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config_miniquad_1_0.h
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/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* 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 PX4 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.
*
****************************************************************************/
/*
* @file config.h
*
* bootloader definitions that configures the behavior and options
* of the Boot loader
* This file is relies on the parent folder's boot_config.h file and defines
* different usages of the hardware for bootloading
*/
#pragma once
/************************************************************************************
* Global platform definitions
************************************************************************************/
#define CONFIG_ARCH_CORTEXM4
#define CONFIG_ARCH_FPU
#define CONFIG_ARCH_IRQPRIO
#define CONFIG_ARCH_CHIP_STM32F302K8
#define CONFIG_STM32_STM32F302
#define CONFIG_USEC_PER_TICK 1000
#define CONFIG_IDLETHREAD_STACKSIZE 8192
#define CONFIG_STM32_NOEXT_VECTORS
#define CONFIG_STM32_ADC1
#define MINIQUAD_1_0
/************************************************************************************
* Included Files
************************************************************************************/
#include <stm32.h>
#ifndef __ASSEMBLY__
#include <assert.h>
#include <string.h>
#endif
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* HSI - 8 MHz RC factory-trimmed
* LSI - 40 KHz RC (30-60KHz, uncalibrated)
* HSE - On-board crystal frequency is 8MHz
* LSE - 32.768 kHz
*/
#define STM32_BOARD_XTAL 8000000ul
#define STM32_HSI_FREQUENCY 8000000ul
#define STM32_LSI_FREQUENCY 40000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
#define STM32_LSE_FREQUENCY 32768
/* PLL source is HSE/1, PLL multipler is 9: PLL frequency is 8MHz (XTAL) x 9 = 72MHz */
#define STM32_CFGR_PLLSRC RCC_CFGR_PLLSRC
#define STM32_CFGR_PLLXTPRE 0
#define STM32_CFGR_PLLMUL RCC_CFGR_PLLMUL_CLKx9
#define STM32_PLL_FREQUENCY (9*STM32_BOARD_XTAL)
/* Use the PLL and set the SYSCLK source to be the PLL */
#define STM32_SYSCLK_SW RCC_CFGR_SW_PLL
#define STM32_SYSCLK_SWS RCC_CFGR_SWS_PLL
#define STM32_SYSCLK_FREQUENCY STM32_PLL_FREQUENCY
/* AHB clock (HCLK) is SYSCLK (72MHz) */
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
#define STM32_HCLK_FREQUENCY STM32_PLL_FREQUENCY
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
/* APB2 clock (PCLK2) is HCLK (72MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1,15-17 are on APB2, others on APB1 */
#define STM32_TIM18_FREQUENCY STM32_HCLK_FREQUENCY
#define STM32_TIM27_FREQUENCY STM32_HCLK_FREQUENCY
/* APB2 timer 1 will receive PCLK2. */
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
/* APB1 clock (PCLK1) is HCLK/2 (36MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
/* APB1 timers 2-4 will be twice PCLK1 (I presume the remaining will receive 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 (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM6_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM7_CLKIN (STM32_PCLK1_FREQUENCY)
/* USB divider -- Divide PLL clock by 1.5 */
#define STM32_CFGR_USBPRE 0
/* Probes unused */
#define PROBE_INIT(mask)
#define PROBE(n,s)
#define PROBE_MARK(n)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
//todo:wrap OPT_x in in ifdefs for command line definitions
#define OPT_TBOOT_MS 2000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 10
#define OPT_BL_NUMBER_TIMERS 7
#define OPT_RESTART_TIMEOUT_MS 20000u
/* Reserved for the Booloader */
#define OPT_BOOTLOADER_SIZE_IN_K (1024*8)
