/************************************************************************************ * nuttx-configs/auterion_fmu-v6s/include/board.h * * Copyright (C) 2016-2024 Gregory Nutt. All rights reserved. * Authors: David Sidrane * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ************************************************************************************/ #ifndef __NUTTX_CONFIG_PX4_FMU_V6S_INCLUDE_BOARD_H #define __NUTTX_CONFIG_PX4_FMU_V6S_INCLUDE_BOARD_H /************************************************************************************ * Included Files ************************************************************************************/ #include "board_dma_map.h" #include #ifndef __ASSEMBLY__ # include #endif #include "stm32_rcc.h" /************************************************************************************ * Pre-processor Definitions ************************************************************************************/ /* Clocking *************************************************************************/ /* The auterion_fmu-v6s board provides the following clock sources: * * XTAL4: 24 MHz crystal for HSE * * So we have these clock source available within the STM32 * * HSI: 16 MHz RC factory-trimmed * HSE: 24 MHz crystal for HSE */ #define STM32_BOARD_XTAL 24000000ul #define STM32_HSI_FREQUENCY 16000000ul #define STM32_LSI_FREQUENCY 32000 #define STM32_HSE_FREQUENCY STM32_BOARD_XTAL #define STM32_LSE_FREQUENCY 32768 /* Main PLL Configuration. * * PLL source is HSE = 24,000,000 * * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN * Subject to: * * 1 <= PLLM <= 63 * 4 <= PLLN <= 512 * 150 MHz <= PLL_VCOL <= 420MHz * 192 MHz <= PLL_VCOH <= 836MHz * * SYSCLK = PLL_VCO / PLLP * CPUCLK = SYSCLK / D1CPRE * Subject to * * PLLP1 = {2, 4, 6, 8, ..., 128} * PLLP2,3 = {2, 3, 4, ..., 128} * CPUCLK <= 480 MHz */ #define STM32_BOARD_USEHSE #define STM32_PLLCFG_PLLSRC RCC_PLLCKSELR_PLLSRC_HSE /* PLL1, wide 2 - 4 MHz input, enable DIVP, DIVQ, DIVR * * PLL1_VCO = (24,000,000 / 6) * 240 = 960 MHz * * PLL1P = PLL1_VCO/2 = 960 MHz / 2 = 480 MHz * PLL1Q = PLL1_VCO/4 = 960 MHz / 4 = 240 MHz * PLL1R = PLL1_VCO/8 = 960 MHz / 8 = 120 MHz */ #define STM32_PLLCFG_PLL1CFG (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \ RCC_PLLCFGR_PLL1RGE_2_4_MHZ | \ RCC_PLLCFGR_DIVP1EN | \ RCC_PLLCFGR_DIVQ1EN | \ RCC_PLLCFGR_DIVR1EN) #define STM32_PLLCFG_PLL1M RCC_PLLCKSELR_DIVM1(6) #define STM32_PLLCFG_PLL1N RCC_PLL1DIVR_N1(240) #define STM32_PLLCFG_PLL1P RCC_PLL1DIVR_P1(2) #define STM32_PLLCFG_PLL1Q RCC_PLL1DIVR_Q1(4) #define STM32_PLLCFG_PLL1R RCC_PLL1DIVR_R1(8) #define STM32_VCO1_FREQUENCY ((STM32_HSE_FREQUENCY / 6) * 240) #define STM32_PLL1P_FREQUENCY (STM32_VCO1_FREQUENCY / 2) #define STM32_PLL1Q_FREQUENCY (STM32_VCO1_FREQUENCY / 4) #define STM32_PLL1R_FREQUENCY (STM32_VCO1_FREQUENCY / 8) /* PLL2 */ #define STM32_PLLCFG_PLL2CFG (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \ RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \ RCC_PLLCFGR_DIVP2EN | \ RCC_PLLCFGR_DIVQ2EN | \ RCC_PLLCFGR_DIVR2EN) #define STM32_PLLCFG_PLL2M RCC_PLLCKSELR_DIVM2(6) #define STM32_PLLCFG_PLL2N RCC_PLL2DIVR_N2(48) #define STM32_PLLCFG_PLL2P RCC_PLL2DIVR_P2(2) #define STM32_PLLCFG_PLL2Q RCC_PLL2DIVR_Q2(2) #define STM32_PLLCFG_PLL2R RCC_PLL2DIVR_R2(2) #define STM32_VCO2_FREQUENCY ((STM32_HSE_FREQUENCY / 6) * 48) #define STM32_PLL2P_FREQUENCY (STM32_VCO2_FREQUENCY / 2) #define STM32_PLL2Q_FREQUENCY (STM32_VCO2_FREQUENCY / 2) #define STM32_PLL2R_FREQUENCY (STM32_VCO2_FREQUENCY / 2) /* PLL3 */ #define STM32_PLLCFG_PLL3CFG (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \ RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \ RCC_PLLCFGR_DIVQ3EN) #define STM32_PLLCFG_PLL3M RCC_PLLCKSELR_DIVM3(6) #define STM32_PLLCFG_PLL3N