15 FALSE
#define STM32_ICU_USE_TIM16 FALSE
#define STM32_ICU_USE_TIM17 FALSE
/*
* MAC driver system settings.
@@ -287,13 +318,38 @@
#define STM32_PWM_USE_TIM5 FALSE
#define STM32_PWM_USE_TIM8 FALSE
#define STM32_PWM_USE_TIM9 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_TIM5_IRQ_PRIORITY 7
#define STM32_PWM_TIM8_IRQ_PRIORITY 7
#define STM32_PWM_TIM9_IRQ_PRIORITY 7
#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_PWM_USE_TIM15 FALSE
#define STM32_PWM_USE_TIM16 FALSE
#define STM32_PWM_USE_TIM17 FALSE
/*
* 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_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.
@@ -338,14 +394,6 @@
#else
#define STM32_SERIAL_USE_UART8 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
#define STM32_SERIAL_USART6_PRIORITY 12
#define STM32_SERIAL_UART7_PRIORITY 12
#define STM32_SERIAL_UART8_PRIORITY 12
/*
* SPI driver system settings.
@@ -370,14 +418,14 @@
#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_SPI6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
#define STM32_SPI_SPI6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
#define STM32_SPI_SPI6_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
#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_SPI4_DMA_PRIORITY 1
#define STM32_SPI_SPI4_DMA_PRIORITY 1
#define STM32_SPI_SPI5_DMA_PRIORITY 1
#define STM32_SPI_SPI6_DMA_PRIORITY 1
#define STM32_SPI_SPI1_IRQ_PRIORITY 10
#define STM32_SPI_SPI2_IRQ_PRIORITY 10
#define STM32_SPI_SPI3_IRQ_PRIORITY 10
@@ -392,6 +440,11 @@
#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.
*/
@@ -405,26 +458,20 @@
#define STM32_UART_USE_UART8 FALSE /* NO DMA AVAIL */
#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_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_IRQ_PRIORITY 12
#define STM32_UART_USART2_IRQ_PRIORITY 12
#define STM32_UART_USART3_IRQ_PRIORITY 12
#define STM32_UART_UART4_IRQ_PRIORITY 12
#define STM32_UART_UART5_IRQ_PRIORITY 12
#define STM32_UART_USART6_IRQ_PRIORITY 12
#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
@@ -444,21 +491,17 @@
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 1024
#define STM32_USB_OTG_THREAD_PRIO LOWPRIO
#define STM32_USB_OTG_THREAD_STACK_SIZE 128
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
/*
* SDC driver system settings.
* WDG driver system settings.
*/
#define STM32_SDC_USE_SDMMC1 TRUE
#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_SDMMC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
#define STM32_SDC_SDMMC1_DMA_PRIORITY 3
#define STM32_SDC_SDMMC1_IRQ_PRIORITY 9
#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
@@ -468,15 +511,8 @@
#define SDLOG_NUM_FILES 2
#define SDLOG_ALL_BUFFERS_SIZE (SDLOG_NUM_FILES*16*1024)
/*
* WDG driver system settings.
*/
#define STM32_WDG_USE_IWDG FALSE
//#define CH_HEAP_SIZE (32*1024)
//#define CH_HEAP_USE_TLSF 1 // if 0 or undef, chAlloc will be used
#endif /* _MCUCONF_H_ */
#endif /* MCUCONF_H */
sw/airborne/boards/crazyflie/chibios/v2.1/board.mk
+4
View File
@@ -18,3 +18,7 @@ BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/crazyflie/chibios/v2.1/mcuconf.h
+66 -48
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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.
@@ -14,8 +14,8 @@
limitations under the License.
*/
#ifndef _MCUCONF_H_
#define _MCUCONF_H_
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* STM32F4xx drivers configuration.