/* Reserved for the application out of the total
* system flash minus the BOOTLOADER_SIZE_IN_K
*/
#define OPT_APPLICATION_RESERVER_IN_K 0
#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
#define FLASH_BASE STM32_FLASH_BASE
#define FLASH_NUMBER_PAGES 32
#define FLASH_PAGE_SIZE STM32_FLASH_PAGESIZE
#define FLASH_SIZE (FLASH_NUMBER_PAGES*FLASH_PAGE_SIZE)
/*
64 KiB of flash:
* 8 KiB bootloader region (stubbed out in default image) at 0x08000000
* 52 KiB main application area starting at 0x08002000
* 4 KiB parameter area starting at 0x0800F000
*/
#define FLASH_PARAM_ADDRESS 0x0800F000
#define FLASH_PARAM_LENGTH (2 * FLASH_PAGE_SIZE)
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET-FLASH_PARAM_LENGTH)
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
/* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/* CAN ***************************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* --------- -------------------------------- ----------------------------
*
* PA[0] ADC1_IN1 7 IA
* PA[1] ADC1_IN2 8 IB
* PA[2] ADC1_IN3 9 IC
* PA[3] ADC1_IN4 10 VSENSE
* PA[8] TIM1_CH1 18 PWMA
* PA[9] TIM1_CH2 19 PWMB
* PA[10] TIM1_CH3 20 PWMC
* PA[11] PA11/CAN_RX 21 CAN_RX
* PA[12] PA12/CAN_TX 22 CAN_TX
* PB[0] PB00 15 SPI3_CS (DRV_CS)
* PB[3] SPI3_SCK 26 SPI3_SCK
* PB[4] SPI3_MISO 27 SPI3_MISO
* PB[5] SPI3_MOSI 28 SPI3_MOSI
* PB[7] PB07 30 EN_GATE
*/
#define GPIO_PWMA_LOW (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_OUTPUT_CLEAR | \
GPIO_PORTA | GPIO_PIN8)
#define GPIO_PWMB_LOW (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_OUTPUT_CLEAR | \
GPIO_PORTA | GPIO_PIN9)
#define GPIO_PWMC_LOW (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_OUTPUT_CLEAR | \
GPIO_PORTA | GPIO_PIN10)
#define GPIO_PWMA_ENABLED GPIO_TIM1_CH1OUT_2
#define GPIO_PWMB_ENABLED GPIO_TIM1_CH2OUT_2
#define GPIO_PWMC_ENABLED GPIO_TIM1_CH3OUT_2
#define GPIO_ADC1_CH1 (GPIO_ANALOG | GPIO_PORTA | GPIO_PIN0)
#define GPIO_ADC1_CH2 (GPIO_ANALOG | GPIO_PORTA | GPIO_PIN1)
#define GPIO_ADC1_CH3 (GPIO_ANALOG | GPIO_PORTA | GPIO_PIN2)
#define GPIO_ADC1_CH4 (GPIO_ANALOG | GPIO_PORTA | GPIO_PIN3)
#define GPIO_DRV_CS (GPIO_OUTPUT | GPIO_PUSHPULL | \
GPIO_PORTB | GPIO_PIN0 | GPIO_OUTPUT_SET)
#define GPIO_EN_GATE (GPIO_OUTPUT | GPIO_PUSHPULL | \
GPIO_PORTB | GPIO_PIN7 | GPIO_OUTPUT_CLEAR)
#define GPIO_CAN_TX_2_OPENDRAIN (GPIO_ALT|GPIO_AF9|GPIO_SPEED_25MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN12)
/************************************************************************************
* Parameter estimation configuration
************************************************************************************/
#define PE_TEST_CYCLES 64.0f
#define PE_START_FREQ_HZ 2812.5f
#define PE_MIN_V_V float(1.0/8.0)
#define PE_START_V_V 0.25f
#define PE_MAX_V_V 4.0f
#define PE_MIN_I_A 0.75f
#define PE_MAX_I_A 6.0f
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: board_initialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
inline static void board_initialize(void)
{
putreg32(getreg32(STM32_RCC_AHBENR) | RCC_AHBENR_IOPAEN |
RCC_AHBENR_DMA1EN | RCC_AHBENR_IOPBEN | RCC_AHBENR_ADC12EN,
STM32_RCC_AHBENR);
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN |
RCC_APB1ENR_SPI3EN, STM32_RCC_APB1ENR);
putreg32(getreg32(STM32_RCC_APB2ENR) | RCC_APB2ENR_TIM1EN |
RCC_APB2ENR_SYSCFGEN,
STM32_RCC_APB2ENR);
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
STM32_RCC_APB1RSTR);
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST,
STM32_RCC_APB1RSTR);
stm32_configgpio(GPIO_CAN_RX_2);
stm32_configgpio(GPIO_CAN_TX_2_OPENDRAIN);
stm32_configgpio(GPIO_SPI3_SCK_1);
stm32_configgpio(GPIO_SPI3_MISO_1);
stm32_configgpio(GPIO_SPI3_MOSI_1);