RCC_PLL3DIVR_N3(48) #define STM32_PLLCFG_PLL3P RCC_PLL3DIVR_P3(2) #define STM32_PLLCFG_PLL3Q RCC_PLL3DIVR_Q3(4) #define STM32_PLLCFG_PLL3R RCC_PLL3DIVR_R3(2) #define STM32_VCO3_FREQUENCY ((STM32_HSE_FREQUENCY / 6) * 48) #define STM32_PLL3P_FREQUENCY (STM32_VCO3_FREQUENCY / 2) #define STM32_PLL3Q_FREQUENCY (STM32_VCO3_FREQUENCY / 4) #define STM32_PLL3R_FREQUENCY (STM32_VCO3_FREQUENCY / 2) /* SYSCLK = PLL1P = 450MHz * CPUCLK = SYSCLK / 1 = 450 MHz */ #define STM32_RCC_D1CFGR_D1CPRE (RCC_D1CFGR_D1CPRE_SYSCLK) #define STM32_SYSCLK_FREQUENCY (STM32_PLL1P_FREQUENCY) #define STM32_CPUCLK_FREQUENCY (STM32_SYSCLK_FREQUENCY / 1) /* Configure Clock Assignments */ /* AHB clock (HCLK) is SYSCLK/2 (240 MHz max) * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 225 */ #define STM32_RCC_D1CFGR_HPRE RCC_D1CFGR_HPRE_SYSCLKd2 /* HCLK = SYSCLK / 2 */ #define STM32_ACLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* ACLK in D1, HCLK3 in D1 */ #define STM32_HCLK_FREQUENCY (STM32_CPUCLK_FREQUENCY / 2) /* HCLK in D2, HCLK4 in D3 */ #define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ /* APB1 clock (PCLK1) is HCLK/2 (112.5 MHz) */ #define STM32_RCC_D2CFGR_D2PPRE1 RCC_D2CFGR_D2PPRE1_HCLKd2 /* PCLK1 = HCLK / 2 */ #define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB2 clock (PCLK2) is HCLK/2 (112.5 MHz) */ #define STM32_RCC_D2CFGR_D2PPRE2 RCC_D2CFGR_D2PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ #define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB3 clock (PCLK3) is HCLK/2 (112.5 MHz) */ #define STM32_RCC_D1CFGR_D1PPRE RCC_D1CFGR_D1PPRE_HCLKd2 /* PCLK3 = HCLK / 2 */ #define STM32_PCLK3_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* APB4 clock (PCLK4) is HCLK/4 (112.5 MHz) */ #define STM32_RCC_D3CFGR_D3PPRE RCC_D3CFGR_D3PPRE_HCLKd2 /* PCLK4 = HCLK / 2 */ #define STM32_PCLK4_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* Timer clock frequencies */ /* Timers driven from APB1 will be twice PCLK1 */ #define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) /* Timers driven from APB2 will be twice PCLK2 */ #define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM15_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM16_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM17_CLKIN (2*STM32_PCLK2_FREQUENCY) /* Kernel Clock Configuration * * Note: look at Table 54 in ST Manual */ /* I2C123 clock source */ #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI /* I2C4 clock source */ #define STM32_RCC_D3CCIPR_I2C4SRC RCC_D3CCIPR_I2C4SEL_HSI /* SPI123 clock source */ #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI45 clock source */ #define STM32_RCC_D2CCIP1R_SPI45SRC RCC_D2CCIP1R_SPI45SEL_PLL2 /* SPI6 clock source */ #define STM32_RCC_D3CCIPR_SPI6SRC RCC_D3CCIPR_SPI6SEL_PLL2 /* USB 1 and 2 clock source */ #define STM32_RCC_D2CCIP2R_USBSRC RCC_D2CCIP2R_USBSEL_PLL3 /* ADC 1 2 3 clock source */ #define STM32_RCC_D3CCIPR_ADCSRC RCC_D3CCIPR_ADCSEL_PLL2 /* FDCAN 1 2 clock source */ #define STM32_RCC_D2CCIP1R_FDCANSEL RCC_D2CCIP1R_FDCANSEL_HSE /* FDCAN 1 2 clock source */ #define STM32_FDCANCLK STM32_HSE_FREQUENCY /* FLASH wait states * * ------------ ---------- ----------- * Vcore MAX ACLK WAIT STATES * ------------ ---------- ----------- * 1.15-1.26 V 70 MHz 0 * (VOS1 level) 140 MHz 1 * 210 MHz 2 * 1.05-1.15 V 55 MHz 0 * (VOS2 level) 110 MHz 1 * 165 MHz 2 * 220 MHz 3 * 0.95-1.05 V 45 MHz 0 * (VOS3 level) 90 MHz 1 * 135 MHz 2 * 180 MHz 3 * 225 MHz 4 * ------------ ---------- ----------- */ #define BOARD_FLASH_WAITSTATES 2 /* LED definitions ******************************************************************/ /* The Auterion FMUV6S board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and * LED_RED a Red LED, that can be controlled by software. * * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. * The following definitions are used to access individual LEDs. */ /* LED index values for use with board_userled() */ #define BOARD_LED1 0 #define BOARD_LED2 1 #define BOARD_LED3 2 #define BOARD_NLEDS 3 #define BOARD_LED_RED BOARD_LED1 #define BOARD_LED_GREEN BOARD_LED2 #define BOARD_LED_BLUE BOARD_LED3 /* LED bits for use with board_userled_all() */ #define BOARD_LED1_BIT (1 << BOARD_LED1) #define BOARD_LED2_BIT (1 << BOARD_LED2) #define BOARD_LED3_BIT (1 << BOARD_LED3) /* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related * events as follows: * * * SYMBOL Meaning LED state * Red Green Blue * ---------------------- -------------------------- ------ ------ ----*/ #define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */ #define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */ #define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */ #define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */ #define LED_INIRQ 4 /* In an interrupt N/C N/C GLOW */ #define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */ #define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */ #define LED_PANIC 7 /* The system has crashed Blink OFF N/C */ #define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */ /* Thus if the Green LED is statically on, NuttX has successfully booted and * is, apparently, running normally. If the Red LED is flashing at * approximately 2Hz, then a fatal error has been detected and the system * has halted. */ /* Alternate function pin selections ************************************************/ /* ADC1 */ #define GPIO_ADC1_INP16 GPIO_ADC1_INP16_0 /* PA0 */ #define GPIO_ADC123_INP10 GPIO_ADC123_INP10_0 /* PC0 */ #define GPIO_ADC12_INP15 GPIO_ADC12_INP15_0 /* PA3 */ #define GPIO_ADC12_INP13 GPIO_ADC12_INP13_0 /* PC3 */ #define GPIO_ADC12_INP5 GPIO_ADC12_INP5_0 /* PB1 */ #define GPIO_ADC12_INP18 GPIO_ADC12_INP18_0 /* PA4 */ /* Trace */ #define GPIO_TRACESWO GPIO_TRACESWO_0 /* U[S]ARTs */ #define GPIO_USART1_RX GPIO_USART1_RX_2 /* PA10 */ #define GPIO_USART1_TX (GPIO_USART1_TX_2 | GPIO_SPEED_25MHz) /* PA9 */ #define GPIO_USART1_RTS GPIO_USART1_RTS_0 /* PA12 */ #define GPIO_USART1_CTS GPIO_USART1_CTS_NSS_0 /* PA11 */ #define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ #define GPIO_USART2_TX (GPIO_USART2_TX_2 | GPIO_SPEED_25MHz) /* PD5 */ #define GPIO_USART2_RTS 0 /* PD4 */ #define GPIO_USART2_CTS 0 /* PD3 */ #define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */ #define GPIO_USART3_TX (GPIO_USART3_TX_3 | GPIO_SPEED_2MHz) /* PD8 */ #define GPIO_UART4_RX GPIO_UART4_RX_5 /* PD0 */ #define GPIO_UART4_TX (GPIO_UART4_TX_5 | GPIO_SPEED_2MHz) /* PD1 */ #define GPIO_UART5_RX (GPIO_UART5_RX_3 | GPIO_SPEED_2MHz) /* PD2 */ #define GPIO_UART5_TX 0 /* We did not route out the TX pin of UART5 */ #define GPIO_UART7_RX 0 /* We did not route out the RX pin of UART7 */ #define GPIO_UART7_TX (GPIO_UART7_TX_3 | GPIO_SPEED_2MHz) /* PE8 */ #define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */ #define GPIO_UART8_TX (GPIO_UART8_TX_1 | GPIO_SPEED_2MHz) /* PE1 */ /* CAN * * CAN1 is routed to transceiver. */ #define GPIO_CAN1_RX (GPIO_CAN1_RX_2 | GPIO_SPEED_50MHz) /* PB8 */ #define GPIO_CAN1_TX (GPIO_CAN1_TX_2 | GPIO_SPEED_50MHz) /* PB9 */ /* SPI * SPI1 is sensors1 * SPI2 is sensors2 * SPI3 is sensors3 * SPI4 is FRAM * */ #define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1 | GPIO_SPEED_50MHz) /* PA6 */ #define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_3 | GPIO_SPEED_50MHz) /* PD7 */ #define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1 | GPIO_SPEED_50MHz) /* PA5 */ #define GPIO_SPI2_MISO (GPIO_SPI2_MISO_2 | GPIO_SPEED_50MHz) /* PC2 */ #define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1 | GPIO_SPEED_50MHz) /* PB15 */ #define GPIO_SPI2_SCK (GPIO_SPI2_SCK_3 | GPIO_SPEED_50MHz) /* PB10 */ #define GPIO_SPI3_MISO (GPIO_SPI3_MISO_2 | GPIO_SPEED_50MHz) /* PC11 */ #define GPIO_SPI3_MOSI (GPIO_SPI3_MOSI_3 | GPIO_SPEED_50MHz) /* PB2 */ #define GPIO_SPI3_SCK (GPIO_SPI3_SCK_2 | GPIO_SPEED_50MHz) /* PC10 */ #define GPIO_SPI4_MISO (GPIO_SPI4_MISO_2 | GPIO_SPEED_50MHz) /* PE5 */ #define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_2 | GPIO_SPEED_50MHz) /* PE6 */ #define GPIO_SPI4_SCK (GPIO_SPI4_SCK_2 | GPIO_SPEED_50MHz) /* PE2 */ /* I2C * * The optional _GPIO configurations allow the I2C driver to manually * reset the bus to clear stuck slaves. They match the pin configuration, * but are normally-high GPIOs. * */ #define GPIO_I2C1_SCL (GPIO_I2C1_SCL_1 | GPIO_SPEED_2MHz) /* PB6 */ #define GPIO_I2C1_SDA (GPIO_I2C1_SDA_1 | GPIO_SPEED_2MHz) /* PB7 */ #define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6) #define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7) #define GPIO_I2C4_SCL (GPIO_I2C4_SCL_1 | GPIO_SPEED_2MHz) /* PD12 */ #define GPIO_I2C4_SDA (GPIO_I2C4_SDA_1 | GPIO_SPEED_2MHz) /* PD13 */ #define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12) #define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_2MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13) /* The STM32H7 connects MAC-to-MAC to iMX8MP * * STM32H7 BOARD * GPIO SIGNAL PIN NAME * -------- ------------ ------------- * PA7 ETH_CRS_DV CRS_DV * PC1 ETH_MDC MDC * PA2 ETH_MDIO MDIO * PA1 ETH_REF_CL X1 * PC4 ETH_RXD0 RX_D0 * PC5 ETH_RXD1 RX_D1 * PB11 ETH_TX_EN TX_EN * PB12 ETH_TXD0 TX_D0 * PB13 ETH_TXD1 TX_D1 * * The PHY address is 1, since COL/PHYAD0 features a pull up. */ #define GPIO_ETH_MDC GPIO_ETH_MDC_0 /* PC1 */ #define GPIO_ETH_MDIO GPIO_ETH_MDIO_0 /* PA2 */ #define GPIO_ETH_RMII_CRS_DV GPIO_ETH_RMII_CRS_DV_0 /* PA7 */ #define GPIO_ETH_RMII_REF_CLK GPIO_ETH_RMII_REF_CLK_0 /* PA1 */ #define GPIO_ETH_RMII_RXD0 GPIO_ETH_RMII_RXD0_0 /* PC4 */ #define GPIO_ETH_RMII_RXD1 GPIO_ETH_RMII_RXD1_0 /* PC5 */ #define GPIO_ETH_RMII_TX_EN (GPIO_ETH_RMII_TX_EN_1 | GPIO_SPEED_100MHz) /* PB11 */ #define GPIO_ETH_RMII_TXD0 (GPIO_ETH_RMII_TXD0_1 | GPIO_SPEED_100MHz) /* PB12 */ #define GPIO_ETH_RMII_TXD1 (GPIO_ETH_RMII_TXD1_1 | GPIO_SPEED_100MHz) /* PB13 */ /* Board provides GPIO or other Hardware for signaling to timing analyzer */ #if defined(CONFIG_BOARD_USE_PROBES) # include "stm32_gpio.h" # define PROBE_N(n) (1<<((n)-1)) # define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) /* PE9 AUX1 */ # define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 AUX2 */ # define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13) /* PE13 AUX3 */ # define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) /* PE14 AUX4 */ # define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6) /* PC6 AUX5 */ # define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5) /* PB5 AUX6 */ # define PROBE_7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) /* PB0 AUX7 */ # define PROBE_8 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN9) /* PC9 AUX8 */ # define PROBE_9 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN7) /* PC7 CAP1 */ # define PROBE_INIT(mask) \ do { \ if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \ if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \ if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \ if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \ if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \ } while(0) # define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) # define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) #else # define PROBE_INIT(mask) # define PROBE(n,s) # define PROBE_MARK(n) #endif #endif /*__NUTTX_CONFIG_PX4_FMU_V6S_INCLUDE_BOARD_H */