@@ -32,11 +32,18 @@
*/
#define STM32F4xx_MCUCONF
#define STM32F405_MCUCONF
#define STM32F415_MCUCONF
#define STM32F407_MCUCONF
#define STM32F417_MCUCONF
/*
* 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 FALSE
#define STM32_HSE_ENABLED TRUE
@@ -60,9 +67,24 @@
#define STM32_I2SSRC STM32_I2SSRC_CKIN
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SR_VALUE 5
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0
#define STM32_BKPRAM_ENABLE FALSE
/*
* 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 15
#define STM32_IRQ_EXTI18_PRIORITY 6
#define STM32_IRQ_EXTI19_PRIORITY 6
#define STM32_IRQ_EXTI20_PRIORITY 6
#define STM32_IRQ_EXTI21_PRIORITY 15
#define STM32_IRQ_EXTI22_PRIORITY 15
/*
* ADC driver system settings.
@@ -103,24 +125,6 @@
#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)
/*
* 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 15
#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_IRQ_PRIORITY 15
#define STM32_EXT_EXTI22_IRQ_PRIORITY 15
/*
* GPT driver system settings.
*/
@@ -178,6 +182,21 @@
#define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
/*
* I2S driver system settings.
*/
#define STM32_I2S_USE_SPI2 FALSE
#define STM32_I2S_USE_SPI3 FALSE
#define STM32_I2S_SPI2_IRQ_PRIORITY 10
#define STM32_I2S_SPI3_IRQ_PRIORITY 10
#define STM32_I2S_SPI2_DMA_PRIORITY 1
#define STM32_I2S_SPI3_DMA_PRIORITY 1
#define STM32_I2S_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_I2S_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_I2S_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2S_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2S_DMA_ERROR_HOOK(i2sp) osalSysHalt("DMA failure")
/*
* ICU driver system settings.
*/
@@ -230,6 +249,25 @@
#define STM32_PWM_TIM8_IRQ_PRIORITY 7
#define STM32_PWM_TIM9_IRQ_PRIORITY 7
/*
* 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_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_WRITE_TIMEOUT_MS 250
#define STM32_SDC_READ_TIMEOUT_MS 15
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT FALSE
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
/*
* SERIAL driver system settings.
*/
@@ -332,31 +370,11 @@
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 512
#define STM32_USB_OTG_THREAD_PRIO HIGHPRIO
#define STM32_USB_OTG_THREAD_STACK_SIZE 256
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
#define STM32_USB_HOST_WAKEUP_DURATION 2
/*
* SDC driver system settings.
* WDG driver system settings.
*/
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
#define STM32_SDC_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT FALSE
#define STM32_SDC_WRITE_TIMEOUT_MS 250
#define STM32_SDC_READ_TIMEOUT_MS 15
/*
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*8*1024)
#endif /* _MCUCONF_H_ */
#define STM32_WDG_USE_IWDG FALSE
#endif /* MCUCONF_H */
sw/airborne/boards/lia/chibios/v1.1/board.mk
+4
View File
@@ -18,3 +18,7 @@ BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/lisa_mx/chibios/v2.1/board.mk
+4
View File
@@ -18,3 +18,7 @@ BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/lisa_mx/chibios/v2.1/mcuconf.h
+86 -40
View File
@@ -1,5 +1,5 @@
/*
ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
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.
@@ -14,6 +14,9 @@
limitations under the License.
*/
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* STM32F4xx drivers configuration.
* The following settings override the default settings present in
@@ -29,11 +32,18 @@
*/
#define STM32F4xx_MCUCONF
#define STM32F405_MCUCONF
#define STM32F415_MCUCONF
#define STM32F407_MCUCONF
#define STM32F417_MCUCONF
/*
* 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
@@ -57,8 +67,24 @@
#define STM32_I2SSRC STM32_I2SSRC_CKIN
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SR_VALUE 5
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0
/*
* 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 15
#define STM32_IRQ_EXTI18_PRIORITY 6
#define STM32_IRQ_EXTI19_PRIORITY 6
#define STM32_IRQ_EXTI20_PRIORITY 6
#define STM32_IRQ_EXTI21_PRIORITY 15
#define STM32_IRQ_EXTI22_PRIORITY 15
/*
* ADC driver system settings.
@@ -115,24 +141,6 @@
#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)
/*
* 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 15
#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_IRQ_PRIORITY 15
#define STM32_EXT_EXTI22_IRQ_PRIORITY 15
/*
* GPT driver system settings.
*/
@@ -179,6 +187,7 @@
#else
#define STM32_I2C_USE_I2C3 FALSE
#endif
#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, 6)
#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 2)
@@ -193,6 +202,21 @@
#define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
/*
* I2S driver system settings.
*/
#define STM32_I2S_USE_SPI2 FALSE
#define STM32_I2S_USE_SPI3 FALSE
#define STM32_I2S_SPI2_IRQ_PRIORITY 10
#define STM32_I2S_SPI3_IRQ_PRIORITY 10
#define STM32_I2S_SPI2_DMA_PRIORITY 1
#define STM32_I2S_SPI3_DMA_PRIORITY 1
#define STM32_I2S_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_I2S_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_I2S_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2S_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2S_DMA_ERROR_HOOK(i2sp) osalSysHalt("DMA failure")
/*
* ICU driver system settings.
*/
@@ -245,6 +269,25 @@
#define STM32_PWM_TIM8_IRQ_PRIORITY 7
#define STM32_PWM_TIM9_IRQ_PRIORITY 7
/*
* 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_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_WRITE_TIMEOUT_MS 1000
#define STM32_SDC_READ_TIMEOUT_MS 1000
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT TRUE
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
/*
* SERIAL driver system settings.
*/
@@ -317,45 +360,44 @@
#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.
*/
#if USE_UARTD1
#define STM32_UART_USE_USART1 TRUE
#else
#define STM32_UART_USE_USART1 FALSE
#endif
#if USE_UARTD2
#define STM32_UART_USE_USART2 TRUE
#else
#define STM32_UART_USE_USART2 FALSE
#endif
#if USE_UARTD3
#define STM32_UART_USE_USART3 TRUE
#else
#define STM32_UART_USE_USART3 FALSE
#endif
#if USE_UARTD6
#define STM32_UART_USE_USART6 TRUE
#else
#define STM32_UART_USE_UART4 FALSE
#define STM32_UART_USE_UART5 FALSE
#define STM32_UART_USE_USART6 FALSE
#endif
#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, 4)
#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_USART1_IRQ_PRIORITY 7
#define STM32_UART_USART2_IRQ_PRIORITY 6
#define STM32_UART_USART3_IRQ_PRIORITY 12
#define STM32_UART_UART4_IRQ_PRIORITY 12
#define STM32_UART_UART5_IRQ_PRIORITY 12
#define STM32_UART_USART6_IRQ_PRIORITY 13
#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_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
@@ -372,7 +414,11 @@
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 1024
#define STM32_USB_OTG_THREAD_PRIO LOWPRIO
#define STM32_USB_OTG_THREAD_STACK_SIZE 128
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
#define STM32_USB_HOST_WAKEUP_DURATION 2
/*
* WDG driver system settings.
*/
#define STM32_WDG_USE_IWDG FALSE
#endif /* MCUCONF_H */
sw/airborne/boards/mateksys/F765-WING/board.mk
+4
View File
@@ -18,3 +18,7 @@ BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/mateksys/F765-WING/mcuconf.h
+112 -85
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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.
@@ -14,8 +14,8 @@
limitations under the License.
*/
#ifndef _MCUCONF_H_
#define _MCUCONF_H_
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* STM32F7xx drivers configuration.
@@ -32,9 +32,11 @@
*/
#define STM32F7xx_MCUCONF
#define STM32F765_MCUCONF
#define STM32F767_MCUCONF
#define STM32F767xx
#define STM32F777_MCUCONF
#define STM32F769_MCUCONF
#define STM32F779_MCUCONF
/*
* HAL driver system settings.
@@ -67,6 +69,7 @@
#define STM32_MCO1PRE STM32_MCO1PRE_DIV1
#define STM32_MCO2SEL STM32_MCO2SEL_SYSCLK
#define STM32_MCO2PRE STM32_MCO2PRE_DIV4
#define STM32_TIMPRE_ENABLE FALSE
#define STM32_I2SSRC STM32_I2SSRC_OFF
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SP_VALUE 4
@@ -118,6 +121,31 @@
#define STM32_IRQ_EXTI20_PRIORITY 6
#define STM32_IRQ_EXTI21_PRIORITY 15
#define STM32_IRQ_EXTI22_PRIORITY 15
#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.