stm32_configgpio(GPIO_DRV_CS);
stm32_configgpio(GPIO_PWMA_LOW);
stm32_configgpio(GPIO_PWMB_LOW);
stm32_configgpio(GPIO_PWMC_LOW);
stm32_configgpio(GPIO_ADC1_CH1);
stm32_configgpio(GPIO_ADC1_CH2);
stm32_configgpio(GPIO_ADC1_CH3);
stm32_configgpio(GPIO_ADC1_CH4);
}
/************************************************************************************
* Name: board_deinitialize
*
* Description:
* This function is called by the bootloader code prior to booting
* the application. Is should place the HW into an benign initialized state.
*
************************************************************************************/
inline static void board_deinitialize(void)
{
}
/****************************************************************************
* Name: board_get_product_name
*
* Description:
* Called to retrieve the product name. The returned value is a assumed
* to be written to a pascal style string that will be length prefixed
* and not null terminated
*
* Input Parameters:
* product_name - A pointer to a buffer to write the name.
* maxlen - The maximum number of charter that can be written
*
* Returned Value:
* The length of characters written to the buffer.
*
****************************************************************************/
inline static uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
{
assert(maxlen > sizeof(HW_UAVCAN_NAME)-1);
memcpy(product_name, HW_UAVCAN_NAME, sizeof(HW_UAVCAN_NAME)-1);
return sizeof(HW_UAVCAN_NAME)-1;
}
/****************************************************************************
* Name: board_get_hardware_version
*
* Description:
* Called to retrieve the hardware version information.
*
* Input Parameters:
* major - A pointer to the major hardware version field.
* minor - A pointer to the minor hardware version field.
* unique_id - A pointer to the 16-byte unique ID field
* coa_length - A pointer to the 8-bit length field for the COA
* coa - A pointer to the COA field, with a maximum length of 255 bytes
*
* Returned Value:
* None
*
****************************************************************************/
inline static void board_get_hardware_version(uint8_t *major, uint8_t *minor,
uint8_t unique_id[16], uint8_t *coa_length, uint8_t *coa)
{
*major = HW_VERSION_MAJOR;
*minor = HW_VERSION_MINOR;
*coa_length = 0u;
memset(unique_id, 0, 16u);
memcpy(unique_id, (void *)STM32_SYSMEM_UID, 12u);
}
/****************************************************************************
* Name: board_indicate
*
* Description:
* Provides User feedback to indicate the state of the bootloader
* on board specific hardware.
*
* Input Parameters:
* indication - A member of the uiindication_t
*
* Returned Value:
* None
*
****************************************************************************/
typedef enum {
off,
reset,
autobaud_start,
autobaud_end,
allocation_start,
allocation_end,
fw_update_start,
fw_update_erase_fail,
fw_update_invalid_response,
fw_update_timeout,
fw_update_invalid_crc,
jump_to_app,
} uiindication_t;
inline static void board_indicate(uiindication_t indication)
{
}
/****************************************************************************
* Name: board_should_wait_for_getnodeinfo
*
* Description:
* Returns 1 if the board should wait for a GetNodeInfo request before
* booting, or 0 if boot should proceed anyway.
*
* Input Parameters:
* None
*
* Returned Value:
* 1 if the board should wait for GetNodeInfo, 0 otherwise
*
****************************************************************************/
inline static uint8_t board_should_wait_for_getnodeinfo(void)
{
return 1u;
}
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */