mirror of
https://github.com/paparazzi/paparazzi.git
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[board] add nucleo144 dev board (#2624)
* [board] add nucleo144 dev board it is a cheap dev board for testing, using the same processor than the Tawaki autopilot and configured (almost) with the same pins (except for the leds and some original servo and aux pins) * remove SD card support for nucleo144 * clean cfg file
This commit is contained in:
Gautier Hattenberger
committed by
GitHub
GitHub
parent
688ac6aeca
commit
d9d3498ca2
@@ -0,0 +1,212 @@
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<!DOCTYPE airframe SYSTEM "../airframe.dtd">
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<airframe name="Nucleo144 Test File">
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<firmware name="fixedwing">
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<!--configure name="RTOS_DEBUG" value="1"/-->
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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<define name="SERVO_HZ" type="60"/>
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<target name="ap" board="nucleo144_f767zi">
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<module name="radio_control" type="sbus"/>
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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</target>
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<target name="nps" board="pc">
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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<module name="radio_control" type="ppm"/>
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<module name="fdm" type="jsbsim"/>
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<module name="ahrs" type="float_cmpl_quat">
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<configure name="USE_MAGNETOMETER" value="1"/>
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</module>
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<module name="ins" type="alt_float"/>
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</target>
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<target name="sim" board="pc">
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<module name="radio_control" type="ppm"/>
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<module name="ahrs" type="float_dcm"/>
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<module name="ins" type="alt_float"/>
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</target>
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<module name="telemetry" type="transparent"/>
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<module name="board" type="tawaki">
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<configure name="BOARD_TAWAKI_ROTATED" value="TRUE"/>
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</module>
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<module name="gps" type="ublox">
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<configure name="GPS_BAUD" value="B115200"/>
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</module>
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<module name="control" type="new"/>
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<module name="navigation"/>
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<module name="air_data">
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<define name="AIR_DATA_BARO_ABS_ID" value="BARO_BMP3_SENDER_ID"/>
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<define name="AIR_DATA_CALC_AMSL_BARO" value="TRUE"/>
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</module>
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</firmware>
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<!-- commands section -->
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<servos>
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<servo name="MOTOR" no="1" min="1040" neutral="1040" max="2000"/>
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<servo name="AILEVON_RIGHT" no="2" max="1900" neutral="1416" min="1100"/>
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<servo name="AILEVON_LEFT" no="3" max="1100" neutral="1586" min="1900"/>
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</servos>
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<commands>
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<axis name="THROTTLE" failsafe_value="0"/>
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<axis name="ROLL" failsafe_value="0"/>
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<axis name="PITCH" failsafe_value="0"/>
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</commands>
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<rc_commands>
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<set command="THROTTLE" value="@THROTTLE"/>
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<set command="ROLL" value="@ROLL"/>
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<set command="PITCH" value="@PITCH"/>
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</rc_commands>
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<section name="MIXER">
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<define name="AILEVON_AILERON_RATE" value="0.75"/>
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<define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
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<define name="AILERON_DIFF" value="0.5"/>
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<define name="COMMAND_ROLL_TRIM" value="0"/>
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<define name="COMMAND_PITCH_TRIM" value="0"/>
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</section>
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<command_laws>
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<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
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<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
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<set servo="MOTOR" value="@THROTTLE"/>
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<set servo="AILEVON_LEFT" value="$elevator - ($aileron > 0 ? AILERON_DIFF : 1) * $aileron"/>
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<set servo="AILEVON_RIGHT" value="$elevator + ($aileron > 0 ? 1 : AILERON_DIFF) * $aileron"/>
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</command_laws>
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<section name="AUTO1" prefix="AUTO1_">
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<define name="MAX_ROLL" value="45." unit="deg"/>
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<define name="MAX_PITCH" value="30." unit="deg"/>
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</section>
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<section name="IMU" prefix="IMU_">
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<define name="GYRO_P_SIGN" value="1"/>
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<define name="GYRO_Q_SIGN" value="1"/>
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<define name="GYRO_R_SIGN" value="1"/>
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<define name="ACCEL_X_SIGN" value="1"/>
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<define name="ACCEL_Y_SIGN" value="1"/>
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<define name="ACCEL_Z_SIGN" value="1"/>
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<define name="ACCEL_X_NEUTRAL" value="-41"/>
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<define name="ACCEL_Y_NEUTRAL" value="1"/>
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<define name="ACCEL_Z_NEUTRAL" value="24"/>
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<define name="ACCEL_X_SENS" value="2.45166329295" integer="16"/>
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<define name="ACCEL_Y_SENS" value="2.45072320868" integer="16"/>
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<define name="ACCEL_Z_SENS" value="2.44974997157" integer="16"/>
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<define name="MAG_X_SIGN" value="1"/>
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<define name="MAG_Y_SIGN" value="1"/>
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<define name="MAG_Z_SIGN" value="1"/>
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<define name="MAG_X_NEUTRAL" value="1984"/>
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<define name="MAG_Y_NEUTRAL" value="-528"/>
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<define name="MAG_Z_NEUTRAL" value="1055"/>
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<define name="MAG_X_SENS" value="0.676644619376" integer="16"/>
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<define name="MAG_Y_SENS" value="0.667566939093" integer="16"/>
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<define name="MAG_Z_SENS" value="0.663687314941" integer="16"/>
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<define name="BODY_TO_IMU_PHI" value="0" unit="deg"/>
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<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
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<define name="BODY_TO_IMU_PSI" value="0" unit="deg"/>
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</section>
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<section name="INS" prefix="INS_">
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<!--muret-->
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<define name="H_X" value="0.5180"/>
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<define name="H_Y" value="-0.0071"/>
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<define name="H_Z" value="0.8554"/>
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</section>
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<section name="BAT">
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<define name="CALIB_AMP_A" value="0.0045360"/>
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<define name="CALIB_AMP_B" value="2.8136"/>
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<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
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<!--define name="MilliAmpereOfAdc(_adc)" value="(_adc-620)*4.536"/-->
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</section>
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<section name="MISC">
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<define name="NOMINAL_AIRSPEED" value="12." unit="m/s"/>
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<define name="CARROT" value="5." unit="s"/>
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<define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
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<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
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<define name="UNLOCKED_HOME_MODE" value="TRUE"/>
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</section>
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<section name="BUNGEE" prefix="BUNGEE_TAKEOFF_">
