By Dniel García Vaglio and Esteban Zamora Alvarado
This source code is part of a Programación Bajo Plataformas Abiertas project documentation.
#ifndef CONFIG_STM32F3_DISCOVERY_H
#define CONFIG_STM32F3_DISCOVERY_H
#define BOARD_STM32F3_DISCOVERY
/* STM32F3_DISCOVERY has a 8MHz external clock and 168MHz internal. */
#define INT_CLK 8000000 //Fix!
#define AHB_CLK 64000000 //Fix!
//#define I2C1_CLOCK_SPEED 100000 //now is in the quadrobot xml file
/*
* Onboard LEDs
*/
/* red, on PE9 */
#ifndef USE_LED_3
#define USE_LED_3 1
#endif
#define LED_3_GPIO GPIOE
#define LED_3_GPIO_CLK RCC_AHBENR_IOPEEN
#define LED_3_GPIO_PIN GPIO9
#define LED_3_AFIO_REMAP ((void)0)
#define LED_3_GPIO_ON gpio_set
#define LED_3_GPIO_OFF gpio_clear
/* blue, on PE8 */
#ifndef USE_LED_4
#define USE_LED_4 1
#endif
#define LED_4_GPIO GPIOE
#define LED_4_GPIO_CLK RCC_AHBENR_IOPEEN
#define LED_4_GPIO_PIN GPIO8
#define LED_4_AFIO_REMAP ((void)0)
#define LED_4_GPIO_ON gpio_set
#define LED_4_GPIO_OFF gpio_clear
/* orange, on PE10 */
#ifndef USE_LED_5
#define USE_LED_5 1
#endif
#define LED_5_GPIO GPIOE
#define LED_5_GPIO_CLK RCC_AHBENR_IOPEEN
#define LED_5_GPIO_PIN GPIO10
#define LED_5_AFIO_REMAP ((void)0)
#define LED_5_GPIO_ON gpio_set
#define LED_5_GPIO_OFF gpio_clear
/* green, on PE15 */
#ifndef USE_LED_6
#define USE_LED_6 1
#endif
#define LED_6_GPIO GPIOE
#define LED_6_GPIO_CLK RCC_AHBENR_IOPEEN
#define LED_6_GPIO_PIN GPIO15
#define LED_6_AFIO_REMAP ((void)0)
#define LED_6_GPIO_ON gpio_set
#define LED_6_GPIO_OFF gpio_clear
/* green, on PE11 */
#ifndef USE_LED_7
#define USE_LED_7 1
#endif
#define LED_7_GPIO GPIOE
#define LED_7_GPIO_CLK RCC_AHBENR_IOPEEN
#define LED_7_GPIO_PIN GPIO11
#define LED_7_AFIO_REMAP ((void)0)
#define LED_7_GPIO_ON gpio_set
#define LED_7_GPIO_OFF gpio_clear
/* orange, on PE14 */
#ifndef USE_LED_8
#define USE_LED_8 1
#endif
#define LED_8_GPIO GPIOE
#define LED_8_GPIO_CLK RCC_AHBENR_IOPEEN
#define LED_8_GPIO_PIN GPIO14
#define LED_8_AFIO_REMAP ((void)0)
#define LED_8_GPIO_ON gpio_set
#define LED_8_GPIO_OFF gpio_clear
/* blue, on PE12 */
#ifndef USE_LED_9
#define USE_LED_9 1
#endif
#define LED_9_GPIO GPIOE
#define LED_9_GPIO_CLK RCC_AHBENR_IOPEEN
#define LED_9_GPIO_PIN GPIO12
#define LED_9_AFIO_REMAP ((void)0)
#define LED_9_GPIO_ON gpio_set
#define LED_9_GPIO_OFF gpio_clear
/* red, on PE13 */
#ifndef USE_LED_10
#define USE_LED_10 1
#endif
#define LED_10_GPIO GPIOE
#define LED_10_GPIO_CLK RCC_AHBENR_IOPEEN
#define LED_10_GPIO_PIN GPIO13
#define LED_10_AFIO_REMAP ((void)0)
#define LED_10_GPIO_ON gpio_set
#define LED_10_GPIO_OFF gpio_clear
//Check from here
/* UART */ //Perfect FREE!