@@ -149,6 +177,7 @@
#define STM32_CAN_USE_CAN3 FALSE
#define STM32_CAN_CAN1_IRQ_PRIORITY 11
#define STM32_CAN_CAN2_IRQ_PRIORITY 11
#define STM32_CAN_CAN3_IRQ_PRIORITY 11
/*
* DAC driver system settings.
@@ -160,7 +189,7 @@
#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_CH1_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_DAC_DAC1_CH2_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
/*
@@ -175,21 +204,14 @@
#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
#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_TIM5_IRQ_PRIORITY 7
#define STM32_GPT_TIM6_IRQ_PRIORITY 7
#define STM32_GPT_TIM7_IRQ_PRIORITY 7
#define STM32_GPT_TIM8_IRQ_PRIORITY 7
#define STM32_GPT_TIM9_IRQ_PRIORITY 7
#define STM32_GPT_TIM11_IRQ_PRIORITY 7
#define STM32_GPT_TIM12_IRQ_PRIORITY 7
#define STM32_GPT_TIM14_IRQ_PRIORITY 7
#define STM32_GPT_USE_TIM15 FALSE
#define STM32_GPT_USE_TIM16 FALSE
#define STM32_GPT_USE_TIM17 FALSE
/*
* I2C driver system settings.
@@ -211,8 +233,8 @@
#define STM32_I2C_I2C1_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
#define STM32_I2C_I2C2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#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_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_I2C4_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 1)
#define STM32_I2C_I2C4_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_I2C_I2C1_IRQ_PRIORITY 5
@@ -247,13 +269,14 @@
#define STM32_ICU_USE_TIM8 FALSE
#endif
#define STM32_ICU_USE_TIM9 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_TIM5_IRQ_PRIORITY 7
#define STM32_ICU_TIM8_IRQ_PRIORITY 7
#define STM32_ICU_TIM9_IRQ_PRIORITY 7
#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
#define STM32_ICU_USE_TIM15 FALSE
#define STM32_ICU_USE_TIM16 FALSE
#define STM32_ICU_USE_TIM17 FALSE
/*
* MAC driver system settings.
@@ -291,13 +314,14 @@
#ifndef STM32_PWM_USE_TIM9
#define STM32_PWM_USE_TIM9 TRUE
#endif
#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_TIM5_IRQ_PRIORITY 7
#define STM32_PWM_TIM8_IRQ_PRIORITY 7
#define STM32_PWM_TIM9_IRQ_PRIORITY 7
#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_PWM_USE_TIM15 FALSE
#define STM32_PWM_USE_TIM16 FALSE
#define STM32_PWM_USE_TIM17 FALSE
#define STM32_PWM1_UP_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
#define STM32_PWM1_UP_DMA_CHANNEL 6
@@ -314,6 +338,30 @@
#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_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.
*/
@@ -357,14 +405,6 @@
#else
#define STM32_SERIAL_USE_UART8 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
#define STM32_SERIAL_USART6_PRIORITY 12
#define STM32_SERIAL_UART7_PRIORITY 12
#define STM32_SERIAL_UART8_PRIORITY 12
/*
* SPI driver system settings.
@@ -399,10 +439,10 @@
#define STM32_SPI_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_SPI_SPI4_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
#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_SPI6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
//#define STM32_SPI_SPI6_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
#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_SPI6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
#define STM32_SPI_SPI6_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
#define STM32_SPI_SPI1_DMA_PRIORITY 1
#define STM32_SPI_SPI2_DMA_PRIORITY 1
#define STM32_SPI_SPI3_DMA_PRIORITY 1
@@ -423,6 +463,11 @@
#define STM32_ST_IRQ_PRIORITY 8
#define STM32_ST_USE_TIMER 3
/*
* TRNG driver system settings.
*/
#define STM32_TRNG_USE_RNG1 FALSE
/*
* UART driver system settings.