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<define name="HEIGHT" value="15."/>
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<define name="DISTANCE" value="-10."/>
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<define name="MIN_SPEED" value="2"/>
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<define name="PITCH" value="12" unit="deg"/>
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<define name="THROTTLE" value="1."/>
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</section>
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<section name="VERTICAL CONTROL" prefix="V_CTL_">
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<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
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<!-- outer loop proportional gain -->
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<define name="ALTITUDE_PGAIN" value="0.06"/>
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<!-- outer loop saturation -->
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<define name="ALTITUDE_MAX_CLIMB" value="3."/>
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<!-- auto throttle inner loop -->
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<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
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<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
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<define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
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<define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
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<define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
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<define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
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<define name="AUTO_THROTTLE_PGAIN" value="0.011"/>
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<define name="AUTO_THROTTLE_IGAIN" value="0.006"/>
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<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.13"/>
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<define name="THROTTLE_SLEW" value="0.1"/>
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<!-- TODO : CTRL_NEW "Climb loop (pitch)" -->
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<define name="AUTO_PITCH_PGAIN" value="0.028"/>
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<define name="AUTO_PITCH_DGAIN" value="0.013"/>
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<define name="AUTO_PITCH_IGAIN" value="0.006"/>
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<define name="AUTO_PITCH_MAX_PITCH" value="20" unit="deg"/>
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<define name="AUTO_PITCH_MIN_PITCH" value="-20" unit="deg"/>
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<define name="PITCH_TRIM" value="0." unit="deg"/>
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</section>
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<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
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<define name="COURSE_PGAIN" value="0.58"/>
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<define name="ROLL_MAX_SETPOINT" value="45" unit="deg"/>
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<define name="PITCH_MAX_SETPOINT" value="30." unit="deg"/>
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<define name="PITCH_MIN_SETPOINT" value="-30." unit="deg"/>
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<define name="ROLL_ATTITUDE_GAIN" value="10041"/>
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<define name="ROLL_RATE_GAIN" value="1500"/>
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<define name="PITCH_PGAIN" value="10672"/>
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<define name="PITCH_DGAIN" value="1343"/>
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<define name="AILERON_OF_THROTTLE" value="0.0"/>
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<define name="PITCH_OF_ROLL" value="0.024"/>
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</section>
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<section name="FAILSAFE" prefix="FAILSAFE_">
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<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
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<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
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<define name="DEFAULT_ROLL" value="0.17" unit="rad"/>
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<define name="DEFAULT_PITCH" value="0.08" unit="rad"/>
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<define name="HOME_RADIUS" value="100" unit="m"/>
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</section>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="JSBSIM_LAUNCHSPEED" value="15"/>
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<define name="JSBSIM_MODEL" value="easystar" type="string"/>
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<define name="SENSORS_PARAMS" value="nps_sensors_params_wind_estimator.h" type="string"/>
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<define name="JS_AXIS_MODE" value="4"/>
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</section>
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</airframe>
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@@ -0,0 +1,99 @@
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# Hey Emacs, this is a -*- makefile -*-
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#
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# nucleo144_f767zi_1.0.makefile
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#
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# based on tawaki (STM32F7)
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# only compatible with ChibiOS
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#
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BOARD=nucleo
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BOARD_VERSION=144_f767zi
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BOARD_DIR=$(BOARD)/$(BOARD_VERSION)
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BOARD_CFG=\"boards/$(BOARD_DIR)/$(BOARD)$(BOARD_VERSION).h\"
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ARCH=chibios
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$(TARGET).ARCHDIR = $(ARCH)
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RTOS=chibios
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MCU=cortex-m7
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## FPU on F7
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USE_FPU=softfp
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USE_FPU_OPT= -mfpu=fpv5-d16
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USE_LTO=yes
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$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DUSE_HARD_FAULT_RECOVERY
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##############################################################################
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# Architecture or project specific options
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#
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# Define project name here (target)
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PROJECT = $(TARGET)
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# Project specific files and paths (see Makefile.chibios for details)
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CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk
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CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk
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CHIBIOS_BOARD_LINKER = STM32F76xxI.ld
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CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk
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# ITCM flash is a special flash that allow faster operations
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# At the moment it is not possible to flash the code in this mode using dfu-util
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# but it should work with the BlackMagicProbe or STLINK
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# By default, normal flash is used
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ifeq ($(USE_ITCM),1)
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$(TARGET).CFLAGS += -DUSE_ITCM=1
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DFU_ADDR = 0x00200000
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else
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$(TARGET).CFLAGS += -DUSE_ITCM=0
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DFU_ADDR = 0x08000000
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endif
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##############################################################################
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# Compiler settings
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#
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# default flash mode is via usb dfu bootloader
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# possibilities: DFU-UTIL, SWD, STLINK
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FLASH_MODE ?= STLINK
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HAS_LUFTBOOT = FALSE
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#
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# default LED configuration
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#
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RADIO_CONTROL_LED ?= 3
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BARO_LED ?= none
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AHRS_ALIGNER_LED ?= none
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GPS_LED ?= 2
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SYS_TIME_LED ?= 1
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#
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# default UART configuration (modem, gps, spektrum)
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#
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MODEM_PORT ?= UART3
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MODEM_BAUD ?= B57600
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GPS_PORT ?= UART7
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GPS_BAUD ?= B57600
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RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6
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RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART8
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# single mode
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SBUS_PORT ?= UART8
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# dual mode
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SBUS1_PORT ?= UART8