#define UART1_GPIO_AF GPIO_AF7
#define UART1_GPIO_PORT_RX GPIOC
#define UART1_GPIO_RX GPIO5
#define UART1_GPIO_PORT_TX GPIOC
#define UART1_GPIO_TX GPIO4
//check for (TIM2 CH4 not critical if TIM2 in PORTD, TIM15 CH1,2 not critical if TIM15 in portf)
#define UART2_GPIO_AF GPIO_AF7
#define UART2_GPIO_PORT_RX GPIOA
#define UART2_GPIO_RX GPIO3
#define UART2_GPIO_PORT_TX GPIOA
#define UART2_GPIO_TX GPIO2
// All fine!
#define UART3_GPIO_AF GPIO_AF7
#define UART3_GPIO_PORT_RX GPIOD
#define UART3_GPIO_RX GPIO9
#define UART3_GPIO_PORT_TX GPIOD
#define UART3_GPIO_TX GPIO8
// check for SPI3
#if !USE_SPI3_PORTC //better check against the port version
#define UART4_GPIO_AF GPIO_AF5
#define UART4_GPIO_PORT_RX GPIOC
#define UART4_GPIO_RX GPIO11
#define UART4_GPIO_PORT_TX GPIOC
#define UART4_GPIO_TX GPIO10
#endif
// check for SPI3
#if !USE_SPI3_PORTC //better check against the port version
#define UART5_GPIO_AF GPIO_AF5
#define UART5_GPIO_PORT_RX GPIOD
#define UART5_GPIO_RX GPIO2
#define UART5_GPIO_PORT_TX GPIOC
#define UART5_GPIO_TX GPIO12
#endif
/* SPI */
#if STM32F3_DISCOVERY_SPI1_FOR_L3GD20
#define SPI1_GPIO_AF GPIO_AF5
#define SPI1_GPIO_PORT_MISO GPIOA
#define SPI1_GPIO_MISO GPIO6
#define SPI1_GPIO_PORT_MOSI GPIOA
#define SPI1_GPIO_MOSI GPIO7
#define SPI1_GPIO_PORT_SCK GPIOA
#define SPI1_GPIO_SCK GPIO5
#else // check UART2, SPI3, TIM2 CH2, TIM16 CH1, TIM3 CH1,2, TIM17 CH1
#define SPI1_GPIO_AF GPIO_AF5
#define SPI1_GPIO_PORT_MISO GPIOB
#define SPI1_GPIO_MISO GPIO4
#define SPI1_GPIO_PORT_MOSI GPIOB
#define SPI1_GPIO_MOSI GPIO5
#define SPI1_GPIO_PORT_SCK GPIOB
#define SPI1_GPIO_SCK GPIO3
#endif
//check (TIM15 CH1,2 fine if TIM15 in portf)
#define SPI2_GPIO_AF GPIO_AF5
#define SPI2_GPIO_PORT_MISO GPIOB
#define SPI2_GPIO_MISO GPIO14
#define SPI2_GPIO_PORT_MOSI GPIOB
#define SPI2_GPIO_MOSI GPIO15
#define SPI2_GPIO_PORT_SCK GPIOB
#define SPI2_GPIO_SCK GPIO13
#if USE_SPI3_PORTB
#if !STM32F3_DISCOVERY_SPI1_FOR_L3GD20
#define SPI3_GPIO_AF GPIO_AF6
#define SPI3_GPIO_PORT_MISO GPIOB
#define SPI3_GPIO_MISO GPIO4
#define SPI3_GPIO_PORT_MOSI GPIOB
#define SPI3_GPIO_MOSI GPIO5
#define SPI3_GPIO_PORT_SCK GPIOB
#define SPI3_GPIO_SCK GPIO3
#endif
#elif USE_SPI3_PORTC
#define SPI3_GPIO_AF GPIO_AF6
#define SPI3_GPIO_PORT_MISO GPIOC
#define SPI3_GPIO_MISO GPIO11
#define SPI3_GPIO_PORT_MOSI GPIOC
#define SPI3_GPIO_MOSI GPIO12
#define SPI3_GPIO_PORT_SCK GPIOC
#define SPI3_GPIO_SCK GPIO10
#endif
#if STM32F3_DISCOVERY_SPI1_FOR_L3GD20
// STM32F3DISCOVERY L3GD20
#define SPI_SELECT_SLAVE0_PORT GPIOE
#define SPI_SELECT_SLAVE0_PIN GPIO3
#endif
/* I2C mapping */
#if STM32F3_DISCOVERY_I2C1_FOR_LSM303DLHC
#define I2C1_GPIO_PORT GPIOB
#define I2C1_GPIO_SCL GPIO6
#define I2C1_GPIO_SDA GPIO7
#elif USE_I2C1_PORTB || !USE_I2C1_PORTA
#define I2C1_GPIO_PORT GPIOB //check TIM16 CH1, TIM17 CH1, TIM4 CH3,4, TIM8 CH2,3, TIM2 CH3,4
#define I2C1_GPIO_SCL GPIO8
#define I2C1_GPIO_SDA GPIO9
#elif USE_I2C1_PORTA
#define I2C1_GPIO_PORT GPIOA //check UART2, TIM8 CH1,2
#define I2C1_GPIO_SCL GPIO15
#define I2C1_GPIO_SDA GPIO14
#endif
#if USE_I2C2 //check UART1, TIM1 CH2,3, TIM2 CH3,4
#define I2C2_GPIO_PORT GPIOA
#define I2C2_GPIO_SCL GPIO9
#define I2C2_GPIO_SDA GPIO10
#endif
/* ADC Pending!! */
/* Default actuators driver */
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
#define ActuatorsDefaultInit() ActuatorsPwmInit()
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
/***************************************************************************************************/
/********************************** SERVO PWM *************************************************/
/***************************************************************************************************/
#if !USE_I2C2
//#define PWM_USE_TIM1 0 //Put in portA check I2C2, (TIM2 CH3,4 not critical if we put TIM2 in PORTD pins 0-3), TIM4 CH1
#endif
#define PWM_USE_TIM2 1 //Put in portD check (UART2 but not critical if in PortA and tim15 in portf)
#define PWM_USE_TIM4 1 //Put in portD check perfect!!
//#define PWM_USE_TIM15 1 //Put in portf and all is fine!
#define PWM_USE_TIM3 1 //Put in portc and if TIM8 of PPM is using ch4 in portd all is fine
#if !USE_I2C2
//TIM1
#define USE_PWM0 1
#define USE_PWM1 1
#define USE_PWM2 1
#define USE_PWM3 1
#endif
//TIM2
#define USE_PWM4 1
#define USE_PWM5 1
#define USE_PWM6 1
#define USE_PWM7 1
//TIM4
#define USE_PWM8 1
#define USE_PWM9 1
#define USE_PWM10 1
#define USE_PWM11 1
#define ACTUATORS_PWM_NB 12
/* #if !USE_I2C2 */
/* // PWM_SERVO_x is the index of the servo in the actuators_pwm_values array */
/* #if USE_PWM0 */
/* #define PWM_SERVO_0 0 */
/* #define PWM_SERVO_0_TIMER TIM1 */
/* #define PWM_SERVO_0_RCC_IOP RCC_AHBENR_IOPAEN */
/* #define PWM_SERVO_0_GPIO GPIOA */
/* #define PWM_SERVO_0_PIN GPIO8 */
/* #define PWM_SERVO_0_AF GPIO_AF6 */
/* #define PWM_SERVO_0_OC TIM_OC1 */
/* #define PWM_SERVO_0_OC_BIT (1<<0) */
/* #else */
/* #define PWM_SERVO_0_OC_BIT 0 */
/* #endif */
/* #if USE_PWM1 */
/* #define PWM_SERVO_1 1 */
/* #define PWM_SERVO_1_TIMER TIM1 */
/* #define PWM_SERVO_1_RCC_IOP RCC_AHBENR_IOPAEN */
/* #define PWM_SERVO_1_GPIO GPIOA */
/* #define PWM_SERVO_1_PIN GPIO9 */
/* #define PWM_SERVO_1_AF GPIO_AF6 */
/* #define PWM_SERVO_1_OC TIM_OC2 */
/* #define PWM_SERVO_1_OC_BIT (1<<1) */
/* #else */
/* #define PWM_SERVO_1_OC_BIT 0 */
/* #endif */
/* #if USE_PWM2 */
/* #define PWM_SERVO_2 2 */
/* #define PWM_SERVO_2_TIMER TIM1 */
/* #define PWM_SERVO_2_RCC_IOP RCC_AHBENR_IOPAEN */
/* #define PWM_SERVO_2_GPIO GPIOA */
/* #define PWM_SERVO_2_PIN GPIO10 */
/* #define PWM_SERVO_2_AF GPIO_AF6 */
/* #define PWM_SERVO_2_OC TIM_OC3 */
/* #define PWM_SERVO_2_OC_BIT (1<<2) */
/* #else */
/* #define PWM_SERVO_2_OC_BIT 0 */
/* #endif */
/* #if USE_PWM3 */
/* #define PWM_SERVO_3 3 */
/* #define PWM_SERVO_3_TIMER TIM1 */
/* #define PWM_SERVO_3_RCC_IOP RCC_AHBENR_IOPAEN */
/* #define PWM_SERVO_3_GPIO GPIOA */
/* #define PWM_SERVO_3_PIN GPIO11 */
/* #define PWM_SERVO_3_AF GPIO_AF6 */
/* #define PWM_SERVO_3_OC TIM_OC4 */
/* #define PWM_SERVO_3_OC_BIT (1<<3) */
/* #else */
/* #define PWM_SERVO_3_OC_BIT 0 */
/* #endif */
/* #endif */
// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
#if USE_PWM0
#define PWM_SERVO_0 0
#define PWM_SERVO_0_TIMER TIM3
#define PWM_SERVO_0_RCC_IOP RCC_AHBENR_IOPAEN
#define PWM_SERVO_0_GPIO GPIOC
#define PWM_SERVO_0_PIN GPIO6
#define PWM_SERVO_0_AF GPIO_AF6
#define PWM_SERVO_0_OC TIM_OC1
#define PWM_SERVO_0_OC_BIT (1<<0)
#else
#define PWM_SERVO_0_OC_BIT 0
#endif
#if USE_PWM1
#define PWM_SERVO_1 1
#define PWM_SERVO_1_TIMER TIM3
#define PWM_SERVO_1_RCC_IOP RCC_AHBENR_IOPAEN
#define PWM_SERVO_1_GPIO GPIOC
#define PWM_SERVO_1_PIN GPIO7
#define PWM_SERVO_1_AF GPIO_AF6
#define PWM_SERVO_1_OC TIM_OC2
#define PWM_SERVO_1_OC_BIT (1<<1)
#else
#define PWM_SERVO_1_OC_BIT 0
#endif
#if USE_PWM2
#define PWM_SERVO_2 2
#define PWM_SERVO_2_TIMER TIM3
#define PWM_SERVO_2_RCC_IOP RCC_AHBENR_IOPAEN
#define PWM_SERVO_2_GPIO GPIOC
#define PWM_SERVO_2_PIN GPIO8
#define PWM_SERVO_2_AF GPIO_AF6
#define PWM_SERVO_2_OC TIM_OC3
#define PWM_SERVO_2_OC_BIT (1<<2)
#else
#define PWM_SERVO_2_OC_BIT 0
#endif
#if USE_PWM3
#define PWM_SERVO_3 3
#define PWM_SERVO_3_TIMER TIM3
#define PWM_SERVO_3_RCC_IOP RCC_AHBENR_IOPAEN
#define PWM_SERVO_3_GPIO GPIOC
#define PWM_SERVO_3_PIN GPIO9
#define PWM_SERVO_3_AF GPIO_AF6
#define PWM_SERVO_3_OC TIM_OC4
#define PWM_SERVO_3_OC_BIT (1<<3)
#else
#define PWM_SERVO_3_OC_BIT 0
#endif
#if USE_PWM4
#define PWM_SERVO_4 4
#define PWM_SERVO_4_TIMER TIM2
#define PWM_SERVO_4_RCC_IOP RCC_AHBENR_IOPDEN
#define PWM_SERVO_4_GPIO GPIOD
#define PWM_SERVO_4_PIN GPIO3
#define PWM_SERVO_4_AF GPIO_AF2
#define PWM_SERVO_4_OC TIM_OC1
#define PWM_SERVO_4_OC_BIT (1<<0)
#else
#define PWM_SERVO_4_OC_BIT 0
#endif
#if USE_PWM5
#define PWM_SERVO_5 5
#define PWM_SERVO_5_TIMER TIM2
#define PWM_SERVO_5_RCC_IOP RCC_AHBENR_IOPDEN
#define PWM_SERVO_5_GPIO GPIOD
#define PWM_SERVO_5_PIN GPIO4
#define PWM_SERVO_5_AF GPIO_AF2
#define PWM_SERVO_5_OC TIM_OC2
#define PWM_SERVO_5_OC_BIT (1<<1)
#else
#define PWM_SERVO_5_OC_BIT 0
#endif
#if USE_PWM6
#define PWM_SERVO_6 6
#define PWM_SERVO_6_TIMER TIM2
#define PWM_SERVO_6_RCC_IOP RCC_AHBENR_IOPDEN
#define PWM_SERVO_6_GPIO GPIOD
#define PWM_SERVO_6_PIN GPIO6
#define PWM_SERVO_6_AF GPIO_AF2
#define PWM_SERVO_6_OC TIM_OC4
#define PWM_SERVO_6_OC_BIT (1<<3)
#else
#define PWM_SERVO_6_OC_BIT 0
#endif
#if USE_PWM7
#define PWM_SERVO_7 7
#define PWM_SERVO_7_TIMER TIM2
#define PWM_SERVO_7_RCC_IOP RCC_AHBENR_IOPDEN
#define PWM_SERVO_7_GPIO GPIOD
#define PWM_SERVO_7_PIN GPIO7
#define PWM_SERVO_7_AF GPIO_AF2
#define PWM_SERVO_7_OC TIM_OC3
#define PWM_SERVO_7_OC_BIT (1<<2)
#else
#define PWM_SERVO_7_OC_BIT 0
#endif
#if USE_PWM8
#define PWM_SERVO_8 8
#define PWM_SERVO_8_TIMER TIM4
#define PWM_SERVO_8_RCC_IOP RCC_AHBENR_IOPDEN
#define PWM_SERVO_8_GPIO GPIOD
#define PWM_SERVO_8_PIN GPIO12
#define PWM_SERVO_8_AF GPIO_AF2
#define PWM_SERVO_8_OC TIM_OC1
#define PWM_SERVO_8_OC_BIT (1<<0)
#else
#define PWM_SERVO_8_OC_BIT 0
#endif
#if USE_PWM9
#define PWM_SERVO_9 9
#define PWM_SERVO_9_TIMER TIM4
#define PWM_SERVO_9_RCC_IOP RCC_AHBENR_IOPDEN
#define PWM_SERVO_9_GPIO GPIOD
#define PWM_SERVO_9_PIN GPIO13
#define PWM_SERVO_9_AF GPIO_AF2
#define PWM_SERVO_9_OC TIM_OC2
#define PWM_SERVO_9_OC_BIT (1<<1)
#else
#define PWM_SERVO_9_OC_BIT 0
#endif
#if USE_PWM10
#define PWM_SERVO_10 10
#define PWM_SERVO_10_TIMER TIM4
#define PWM_SERVO_10_RCC_IOP RCC_AHBENR_IOPDEN
#define PWM_SERVO_10_GPIO GPIOD
#define PWM_SERVO_10_PIN GPIO14
#define PWM_SERVO_10_AF GPIO_AF2
#define PWM_SERVO_10_OC TIM_OC3
#define PWM_SERVO_10_OC_BIT (1<<2)
#else
#define PWM_SERVO_10_OC_BIT 0
#endif
#if USE_PWM11
#define PWM_SERVO_11 11
#define PWM_SERVO_11_TIMER TIM4
#define PWM_SERVO_11_RCC_IOP RCC_AHBENR_IOPDEN
#define PWM_SERVO_11_GPIO GPIOD
#define PWM_SERVO_11_PIN GPIO15
#define PWM_SERVO_11_AF GPIO_AF2
#define PWM_SERVO_11_OC TIM_OC4
#define PWM_SERVO_11_OC_BIT (1<<3)
#else
#define PWM_SERVO_11_OC_BIT 0
#endif
//#define PWM_TIM1_CHAN_MASK (PWM_SERVO_0_OC_BIT|PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT)
#define PWM_TIM3_CHAN_MASK (PWM_SERVO_0_OC_BIT|PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT|PWM_SERVO_3_OC_BIT)
#define PWM_TIM2_CHAN_MASK (PWM_SERVO_4_OC_BIT|PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT|PWM_SERVO_7_OC_BIT)
#define PWM_TIM4_CHAN_MASK (PWM_SERVO_8_OC_BIT|PWM_SERVO_9_OC_BIT|PWM_SERVO_10_OC_BIT|PWM_SERVO_11_OC_BIT)
/*
* PPM
*/
#define USE_PPM_TIM8 1
#define PPM_CHANNEL TIM_IC4
#define PPM_TIMER_INPUT TIM_IC_IN_TI4
#define PPM_IRQ NVIC_TIM8_CC_IRQ
#define PPM_IRQ2 NVIC_TIM8_UP_IRQ //check why there is a TIM10
// Capture/Compare InteruptEnable and InterruptFlag
#define PPM_CC_IE TIM_DIER_CC4IE
#define PPM_CC_IF TIM_SR_CC4IF
#define PPM_GPIO_PORT GPIOD
#define PPM_GPIO_PIN GPIO1
#define PPM_GPIO_AF GPIO_AF4
/*
* Spektrum
*/
/* The line that is pulled low at power up to initiate the bind process */
#define SPEKTRUM_BIND_PIN GPIO2
#define SPEKTRUM_BIND_PIN_PORT GPIOB
#define SPEKTRUM_UART3_RCC_REG &RCC_APB1ENR
#define SPEKTRUM_UART3_RCC_DEV RCC_APB1ENR_USART3EN
#define SPEKTRUM_UART3_BANK GPIOD
#define SPEKTRUM_UART3_PIN GPIO9
#define SPEKTRUM_UART3_AF GPIO_AF7
#define SPEKTRUM_UART3_IRQ NVIC_USART3_EXTI28_IRQ
#define SPEKTRUM_UART3_ISR usart3_exti28_isr
#define SPEKTRUM_UART3_DEV USART3
#endif /* CONFIG_STM32F3_DISCOVERY_H */
There are some errors in the first four motors declarations.