738dca560f
In this commit the the barometer is commented out and is not used in the system. This part also has athe beginnings of the calibration functions for accel and gyro
230 lines
5.6 KiB
C
230 lines
5.6 KiB
C
/*
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* stm32f4xx_revo.h
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*
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* Created on: 8 sep. 2016
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* Author: len12007
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*/
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#ifndef UTILITIES_STM32F4XX_REVO_STM32F4XX_REVO_H_
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#define UTILITIES_STM32F4XX_REVO_STM32F4XX_REVO_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------- */
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#include "stm32f4xx_hal.h"
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//Code here
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//Leds? (taken from betaflight REVO h file)
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#define Led0_PIN GPIO_PIN_5 //blue
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#define Led0_GPIO_PORT GPIOB
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#define Led1 GPIO_PIN_4 //yellow
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#define Led1_GPIO_PORT GPIOB
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//Servo out, To be used for motors?
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#define SERVO_OUT_1_PIN GPIO_PIN_0
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#define SERVO_OUT_1_GPIO_PORT GPIOB
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#define SERVO_OUT_2_PIN GPIO_PIN_1
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#define SERVO_OUT_2_GPIO_PORT GPIOB
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#define SERVO_OUT_3_PIN GPIO_PIN_3
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#define SERVO_OUT_3_GPIO_PORT GPIOA
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#define SERVO_OUT_4_PIN GPIO_PIN_2
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#define SERVO_OUT_4_GPIO_PORT GPIOA
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#define SERVO_OUT_5_PIN GPIO_PIN_1
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#define SERVO_OUT_5_GPIO_PORT GPIOA
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#define SERVO_OUT_6_PIN GPIO_PIN_0
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#define SERVO_OUT_6_GPIO_PORT GPIOA
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/* Flex I/O 1-10 */
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//#define FLEX_IO_1_PIN GND
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//#define FLEX_IO_1_PORT GND
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//#define FLEX_IO_2_PIN VCC_UNREG
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//#define FLEX_IO_2_PORT VCC_UNREG
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#define FLEX_IO_3_PIN GPIO_PIN_12
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#define FLEX_IO_3_PORT GPIOB
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#define FLEX_IO_4_PIN GPIO_PIN_13
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#define FLEX_IO_4_PORT GPIOB
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#define FLEX_IO_5_PIN GPIO_PIN_14
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#define FLEX_IO_5_PORT GPIOB
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#define FLEX_IO_6_PIN GPIO_PIN_15
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#define FLEX_IO_6_PORT GPIOB
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#define FLEX_IO_7_PIN GPIO_PIN_6
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#define FLEX_IO_7_PORT GPIOC
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#define FLEX_IO_8_PIN GPIO_PIN_7
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#define FLEX_IO_8_PORT GPIOC
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#define FLEX_IO_9_PIN GPIO_PIN_8
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#define FLEX_IO_9_PORT GPIOC
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#define FLEX_IO_10_PIN GPIO_PIN_9
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#define FLEX_IO_10_PORT GPIOC
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/* Communication */
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#define USE_USART1
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#define USART1_RX_PIN GPIO_PIN_10
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#define USART1_RX_PORT GPIOA
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#define USART1_TX_PIN GPIO_PIN_9
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#define USART1_TX_PORT GPIOA
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#define USE_USART3
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#define USART3_RX_PIN GPIO_PIN_11
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#define USART3_RX_PORT GPIOB
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#define USART3_TX_PIN GPIO_PIN_10
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#define USART3_TX_PORT GPIOB
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#define USE_USART6
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#define USART6_RX_PIN GPIO_PIN_7
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#define USART6_RX_PORT GPIOC
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#define USART6_TX_PIN GPIO_PIN_6
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#define USART6_TX_PORT GPIOC
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/* I2C */
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#define I2C1_SDA_PIN GPIO_PIN_9
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#define I2C1_SCL_PIN GPIO_PIN_8
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#define I2C1_PORT GPIOB
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#define I2C2_SCL_PIN GPIO_PIN_10
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#define I2C2_SDA_PIN GPIO_PIN_11
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#define I2C2_PORT GPIOB
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#define SPI1_MISO GPIO_PIN_6
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#define SPI1_MISO_PORT GPIOA
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#define SPI1_MOSI GPIO_PIN_7
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#define SPI1_MOSI_PORT GPIOA
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#define SPI1_SCK GPIO_PIN_5
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#define SPI1_SCK_PORT GPIOA
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#define SPI3_MISO GPIO_PIN_11
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#define SPI3_MISO_PORT GPIOC
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#define SPI3_MOSI GPIO_PIN_12
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#define SPI3_MOSI_PORT GPIOC
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#define SPI3_SCK GPIO_PIN_10
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#define SPI3_SCK_PORT GPIOC
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#define SPI3_NSS GPIO_PIN_15
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#define SPI3_NSS_PORT GPIOA
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/* Gyro */
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#define GYRO
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#define MPU6000_CS_PIN GPIO_PIN_4
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#define MPU6000_CS_PORT GPIOA
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#define MPU6000_SPI_INSTANCE SPI1 //Dont know if necessary for us to specify
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/* Led Warnings */
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#define USE_LEDS
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//#define USE_LED_WARNINGS
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//#define USE_LED_WARNINGS_MISSED_PERIOD
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//#define USE_LED_WARNINGS_SYSTEM_LOAD
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/* Scheduler */
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//#define USE_DEBUG_TASKS //Only to be used when testing scheduler, not when intending to run the whole system
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#define USE_TASK_AGE_CYCLE_STATISTICS
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/* EEPROM */
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//#define USE_DEBUG_EEPROM
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/* Baro */
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#define BARO
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#define BARO_USE_I2C_SOFT
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//#define BARO_USE_I2C_HARD //Dont work with DMA right now if fixed should be faster. Otherwise software is faster than hardware I2C
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#define MPU6000_NSS_PIN GPIO_PIN_4
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#define MPU6000_NSS_PORT GPIOA
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/* Compass */
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#define COMPASS
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/* GPS */
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#define GPS
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/* Sonar */
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//#define SONAR
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/* Beeper */
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//#define BEEPER
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/* Define all the moter of the system, servos + extra */
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#define MOTOR_1 1
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#define MOTOR_1_PIN SERVO_OUT_1_PIN
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#define MOTOR_1_PORT SERVO_OUT_1_GPIO_PORT
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#define MOTOR_1_TIM TIM3
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#define MOTOR_1_CHANNEL TIM_CHANNEL_3
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#define MOTOR_2 2
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#define MOTOR_2_PIN SERVO_OUT_2_PIN
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#define MOTOR_2_PORT SERVO_OUT_2_GPIO_PORT
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#define MOTOR_2_TIM TIM3
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#define MOTOR_2_CHANNEL TIM_CHANNEL_4
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#define MOTOR_3 3
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#define MOTOR_3_PIN SERVO_OUT_3_PIN
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#define MOTOR_3_PORT SERVO_OUT_3_GPIO_PORT
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#define MOTOR_3_TIM TIM9
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#define MOTOR_3_CHANNEL TIM_CHANNEL_2
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#define MOTOR_4 4
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#define MOTOR_4_PIN SERVO_OUT_4_PIN
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#define MOTOR_4_PORT SERVO_OUT_4_GPIO_PORT
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#define MOTOR_4_TIM TIM2
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#define MOTOR_4_CHANNEL TIM_CHANNEL_3
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#define MOTOR_5 5
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#define MOTOR_5_PIN SERVO_OUT_5_PIN
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#define MOTOR_5_PORT SERVO_OUT_5_GPIO_PORT
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#define MOTOR_5_TIM TIM5
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#define MOTOR_5_CHANNEL TIM_CHANNEL_2
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#define MOTOR_6 6
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#define MOTOR_6_PIN SERVO_OUT_6_PIN
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#define MOTOR_6_PORT SERVO_OUT_6_GPIO_PORT
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#define MOTOR_6_TIM TIM5
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#define MOTOR_6_CHANNEL TIM_CHANNEL_1
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#define MOTOR_7 7
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#define MOTOR_7_PIN GPIO_PIN_14
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#define MOTOR_7_PORT GPIOB
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#define MOTOR_7_TIM TIM12
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#define MOTOR_7_CHANNEL TIM_CHANNEL_1
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#define MOTOR_8 8
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#define MOTOR_8_PIN GPIO_PIN_15
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#define MOTOR_8_PORT GPIOB
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#define MOTOR_8_TIM TIM12
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#define MOTOR_8_CHANNEL TIM_CHANNEL_2
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#define MOTOR_9 9
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#define MOTOR_9_PIN GPIO_PIN_8
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#define MOTOR_9_PORT GPIOC
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#define MOTOR_9_TIM TIM8
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#define MOTOR_9_CHANNEL TIM_CHANNEL_3
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#define MOTOR_10 10
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#define MOTOR_10_PIN GPIO_PIN_9
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#define MOTOR_10_PORT GPIOC
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#define MOTOR_10_TIM TIM8
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#define MOTOR_10_CHANNEL TIM_CHANNEL_4
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#ifdef __cplusplus
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}
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#endif
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#endif /* UTILITIES_STM32F4XX_REVO_STM32F4XX_REVO_H_ */
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