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SBUS2_PORT ?= UART6
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#
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# default actuator configuration
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#
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# you can use different actuators by adding a configure option to your firmware section
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# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
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# and by setting the correct "driver" attribute in servo section
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# e.g. <servo driver="Ppm">
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#
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ACTUATORS ?= actuators_pwm
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@@ -63,6 +63,7 @@
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<board name="tawaki_.*"/>
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<board name="crazybee_f4_.*"/>
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<board name="crazyflie_.*"/>
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<board name="nucleo.*"/>
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</boards>
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</mode>
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<mode name="STLink (SWD)">
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@@ -79,6 +80,7 @@
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<board name="tawaki_.*"/>
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<board name="crazybee_f4_.*"/>
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<board name="crazyflie_.*"/>
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<board name="nucleo.*"/>
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</boards>
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</mode>
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<mode name="BlackMagic Probe (SWD)">
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@@ -100,6 +102,7 @@
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<board name="tawaki_.*"/>
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<board name="vms_ecu_.*"/>
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<board name="crazyflie_.*"/>
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<board name="nucleo.*"/>
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</boards>
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</mode>
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<mode name="BlackMagic Probe (SWD_NOPWR)">
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@@ -0,0 +1,9 @@
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# file board.h is generated from file board.cfg by a script which is hosted here :
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# https://github.com/alex31/chibios_enac_various_common/blob/master/TOOLS/boardGen.pl
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# documentation is here :
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# https://github.com/alex31/chibios_enac_various_common/blob/master/TOOLS/DOC/boardGen.pdf
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board.h: board.cfg Makefile
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boardGen.pl --no-pp-pin --no-pp-line $< $@
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@@ -0,0 +1,262 @@
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/*
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ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
|
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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* This file has been automatically generated using ChibiStudio board
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* generator plugin. Do not edit manually.
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*/
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#include "hal.h"
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#include "stm32_gpio.h"
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables and types. */
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/*===========================================================================*/
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/**
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* @brief Type of STM32 GPIO port setup.
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*/
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typedef struct {
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uint32_t moder;
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uint32_t otyper;
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uint32_t ospeedr;
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uint32_t pupdr;
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uint32_t odr;
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uint32_t afrl;
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uint32_t afrh;
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} gpio_setup_t;
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/**
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* @brief Type of STM32 GPIO initialization data.
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*/
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typedef struct {
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#if STM32_HAS_GPIOA || defined(__DOXYGEN__)
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gpio_setup_t PAData;
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#endif
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#if STM32_HAS_GPIOB || defined(__DOXYGEN__)
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gpio_setup_t PBData;
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#endif
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#if STM32_HAS_GPIOC || defined(__DOXYGEN__)
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gpio_setup_t PCData;
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#endif
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#if STM32_HAS_GPIOD || defined(__DOXYGEN__)
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gpio_setup_t PDData;
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#endif
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#if STM32_HAS_GPIOE || defined(__DOXYGEN__)
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gpio_setup_t PEData;
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#endif
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#if STM32_HAS_GPIOF || defined(__DOXYGEN__)
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gpio_setup_t PFData;
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#endif
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#if STM32_HAS_GPIOG || defined(__DOXYGEN__)
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gpio_setup_t PGData;
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#endif
|
||||
#if STM32_HAS_GPIOH || defined(__DOXYGEN__)
|
||||
gpio_setup_t PHData;
|
||||
#endif
|
||||
#if STM32_HAS_GPIOI || defined(__DOXYGEN__)
|
||||
gpio_setup_t PIData;
|
||||
#endif
|
||||
#if STM32_HAS_GPIOJ || defined(__DOXYGEN__)
|
||||
gpio_setup_t PJData;
|
||||
#endif
|
||||
#if STM32_HAS_GPIOK || defined(__DOXYGEN__)
|
||||
gpio_setup_t PKData;
|
||||
#endif
|
||||
} gpio_config_t;
|
||||
|
||||
/**
|
||||
* @brief STM32 GPIO static initialization data.
|
||||
*/
|
||||
static const gpio_config_t gpio_default_config = {
|
||||
#if STM32_HAS_GPIOA
|
||||
{VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,
|
||||
VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOB
|
||||
{VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,
|
||||
VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOC
|
||||
{VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,
|
||||
VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOD
|
||||
{VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,
|
||||
VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOE
|
||||
{VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,
|
||||
VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOF
|
||||
{VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,
|
||||
VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOG
|
||||
{VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,
|
||||
VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOH
|
||||
{VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,
|
||||
VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOI
|
||||
{VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,
|
||||
VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOJ
|
||||
{VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR,
|
||||
VAL_GPIOJ_ODR, VAL_GPIOJ_AFRL, VAL_GPIOJ_AFRH},
|
||||
#endif
|
||||
#if STM32_HAS_GPIOK
|
||||
{VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR,
|
||||
VAL_GPIOK_ODR, VAL_GPIOK_AFRL, VAL_GPIOK_AFRH}
|
||||
#endif
|
||||
};
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver local functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
static void gpio_init(stm32_gpio_t *gpiop, const gpio_setup_t *config) {
|
||||
|
||||
gpiop->OTYPER = config->otyper;
|
||||
gpiop->OSPEEDR = config->ospeedr;
|
||||
gpiop->PUPDR = config->pupdr;
|
||||
gpiop->ODR = config->odr;
|
||||
gpiop->AFRL = config->afrl;
|
||||
gpiop->AFRH = config->afrh;
|
||||
gpiop->MODER = config->moder;
|
||||
}
|
||||
|
||||
static void stm32_gpio_init(void) {
|
||||
|
||||
/* Enabling GPIO-related clocks, the mask comes from the
|
||||
registry header file.*/
|
||||
rccResetAHB1(STM32_GPIO_EN_MASK);
|
||||
rccEnableAHB1(STM32_GPIO_EN_MASK, true);
|
||||
|
||||
/* Initializing all the defined GPIO ports.*/
|
||||
#if STM32_HAS_GPIOA
|
||||
gpio_init(GPIOA, &gpio_default_config.PAData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOB
|
||||
gpio_init(GPIOB, &gpio_default_config.PBData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOC
|
||||
gpio_init(GPIOC, &gpio_default_config.PCData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOD
|
||||
gpio_init(GPIOD, &gpio_default_config.PDData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOE
|
||||
gpio_init(GPIOE, &gpio_default_config.PEData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOF
|
||||
gpio_init(GPIOF, &gpio_default_config.PFData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOG
|
||||
gpio_init(GPIOG, &gpio_default_config.PGData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOH
|
||||
gpio_init(GPIOH, &gpio_default_config.PHData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOI
|
||||
gpio_init(GPIOI, &gpio_default_config.PIData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOJ
|
||||
gpio_init(GPIOJ, &gpio_default_config.PJData);
|
||||
#endif
|
||||
#if STM32_HAS_GPIOK
|
||||
gpio_init(GPIOK, &gpio_default_config.PKData);
|
||||
#endif
|
||||
}
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver interrupt handlers. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver exported functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Early initialization code.
|
||||
* @details GPIO ports and system clocks are initialized before everything
|
||||
* else.
|
||||
*/
|
||||
void __early_init(void) {
|
||||
|
||||
stm32_gpio_init();
|
||||
stm32_clock_init();
|
||||
}
|
||||
|
||||
#if HAL_USE_SDC || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief SDC card detection.
|
||||
*/
|
||||
bool sdc_lld_is_card_inserted(SDCDriver *sdcp) {
|
||||
(void)sdcp;
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief SDC card write protection detection.
|
||||
*/
|
||||
bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
|
||||
|
||||
(void)sdcp;
|
||||
return false;
|
||||
}
|
||||
#endif /* HAL_USE_SDC */
|
||||
|
||||
#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
|
||||
/**
|
||||
* @brief MMC_SPI card detection.
|
||||
*/
|
||||
bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
|
||||
|
||||
(void)mmcp;
|
||||
return false;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief MMC_SPI card write protection detection.
|
||||
*/
|
||||
bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
|
||||
|
||||
(void)mmcp;
|
||||
return false;
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Board-specific initialization code.
|
||||
* @todo Add your board-specific code, if any.
|
||||
*/
|
||||
void boardInit(void) {
|
||||
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,20 @@
|
||||
#
|
||||
# ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio
|
||||
#
|
||||
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||
# you may not use this file except in compliance with the License.
|
||||
# You may obtain a copy of the License at
|
||||
#
|
||||
# http://www.apache.org/licenses/LICENSE-2.0
|
||||
#
|
||||
# Unless required by applicable law or agreed to in writing, software
|
||||
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
# See the License for the specific language governing permissions and
|
||||
# limitations under the License.
|
||||
#
|
||||
# Required include directories
|
||||
BOARDINC = $(CHIBIOS_BOARD_DIR)
|
||||
|
||||
# List of all the board related files.
|
||||
BOARDSRC = ${BOARDINC}/board.c
|
||||
@@ -0,0 +1,498 @@
|
||||
/*
|
||||
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License");
|
||||
you may not use this file except in compliance with the License.
|
||||
You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software
|
||||
distributed under the License is distributed on an "AS IS" BASIS,
|
||||
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
See the License for the specific language governing permissions and
|
||||
limitations under the License.
|
||||
*/
|
||||
|
||||
#ifndef _MCUCONF_H_
|
||||
#define _MCUCONF_H_
|
||||
|
||||
/*
|
||||
* STM32F7xx drivers configuration.
|
||||
* The following settings override the default settings present in
|
||||
* the various device driver implementation headers.
|
||||
* Note that the settings for each driver only have effect if the whole
|
||||
* driver is enabled in halconf.h.
|
||||
*
|
||||
* IRQ priorities:
|
||||
* 15...0 Lowest...Highest.
|
||||
*
|
||||
* DMA priorities:
|
||||
* 0...3 Lowest...Highest.
|
||||
*/
|
||||
|
||||
#define STM32F7xx_MCUCONF
|
||||
|
||||
/*
|
||||
* 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
|
||||
#define STM32_LSE_ENABLED TRUE
|
||||
#define STM32_CLOCK48_REQUIRED TRUE
|
||||
#define STM32_SW STM32_SW_PLL
|
||||
#define STM32_PLLSRC STM32_PLLSRC_HSE
|
||||
#define STM32_PLLM_VALUE 8
|
||||
#define STM32_PLLN_VALUE 432
|
||||
#define STM32_PLLP_VALUE 2
|
||||
#define STM32_PLLQ_VALUE 9
|
||||
#define STM32_HPRE STM32_HPRE_DIV1
|
||||
#define STM32_PPRE1 STM32_PPRE1_DIV4
|
||||
#define STM32_PPRE2 STM32_PPRE2_DIV2
|
||||
#if HAL_USE_RTC
|
||||
#define STM32_RTCSEL STM32_RTCSEL_LSE
|
||||
#else
|
||||
#define STM32_RTCSEL STM32_RTCSEL_NOCLOCK
|
||||
#endif
|
||||
#define STM32_RTCPRE_VALUE 25
|
||||
#define STM32_MCO1SEL STM32_MCO1SEL_HSI
|
||||
#define STM32_MCO1PRE STM32_MCO1PRE_DIV1
|
||||
#define STM32_MCO2SEL STM32_MCO2SEL_SYSCLK
|
||||
#define STM32_MCO2PRE STM32_MCO2PRE_DIV4
|
||||
#define STM32_I2SSRC STM32_I2SSRC_OFF
|
||||
#define STM32_PLLI2SN_VALUE 192
|
||||
#define STM32_PLLI2SP_VALUE 4
|
||||
#define STM32_PLLI2SQ_VALUE 4
|
||||
#define STM32_PLLI2SR_VALUE 4
|
||||
#define STM32_PLLI2SDIVQ_VALUE 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
|
||||
#define STM32_UART4SEL STM32_UART4SEL_PCLK1
|
||||
#define STM32_UART5SEL STM32_UART5SEL_PCLK1
|
||||
#define STM32_USART6SEL STM32_USART6SEL_PCLK2
|
||||
#define STM32_UART7SEL STM32_UART7SEL_PCLK1
|
||||
#define STM32_UART8SEL STM32_UART8SEL_PCLK1
|
||||
#define STM32_I2C1SEL STM32_I2C1SEL_PCLK1
|
||||
#define STM32_I2C2SEL STM32_I2C2SEL_PCLK1
|
||||
#define STM32_I2C3SEL STM32_I2C3SEL_PCLK1
|
||||
#define STM32_I2C4SEL STM32_I2C4SEL_PCLK1
|
||||
#define STM32_LPTIM1SEL STM32_LPTIM1SEL_PCLK1
|
||||
#define STM32_CECSEL STM32_CECSEL_LSE
|
||||
#define STM32_CK48MSEL STM32_CK48MSEL_PLL
|
||||
#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 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.
|
||||
*/
|
||||
#define STM32_ADC_ADCPRE ADC_CCR_ADCPRE_DIV4
|
||||
#define STM32_ADC_USE_ADC1 TRUE
|
||||
#define STM32_ADC_USE_ADC2 FALSE
|
||||
#define STM32_ADC_USE_ADC3 FALSE
|
||||
#define STM32_ADC_ADC1_DMA_STREAM STM32_DMA_STREAM_ID(2, 4)
|
||||
#define STM32_ADC_ADC2_DMA_STREAM STM32_DMA_STREAM_ID(2, 2)
|
||||
#define STM32_ADC_ADC3_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
|
||||
#define STM32_ADC_ADC1_DMA_PRIORITY 2
|
||||
#define STM32_ADC_ADC2_DMA_PRIORITY 2
|
||||
#define STM32_ADC_ADC3_DMA_PRIORITY 2
|
||||
#define STM32_ADC_IRQ_PRIORITY 6
|
||||
#define STM32_ADC_ADC1_DMA_IRQ_PRIORITY 6
|
||||
#define STM32_ADC_ADC2_DMA_IRQ_PRIORITY 6
|
||||
#define STM32_ADC_ADC3_DMA_IRQ_PRIORITY 6
|
||||
|
||||
/*
|
||||
* CAN driver system settings.
|
||||
*/
|
||||
#if USE_CAN1
|
||||
#define STM32_CAN_USE_CAN1 TRUE
|
||||
#else
|
||||
#define STM32_CAN_USE_CAN1 FALSE
|
||||
#endif
|
||||
#define STM32_CAN_USE_CAN2 FALSE
|
||||
#define STM32_CAN_USE_CAN3 FALSE
|
||||
#define STM32_CAN_CAN1_IRQ_PRIORITY 11
|
||||
#define STM32_CAN_CAN2_IRQ_PRIORITY 11
|
||||
|
||||
/*
|
||||
* DAC driver system settings.
|
||||
*/
|
||||
#define STM32_DAC_DUAL_MODE FALSE
|
||||
#define STM32_DAC_USE_DAC1_CH1 FALSE
|
||||
#define STM32_DAC_USE_DAC1_CH2 FALSE
|
||||
#define STM32_DAC_DAC1_CH1_IRQ_PRIORITY 10
|
||||
#define STM32_DAC_DAC1_CH2_IRQ_PRIORITY 10
|
||||
#define STM32_DAC_DAC1_CH1_DMA_PRIORITY 2
|
||||
#define STM32_DAC_DAC1_CH2_DMA_PRIORITY 2
|
||||
//#define STM32_DAC_DAC1_CH1_DMA_STREAM STM32_DMA_STREAM_ID(1, 5)
|
||||
#define STM32_DAC_DAC1_CH2_DMA_STREAM STM32_DMA_STREAM_ID(1, 6)
|
||||
|
||||
/*
|
||||
* GPT driver system settings.
|
||||
*/
|
||||
#define STM32_GPT_USE_TIM1 FALSE
|
||||
#define STM32_GPT_USE_TIM2 FALSE // keep free if in tickless mode
|
||||
#define STM32_GPT_USE_TIM3 FALSE
|
||||
#define STM32_GPT_USE_TIM4 FALSE
|
||||
#define STM32_GPT_USE_TIM5 FALSE
|
||||
#define STM32_GPT_USE_TIM6 FALSE
|
||||
#define STM32_GPT_USE_TIM7 FALSE
|
||||
#define STM32_GPT_USE_TIM8 FALSE
|
||||
#define STM32_GPT_USE_TIM9 FALSE
|
||||
#define STM32_GPT_USE_TIM11 FALSE
|
||||
#define STM32_GPT_USE_TIM12 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
|
||||
|
||||
/*
|
||||
* 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
|
||||
#define STM32_I2C_USE_I2C2 FALSE
|
||||
#endif
|
||||
#define STM32_I2C_USE_I2C3 FALSE
|
||||
#if USE_I2C4
|
||||
#define STM32_I2C_USE_I2C4 TRUE
|
||||
#else
|
||||
#define STM32_I2C_USE_I2C4 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, 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_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
|
||||
#define STM32_I2C_I2C2_IRQ_PRIORITY 5
|
||||
#define STM32_I2C_I2C3_IRQ_PRIORITY 5
|
||||
#define STM32_I2C_I2C4_IRQ_PRIORITY 5
|
||||
#define STM32_I2C_I2C1_DMA_PRIORITY 3
|
||||
#define STM32_I2C_I2C2_DMA_PRIORITY 3
|
||||
#define STM32_I2C_I2C3_DMA_PRIORITY 3
|
||||
#define STM32_I2C_I2C4_DMA_PRIORITY 3
|
||||
#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
|
||||
|
||||
/*
|
||||
* ICU driver system settings.
|
||||
*/
|
||||
#define STM32_ICU_USE_TIM1 FALSE
|
||||
#ifdef USE_PWM_INPUT1
|
||||
#define STM32_ICU_USE_TIM2 TRUE
|
||||
#else
|
||||
#define STM32_ICU_USE_TIM2 FALSE // keep free if in tickless mode
|
||||
#endif
|
||||
#define STM32_ICU_USE_TIM3 FALSE
|
||||
#define STM32_ICU_USE_TIM4 FALSE
|
||||
#if RADIO_CONTROL_TYPE_PPM
|
||||
#define STM32_ICU_USE_TIM5 TRUE
|
||||
#else
|
||||
#define STM32_ICU_USE_TIM5 FALSE
|
||||
#endif
|
||||
#ifdef USE_PWM_INPUT2
|
||||
#define STM32_ICU_USE_TIM8 TRUE
|
||||
#else
|
||||
#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
|
||||
|
||||
/*
|
||||
* MAC driver system settings.
|
||||
*/
|
||||
#define STM32_MAC_TRANSMIT_BUFFERS 2
|
||||
#define STM32_MAC_RECEIVE_BUFFERS 4
|
||||
#define STM32_MAC_BUFFERS_SIZE 1522
|
||||
#define STM32_MAC_PHY_TIMEOUT 100
|
||||
#define STM32_MAC_ETH1_CHANGE_PHY_STATE TRUE
|
||||
#define STM32_MAC_ETH1_IRQ_PRIORITY 13
|
||||
#define STM32_MAC_IP_CHECKSUM_OFFLOAD 0
|
||||
|
||||
/*
|
||||
* PWM driver system settings.
|
||||
*/
|
||||
#define STM32_PWM_USE_ADVANCED FALSE
|
||||
#ifndef STM32_PWM_USE_TIM1
|
||||
#define STM32_PWM_USE_TIM1 TRUE
|
||||
#endif
|
||||
#ifndef STM32_PWM_USE_TIM2
|
||||
#define STM32_PWM_USE_TIM2 FALSE // keep free if in tickless mode, can be used in systick mode
|
||||
#endif
|
||||
#ifndef STM32_PWM_USE_TIM3
|
||||
#define STM32_PWM_USE_TIM3 FALSE // enable for servo 12, 14, 15, 16 on AUX connectors
|
||||
#endif
|
||||
#ifndef STM32_PWM_USE_TIM4
|
||||
#define STM32_PWM_USE_TIM4 TRUE
|
||||
#endif
|
||||
#ifndef STM32_PWM_USE_TIM5
|
||||
#define STM32_PWM_USE_TIM5 FALSE // enable for servo 9, 10, 11, 13 on AUX connectors
|
||||
#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_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
|
||||
|
||||
#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
|
||||
|
||||
/*
|
||||
* SERIAL driver system settings.
|
||||
*/
|
||||
#if USE_UART1
|
||||
#define STM32_SERIAL_USE_USART1 TRUE
|
||||
#else
|
||||
#define STM32_SERIAL_USE_USART1 FALSE
|
||||
#endif
|
||||
#if USE_UART2
|
||||
#define STM32_SERIAL_USE_USART2 TRUE
|
||||
#else
|
||||
#define STM32_SERIAL_USE_USART2 FALSE
|
||||
#endif
|
||||
#if USE_UART3
|
||||
#define STM32_SERIAL_USE_USART3 TRUE
|
||||
#else
|
||||
#define STM32_SERIAL_USE_USART3 FALSE
|
||||
#endif
|
||||
#if USE_UART4
|
||||
#define STM32_SERIAL_USE_UART4 TRUE
|
||||
#else
|
||||
#define STM32_SERIAL_USE_UART4 FALSE
|
||||
#endif
|
||||
#if USE_UART5
|
||||
#define STM32_SERIAL_USE_UART5 TRUE
|
||||
#else
|
||||
#define STM32_SERIAL_USE_UART5 FALSE
|
||||
#endif
|
||||
#if USE_UART6
|
||||
#define STM32_SERIAL_USE_USART6 TRUE
|
||||
#else
|
||||
#define STM32_SERIAL_USE_USART6 FALSE
|
||||
#endif
|
||||
#if USE_UART7
|
||||
#define STM32_SERIAL_USE_UART7 TRUE
|
||||
#else
|
||||
#define STM32_SERIAL_USE_UART7 FALSE
|
||||
#endif
|
||||
#if USE_UART8
|
||||
#define STM32_SERIAL_USE_UART8 TRUE
|
||||
#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.
|
||||
*/
|
||||
#define STM32_SPI_USE_SPI1 FALSE
|
||||
#if USE_SPI2
|
||||
#define STM32_SPI_USE_SPI2 TRUE
|
||||
#else
|
||||
#define STM32_SPI_USE_SPI2 FALSE
|
||||
#endif
|
||||
#define STM32_SPI_USE_SPI3 FALSE
|
||||
#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_SPI2_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 3)
|
||||
#define STM32_SPI_SPI2_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 4)
|
||||
//#define STM32_SPI_SPI3_RX_DMA_STREAM STM32_DMA_STREAM_ID(1, 0)
|
||||
//#define STM32_SPI_SPI3_TX_DMA_STREAM STM32_DMA_STREAM_ID(1, 7)
|
||||
#define STM32_SPI_SPI4_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 0)
|
||||
#define STM32_SPI_SPI4_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 1)
|
||||
//#define STM32_SPI_SPI5_RX_DMA_STREAM STM32_DMA_STREAM_ID(2, 3)
|
||||
//#define STM32_SPI_SPI5_TX_DMA_STREAM STM32_DMA_STREAM_ID(2, 4)
|
||||
//#define STM32_SPI_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_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
|
||||
#define STM32_SPI_SPI4_IRQ_PRIORITY 10
|
||||
#define STM32_SPI_SPI5_IRQ_PRIORITY 10
|
||||
#define STM32_SPI_SPI6_IRQ_PRIORITY 10
|
||||
#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
|
||||
|
||||
/*
|
||||
* ST driver system settings.
|
||||
*/
|
||||
#define STM32_ST_IRQ_PRIORITY 8
|
||||
#define STM32_ST_USE_TIMER 2
|
||||
|
||||
/*
|
||||
* UART driver system settings.
|
||||
*/
|
||||
#define STM32_UART_USE_USART1 FALSE /* DMA OK */
|
||||
#define STM32_UART_USE_USART2 FALSE /* NO DMA AVAIL */
|
||||
#define STM32_UART_USE_USART3 FALSE /* DMA OK */
|
||||
#define STM32_UART_USE_UART4 FALSE /* NO DMA AVAIL */
|
||||
#define STM32_UART_USE_UART5 FALSE /* NO DMA AVAIL */
|
||||
#define STM32_UART_USE_USART6 FALSE /* NO DMA AVAIL */
|
||||
#define STM32_UART_USE_UART7 FALSE /* NO DMA AVAIL */
|
||||
#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_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_USART1_DMA_PRIORITY 0
|
||||
#define STM32_UART_USART2_DMA_PRIORITY 0
|
||||
#define STM32_UART_USART3_DMA_PRIORITY 0
|
||||
#define STM32_UART_UART4_DMA_PRIORITY 0
|
||||
#define STM32_UART_UART5_DMA_PRIORITY 0
|
||||
#define STM32_UART_USART6_DMA_PRIORITY 0
|
||||
#define STM32_UART_UART7_DMA_PRIORITY 0
|
||||
#define STM32_UART_UART8_DMA_PRIORITY 0
|
||||
#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
|
||||
|
||||
/*
|
||||
* USB driver system settings.
|
||||
*/
|
||||
#define STM32_USB_USE_OTG1 TRUE
|
||||
#define STM32_USB_USE_OTG2 FALSE
|
||||
#define STM32_USB_OTG1_IRQ_PRIORITY 14
|
||||
#define STM32_USB_OTG2_IRQ_PRIORITY 14
|
||||
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
|
||||
#define STM32_USB_OTG2_RX_FIFO_SIZE 1024
|
||||
#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
|
||||
|
||||
|
||||
//#define CH_HEAP_SIZE (32*1024)
|
||||
//#define CH_HEAP_USE_TLSF 1 // if 0 or undef, chAlloc will be used
|
||||
|
||||
|
||||
|
||||
#endif /* _MCUCONF_H_ */
|
||||
@@ -0,0 +1,136 @@
|
||||
MCU_MODEL = STM32F767ZITx
|
||||
CHIBIOS_VERSION = 3.0
|
||||
|
||||
HEADER
|
||||
/*
|
||||
* Board identifier.
|
||||
*/
|
||||
#define BOARD_NUCLEO144_F767ZI
|
||||
#define BOARD_NAME "Nucleo144_f767zi Autopilot"
|
||||
|
||||
/*
|
||||
* Board oscillators-related settings.
|
||||
*/
|
||||
#if !defined(STM32_HSECLK)
|
||||
#define STM32_HSECLK 8000000U
|
||||
#endif
|
||||
|
||||
#if !defined(STM32_LSECLK)
|
||||
#define STM32_LSECLK 32768U
|
||||
#endif
|
||||
|
||||
#define STM32_HSE_BYPASS
|
||||
#define STM32_LSEDRV (3U << 3U)
|
||||
|
||||
/*
|
||||
* Board voltages.
|
||||
* Required for performance limits calculation.
|
||||
*/
|
||||
#define STM32_VDD 300U
|
||||
|
||||
/*
|
||||
* MCU type as defined in the ST header.
|
||||
*/
|
||||
#define STM32F777xx
|
||||
|
||||
CONFIG
|
||||
|
||||
|
||||
# PIN NAME PERIPH_TYPE AF_NUMBER or
|
||||
# PIN NAME FUNCTION PP_or_OPENDRAIN PIN_SPEED PULL_RESISTOR INITIAL_LEVEL AF_NUMBER
|
||||
# SPEED : SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH
|
||||
#
|
||||
# DEFAULT AND SYS
|
||||
#
|
||||
# 'SYS' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
|
||||
# 'ADC' => ['ANALOG', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_LOW'],
|
||||
# 'PWM' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_LOW'],
|
||||
# 'ICU' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
|
||||
# 'I2C' => ['ALTERNATE', 'OPENDRAIN', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
|
||||
# 'SPI' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
|
||||
# 'UART' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
|
||||
# 'OTG' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
|
||||
# 'ETH' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
|
||||
# 'FSMC' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
|
||||
# 'SDIO' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'PULLUP', 'LEVEL_HIGH'],
|
||||
# 'SDIOCK' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
|
||||
# 'CAN' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
|
||||
# 'DCMI' => ['ALTERNATE', 'PUSHPULL', 'SPEED_HIGH', 'FLOATING', 'LEVEL_HIGH'],
|
||||
# 'LED' => ['OUTPUT', 'PUSHPULL', 'SPEED_VERYLOW', 'FLOATING', 'LEVEL_LOW'],
|
||||
# 'PASSIVE' => ['INPUT', 'PUSHPULL', 'SPEED_VERYLOW', 'FLOATING', 'LEVEL_LOW']);
|
||||
#
|
||||
# SYSTEM
|
||||
A13 SWDIO SYS AF:SYS_JTMS-SWDIO
|
||||
A14 SWCLK SYS AF:SYS_JTCK-SWCLK
|
||||
C14 OSC32_IN SYS AF0
|
||||
C15 OSC32_OUT SYS AF0
|
||||
H00 OSC_IN SYS AF0
|
||||
H01 OSC_OUT SYS AF0
|
||||
|
||||
#DEFAULT
|
||||
DEFAULT INPUT PUSHPULL SPEED_VERYLOW PULLDOWN LEVEL_LOW AF0
|
||||
|
||||
# ACTIVE PINS
|
||||
|
||||
PA00 AUX_A1 PASSIVE (ADC1_IN0, AF:TIM5_CH1, AF:UART4_TX, AF:USART2_CTS)
|
||||
PA01 AUX_A2 PASSIVE (ADC1_IN1, AF:TIM5_CH2, AF:UART4_RX, AF:USART2_RTS)
|
||||
PA02 AUX_A3 PASSIVE (ADC1_IN2, AF:TIM5_CH3) #AF:TIM9_CH1
|
||||
PA03 AUX_A4 PASSIVE (ADC1_IN3, AF:TIM5_CH4) #AF:TIM9_CH2
|
||||
PA06 AUX_B1 PASSIVE (ADC1_IN6, AF:TIM3_CH1) #AF:TIM13_CH1
|
||||
PA07 AUX_B2 PASSIVE (ADC1_IN7, AF:TIM3_CH2) #AF:TIM14_CH1
|
||||
PA09 USB_VBUS INPUT PULLDOWN
|
||||
#PA10 LED2 LED # original Tawaki LED2
|
||||
PA11 OTG_FS_DM OTG AF:USB_OTG_FS_DM
|
||||
PA12 OTG_FS_DP OTG AF:USB_OTG_FS_DP
|
||||
PA15 UART7_TX UART AF:UART7_TX
|
||||
|
||||
#PB00 AUX_B3 PASSIVE (ADC1_IN8, AF:TIM3_CH3) # original Tawaki AUX_B3
|
||||
PB00 LED1 LED
|
||||
PB01 AUX_B4 PASSIVE (ADC1_IN9, AF:TIM3_CH4)
|
||||
PB03 UART7_RX UART AF:UART7_RX
|
||||
PB05 DSHOT_RX UART AF:UART5_RX
|
||||
PB06 SRVB1 PWM AF:TIM4_CH1 ()
|
||||
#PB07 SRVB2 PWM AF:TIM4_CH2 () # original Tawaki SRVB2
|
||||
PB07 LED2 LED
|
||||
PB08 SRVB3 PWM AF:TIM4_CH3 ()
|
||||
PB09 SRVB4 PWM AF:TIM4_CH4 ()
|
||||
PB10 I2C2_SCL_EXTERNAL I2C AF:I2C2_SCL
|
||||
PB11 I2C2_SDA_EXTERNAL I2C AF:I2C2_SDA
|
||||
PB12 SPI2_EXTERNAL_CS OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH
|
||||
PB14 LED3 LED
|
||||
PB15 SPI2_EXTERNAL_MOSI SPI AF:SPI2_MOSI
|
||||
|
||||
PC00 VBAT_MEAS ADC ADC1_IN10 ()
|
||||
PC02 SPI2_EXTERNAL_MISO SPI AF:SPI2_MISO
|
||||
PC06 RC2 PASSIVE (AF:TIM8_CH1, AF:USART6_TX) #TLMF_TX6 UART AF:USART6_TX
|
||||
#PC07 LED3 LED # original Tawaki LED3
|
||||
PC08 SDMMC1_D0 SDIO AF:SDMMC1_D0
|
||||
PC09 SDMMC1_D1 SDIO AF:SDMMC1_D1
|
||||
PC10 SDMMC1_D2 SDIO AF:SDMMC1_D2
|
||||
PC11 SDMMC1_D3 SDIO AF:SDMMC1_D3
|
||||
PC12 SDMMC1_CK SDIO AF:SDMMC1_CK
|
||||
PC13 USER_BUTTON INPUT PULLDOWN
|
||||
|
||||
PD00 CAN_RX CAN AF:CAN1_RX
|
||||
PD01 CAN_TX CAN AF:CAN1_TX
|
||||
PD02 SDMMC1_CMD SDIO AF:SDMMC1_CMD
|
||||
PD03 SPI2_EXTERNAL_CLK SPI AF:SPI2_SCK
|
||||
PD05 UART2_TX UART AF:USART2_TX
|
||||
PD06 UART2_RX UART AF:USART2_RX
|
||||
PD08 UART3_TX UART AF:USART3_TX
|
||||
PD09 UART3_RX UART AF:USART3_RX
|
||||
#PD10 LED4 LED # original Tawaki LED4
|
||||
PD12 I2C4_SCL_EXTERNAL I2C AF:I2C4_SCL
|
||||
PD13 I2C4_SDA_EXTERNAL I2C AF:I2C4_SDA
|
||||
#PD15 LED1 LED # original Tawaki LED1
|
||||
|
||||
PE00 RC1 UART AF:UART8_RX ()
|
||||
PE02 SPI4_INTERNAL_CLK SPI AF:SPI4_SCK
|
||||
PE04 SPI4_INTERNAL_CS OUTPUT PUSHPULL SPEED_HIGH FLOATING LEVEL_HIGH
|
||||
PE05 SPI4_INTERNAL_MISO SPI AF:SPI4_MISO
|
||||
PE06 SPI4_INTERNAL_MOSI SPI AF:SPI4_MOSI
|
||||
PE09 SRVA1 PWM AF:TIM1_CH1 ()
|
||||
PE11 SRVA2 PWM AF:TIM1_CH2 ()
|
||||
PE13 SRVA3 PWM AF:TIM1_CH3 ()
|
||||
PE14 SRVA4 PWM AF:TIM1_CH4 ()
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user