*/
@@ -436,26 +481,20 @@
#define STM32_UART_USE_UART8 FALSE /* NO DMA AVAIL */
#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_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_IRQ_PRIORITY 12
#define STM32_UART_USART2_IRQ_PRIORITY 12
#define STM32_UART_USART3_IRQ_PRIORITY 12
#define STM32_UART_UART4_IRQ_PRIORITY 12
#define STM32_UART_UART5_IRQ_PRIORITY 12
#define STM32_UART_USART6_IRQ_PRIORITY 12
#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
@@ -475,21 +514,17 @@
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 1024
#define STM32_USB_OTG_THREAD_PRIO LOWPRIO
#define STM32_USB_OTG_THREAD_STACK_SIZE 128
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
/*
* SDC driver system settings.
* WDG driver system settings.
*/
#define STM32_SDC_USE_SDMMC1 TRUE
#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_SDMMC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
#define STM32_SDC_SDMMC1_DMA_PRIORITY 3
#define STM32_SDC_SDMMC1_IRQ_PRIORITY 9
#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
@@ -499,15 +534,7 @@
#define SDLOG_NUM_FILES 2
#define SDLOG_ALL_BUFFERS_SIZE (SDLOG_NUM_FILES*16*1024)
/*
* WDG driver system settings.
*/
#define STM32_WDG_USE_IWDG FALSE
//#define CH_HEAP_SIZE (32*1024)
//#define CH_HEAP_USE_TLSF 1 // if 0 or undef, chAlloc will be used
#endif /* _MCUCONF_H_ */
#endif /* MCUCONF_H */
sw/airborne/boards/nucleo/144_f767zi/board.mk
+4
View File
@@ -18,3 +18,7 @@ BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/nucleo/144_f767zi/mcuconf.h
+112 -112
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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.
@@ -14,8 +14,8 @@
limitations under the License.
*/
#ifndef _MCUCONF_H_
#define _MCUCONF_H_
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* STM32F7xx drivers configuration.
@@ -32,6 +32,11 @@
*/
#define STM32F7xx_MCUCONF
#define STM32F765_MCUCONF
#define STM32F767_MCUCONF
#define STM32F777_MCUCONF
#define STM32F769_MCUCONF
#define STM32F779_MCUCONF
/*
* HAL driver system settings.
@@ -64,6 +69,7 @@
#define STM32_MCO1PRE STM32_MCO1PRE_DIV1
#define STM32_MCO2SEL STM32_MCO2SEL_SYSCLK
#define STM32_MCO2PRE STM32_MCO2PRE_DIV4
#define STM32_TIMPRE_ENABLE FALSE
#define STM32_I2SSRC STM32_I2SSRC_OFF
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SP_VALUE 4
@@ -115,6 +121,31 @@
#define STM32_IRQ_EXTI20_PRIORITY 6
#define STM32_IRQ_EXTI21_PRIORITY 15
#define STM32_IRQ_EXTI22_PRIORITY 15
#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.
@@ -146,6 +177,7 @@
#define STM32_CAN_USE_CAN3 FALSE
#define STM32_CAN_CAN1_IRQ_PRIORITY 11
#define STM32_CAN_CAN2_IRQ_PRIORITY 11
#define STM32_CAN_CAN3_IRQ_PRIORITY 11
/*
* DAC driver system settings.
@@ -157,7 +189,7 @@
#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_CH1_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_DAC_DAC1_CH2_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
/*
@@ -172,30 +204,19 @@
#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
#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_TIM5_IRQ_PRIORITY 7
#define STM32_GPT_TIM6_IRQ_PRIORITY 7
#define STM32_GPT_TIM7_IRQ_PRIORITY 7
#define STM32_GPT_TIM8_IRQ_PRIORITY 7
#define STM32_GPT_TIM9_IRQ_PRIORITY 7
#define STM32_GPT_TIM11_IRQ_PRIORITY 7
#define STM32_GPT_TIM12_IRQ_PRIORITY 7
#define STM32_GPT_TIM14_IRQ_PRIORITY 7
#define STM32_GPT_USE_TIM15 FALSE
#define STM32_GPT_USE_TIM16 FALSE
#define STM32_GPT_USE_TIM17 FALSE
/*
* I2C driver system settings.
*/
//#if USE_I2C1
//#define STM32_I2C_USE_I2C1 TRUE
//#else
#define STM32_I2C_USE_I2C1 FALSE // incompatible with I2C2 and I2C4
//#endif
#if USE_I2C2
#define STM32_I2C_USE_I2C2 TRUE
#else
@@ -212,8 +233,8 @@
#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_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_I2C4_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 1)
#define STM32_I2C_I2C4_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
#define STM32_I2C_I2C1_IRQ_PRIORITY 5
@@ -248,13 +269,14 @@
#define STM32_ICU_USE_TIM8 FALSE
#endif
#define STM32_ICU_USE_TIM9 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_TIM5_IRQ_PRIORITY 7
#define STM32_ICU_TIM8_IRQ_PRIORITY 7
#define STM32_ICU_TIM9_IRQ_PRIORITY 7
#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
#define STM32_ICU_USE_TIM15 FALSE
#define STM32_ICU_USE_TIM16 FALSE
#define STM32_ICU_USE_TIM17 FALSE
/*
* MAC driver system settings.
@@ -288,28 +310,38 @@
#endif
#define STM32_PWM_USE_TIM8 FALSE
#define STM32_PWM_USE_TIM9 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_TIM5_IRQ_PRIORITY 7
#define STM32_PWM_TIM8_IRQ_PRIORITY 7
#define STM32_PWM_TIM9_IRQ_PRIORITY 7
#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_PWM_USE_TIM15 FALSE
#define STM32_PWM_USE_TIM16 FALSE
#define STM32_PWM_USE_TIM17 FALSE
#define STM32_PWM1_UP_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
#define STM32_PWM1_UP_DMA_CHANNEL 6
#define STM32_PWM1_UP_DMA_IRQ_PRIORITY 6
#define STM32_PWM1_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
#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
/*
* SDC driver system settings.
*/
#define STM32_SDC_USE_SDMMC1 FALSE
#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_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.
@@ -354,14 +386,6 @@
#else
#define STM32_SERIAL_USE_UART8 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
#define STM32_SERIAL_USART6_PRIORITY 12
#define STM32_SERIAL_UART7_PRIORITY 12
#define STM32_SERIAL_UART8_PRIORITY 12
/*
* SPI driver system settings.
@@ -376,18 +400,18 @@
#define STM32_SPI_USE_SPI4 TRUE
#define STM32_SPI_USE_SPI5 FALSE
#define STM32_SPI_USE_SPI6 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_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_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_SPI6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
//#define STM32_SPI_SPI6_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
#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_SPI6_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
#define STM32_SPI_SPI6_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 5)
#define STM32_SPI_SPI1_DMA_PRIORITY 1
#define STM32_SPI_SPI2_DMA_PRIORITY 1
#define STM32_SPI_SPI3_DMA_PRIORITY 1
@@ -408,6 +432,11 @@
#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.
*/
@@ -421,26 +450,20 @@
#define STM32_UART_USE_UART8 FALSE /* NO DMA AVAIL */
#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_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_IRQ_PRIORITY 12
#define STM32_UART_USART2_IRQ_PRIORITY 12
#define STM32_UART_USART3_IRQ_PRIORITY 12
#define STM32_UART_UART4_IRQ_PRIORITY 12
#define STM32_UART_UART5_IRQ_PRIORITY 12
#define STM32_UART_USART6_IRQ_PRIORITY 12
#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
@@ -460,39 +483,16 @@
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 1024
#define STM32_USB_OTG_THREAD_PRIO LOWPRIO
#define STM32_USB_OTG_THREAD_STACK_SIZE 128
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
/*
* SDC driver system settings.
*/
#define STM32_SDC_USE_SDMMC1 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_SDMMC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
#define STM32_SDC_SDMMC1_DMA_PRIORITY 3
#define STM32_SDC_SDMMC1_IRQ_PRIORITY 9
/*
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)
/*
* 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)
//#define CH_HEAP_SIZE (32*1024)
//#define CH_HEAP_USE_TLSF 1 // if 0 or undef, chAlloc will be used
#endif /* _MCUCONF_H_ */
#endif /* MCUCONF_H */
sw/airborne/boards/px4fmu/chibios/v2.4/board.mk
+4
View File
@@ -18,3 +18,7 @@ BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/px4fmu/chibios/v2.4/mcuconf.h
+66 -37
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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.
@@ -14,8 +14,8 @@
limitations under the License.
*/
#ifndef _MCUCONF_H_
#define _MCUCONF_H_
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* STM32F4xx drivers configuration.
@@ -32,11 +32,18 @@
*/
#define STM32F4xx_MCUCONF
#define STM32F405_MCUCONF
#define STM32F415_MCUCONF
#define STM32F407_MCUCONF
#define STM32F417_MCUCONF
/*
* 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
@@ -60,9 +67,24 @@
#define STM32_I2SSRC STM32_I2SSRC_CKIN
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SR_VALUE 5
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0
#define STM32_BKPRAM_ENABLE FALSE
/*
* 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 15
#define STM32_IRQ_EXTI18_PRIORITY 6
#define STM32_IRQ_EXTI19_PRIORITY 6
#define STM32_IRQ_EXTI20_PRIORITY 6
#define STM32_IRQ_EXTI21_PRIORITY 15
#define STM32_IRQ_EXTI22_PRIORITY 15
/*
* ADC driver system settings.
@@ -111,24 +133,6 @@
#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)
/*
* 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 15
#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_IRQ_PRIORITY 15
#define STM32_EXT_EXTI22_IRQ_PRIORITY 15
/*
* GPT driver system settings.
*/
@@ -190,6 +194,21 @@
#define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
/*
* I2S driver system settings.
*/
#define STM32_I2S_USE_SPI2 FALSE
#define STM32_I2S_USE_SPI3 FALSE
#define STM32_I2S_SPI2_IRQ_PRIORITY 10
#define STM32_I2S_SPI3_IRQ_PRIORITY 10
#define STM32_I2S_SPI2_DMA_PRIORITY 1
#define STM32_I2S_SPI3_DMA_PRIORITY 1
#define STM32_I2S_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_I2S_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_I2S_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2S_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2S_DMA_ERROR_HOOK(i2sp) osalSysHalt("DMA failure")
/*
* ICU driver system settings.
*/
@@ -246,6 +265,25 @@
#define STM32_PWM_TIM8_IRQ_PRIORITY 7
#define STM32_PWM_TIM9_IRQ_PRIORITY 7
/*
* 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_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_WRITE_TIMEOUT_MS 250
#define STM32_SDC_READ_TIMEOUT_MS 15
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT FALSE
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
/*
* SERIAL driver system settings.
*/
@@ -368,21 +406,12 @@
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 512
#define STM32_USB_OTG_THREAD_PRIO HIGHPRIO
#define STM32_USB_OTG_THREAD_STACK_SIZE 256
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
#define STM32_USB_HOST_WAKEUP_DURATION 2
/*
* SDC driver system settings.
* WDG driver system settings.
*/
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
#define STM32_SDC_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT FALSE
#define STM32_SDC_WRITE_TIMEOUT_MS 250
#define STM32_SDC_READ_TIMEOUT_MS 15
#define STM32_WDG_USE_IWDG FALSE
/*
sdlog message buffer and queue configuration
@@ -399,4 +428,4 @@
#define STM32_USE_REVISION_A_FIX 1
#endif /* _MCUCONF_H_ */
#endif /* MCUCONF_H */
sw/airborne/boards/px4fmu/chibios/v4.0/board.mk
+4
View File
@@ -18,3 +18,7 @@ BOARDINC = $(CHIBIOS_BOARD_DIR)
# List of all the board related files.
BOARDSRC = ${BOARDINC}/board.c
# Shared variables
ALLCSRC += $(BOARDSRC)
ALLINC += $(BOARDINC)
sw/airborne/boards/px4fmu/chibios/v4.0/mcuconf.h
+66 -36
View File
@@ -1,5 +1,5 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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.
@@ -14,8 +14,8 @@
limitations under the License.
*/
#ifndef _MCUCONF_H_
#define _MCUCONF_H_
#ifndef MCUCONF_H
#define MCUCONF_H
/*
* STM32F4xx drivers configuration.
@@ -32,11 +32,18 @@
*/
#define STM32F4xx_MCUCONF
#define STM32F405_MCUCONF
#define STM32F415_MCUCONF
#define STM32F407_MCUCONF
#define STM32F417_MCUCONF
/*
* 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
@@ -60,9 +67,24 @@
#define STM32_I2SSRC STM32_I2SSRC_CKIN
#define STM32_PLLI2SN_VALUE 192
#define STM32_PLLI2SR_VALUE 5
#define STM32_PVD_ENABLE FALSE
#define STM32_PLS STM32_PLS_LEV0
#define STM32_BKPRAM_ENABLE FALSE
/*
* 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 15
#define STM32_IRQ_EXTI18_PRIORITY 6
#define STM32_IRQ_EXTI19_PRIORITY 6
#define STM32_IRQ_EXTI20_PRIORITY 6
#define STM32_IRQ_EXTI21_PRIORITY 15
#define STM32_IRQ_EXTI22_PRIORITY 15
/*
* ADC driver system settings.
@@ -111,24 +133,6 @@
#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)
/*
* 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 15
#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_IRQ_PRIORITY 15
#define STM32_EXT_EXTI22_IRQ_PRIORITY 15
/*
* GPT driver system settings.
*/
@@ -190,6 +194,21 @@
#define STM32_I2C_I2C3_DMA_PRIORITY 3
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
/*
* I2S driver system settings.
*/
#define STM32_I2S_USE_SPI2 FALSE
#define STM32_I2S_USE_SPI3 FALSE
#define STM32_I2S_SPI2_IRQ_PRIORITY 10
#define STM32_I2S_SPI3_IRQ_PRIORITY 10
#define STM32_I2S_SPI2_DMA_PRIORITY 1
#define STM32_I2S_SPI3_DMA_PRIORITY 1
#define STM32_I2S_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
#define STM32_I2S_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
#define STM32_I2S_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
#define STM32_I2S_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2S_DMA_ERROR_HOOK(i2sp) osalSysHalt("DMA failure")
/*
* ICU driver system settings.
*/
@@ -238,6 +257,25 @@
#define STM32_PWM_TIM8_IRQ_PRIORITY 7
#define STM32_PWM_TIM9_IRQ_PRIORITY 7
/*
* 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_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_WRITE_TIMEOUT_MS 250
#define STM32_SDC_READ_TIMEOUT_MS 15
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT FALSE
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
/*
* SERIAL driver system settings.
*/
@@ -372,20 +410,12 @@
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 512
#define STM32_USB_OTG_THREAD_PRIO HIGHPRIO
#define STM32_USB_OTG_THREAD_STACK_SIZE 256
#define STM32_USB_OTGFIFO_FILL_BASEPRI 0
#define STM32_USB_HOST_WAKEUP_DURATION 2
/*
* SDC driver system settings.
* WDG driver system settings.
*/
#define STM32_SDC_SDIO_DMA_STREAM STM32_DMA_STREAM_ID(2, 6)
#define STM32_SDC_SDIO_DMA_PRIORITY 3
#define STM32_SDC_SDIO_IRQ_PRIORITY 9
#define STM32_SDC_CLOCK_ACTIVATION_DELAY 10
#define STM32_SDC_SDIO_UNALIGNED_SUPPORT FALSE
#define STM32_SDC_WRITE_TIMEOUT_MS 250
#define STM32_SDC_READ_TIMEOUT_MS 15
#define STM32_WDG_USE_IWDG FALSE
/*
sdlog message buffer and queue configuration
@@ -402,4 +432,4 @@
#define STM32_USE_REVISION_A_FIX 1
#endif /* _MCUCONF_H_ */
#endif /* MCUCONF_H */

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