Merge pull request #462 from blckmn/resource_rework
Last of the STM32F3 system files removed from target dirctories, and merge of the FURYF3 target
This commit is contained in:
commit
b4a8b97d78
32
Makefile
32
Makefile
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@ -45,19 +45,19 @@ FORKNAME = betaflight
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CC3D_TARGETS = CC3D CC3D_OPBL
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NAZE_TARGETS = ALIENFLIGHTF1 AFROMMINI
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SDCARD_TARGETS = ALIENFLIGHTF4 BLUEJAYF4 SPRACINGF3MINI AQ32_V2
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SDCARD_TARGETS = ALIENFLIGHTF4 BLUEJAYF4 SPRACINGF3MINI AQ32_V2 FURYF3
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SPRACINGF3_TARGETS = RMDO IRCFUSIONF3
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SERIAL_USB_TARGETS = SPRACINGF3 IRCFUSIONF3
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# Valid targets for STM VCP support
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VCP_VALID_TARGETS = KKNGF4 REVO BLUEJAYF4 $(CC3D_TARGETS)
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VCP_VALID_TARGETS = KKNGF4 FURYF3 REVO BLUEJAYF4 $(CC3D_TARGETS)
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F405_TARGETS = REVO ALIENFLIGHTF4 BLUEJAYF4 KKNGF4
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F405_TARGETS_16 =
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F411_TARGETS =
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F1_TARGETS = NAZE OLIMEXINO $(CC3D_TARGETS) PORT103R ALIENFLIGHTF1 AFROMINI
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F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO DOGE SINGULARITY
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F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO DOGE SINGULARITY FURYF3
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F4_TARGETS = $(F405_TARGETS) $(F405_TARGETS_16) $(F411_TARGETS)
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VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
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@ -66,7 +66,7 @@ OPBL_VALID_TARGETS = CC3D_OPBL
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64K_TARGETS = CJMCU
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128K_TARGETS = ALIENFLIGHTF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
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256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI SPRACINGF3EVO DOGE SINGULARITY
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256K_TARGETS = EUSTM32F103RC PORT103R $(F3_TARGETS)
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512K_TARGETS = $(F411_TARGETS)
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1024K_TARGETS = $(F405_TARGETS) $(F405_TARGETS_16)
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@ -877,6 +877,30 @@ SINGULARITY_SRC = \
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$(COMMON_SRC) \
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$(VCP_SRC)
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FURYF3_SRC = \
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$(STM32F30x_COMMON_SRC) \
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drivers/accgyro_mpu.c \
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drivers/barometer_ms5611.c \
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drivers/barometer_bmp280.c \
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drivers/display_ug2864hsweg01.c \
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drivers/accgyro_spi_mpu6000.c \
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drivers/accgyro_mpu6500.c \
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drivers/accgyro_spi_mpu6500.c \
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drivers/light_ws2811strip.c \
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drivers/light_ws2811strip_stm32f30x.c \
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drivers/serial_usb_vcp.c \
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drivers/sdcard.c \
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drivers/sdcard_standard.c \
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drivers/flash_m25p16.c \
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drivers/sonar_hcsr04.c \
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drivers/serial_softserial.c \
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io/asyncfatfs/asyncfatfs.c \
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io/asyncfatfs/fat_standard.c \
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io/flashfs.c \
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$(HIGHEND_SRC) \
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$(COMMON_SRC) \
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$(VCP_SRC)
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ALIENFLIGHTF4_SRC = \
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$(STM32F4xx_COMMON_SRC) \
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drivers/accgyro_mpu6500.c \
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@ -518,7 +518,6 @@ static void resetConf(void)
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masterConfig.motor_pwm_protocol = PWM_TYPE_ONESHOT125;
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#endif
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masterConfig.servo_pwm_rate = 50;
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masterConfig.use_unsyncedPwm = false;
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#ifdef CC3D
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masterConfig.use_buzzer_p6 = 0;
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@ -35,7 +35,6 @@ typedef struct master_t {
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uint16_t motor_pwm_rate; // The update rate of motor outputs (50-498Hz)
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uint16_t servo_pwm_rate; // The update rate of servo outputs (50-498Hz)
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uint8_t motor_pwm_protocol; // Pwm Protocol
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uint8_t use_unsyncedPwm; // unsync fast pwm protocol from PID loop
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#ifdef USE_SERVOS
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servoMixer_t customServoMixer[MAX_SERVO_RULES];
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@ -54,19 +54,11 @@ typedef struct drv_pwm_config_s {
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bool useSerialRx;
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bool useRSSIADC;
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bool useCurrentMeterADC;
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#ifdef STM32F10X
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bool useUART2;
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#endif
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#ifdef STM32F303xC
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bool useUART3;
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#endif
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#ifdef STM32F4
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bool useUART2;
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bool useUART6;
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#endif
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bool useVbat;
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bool useFastPwm;
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bool useUnsyncedPwm;
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bool useSoftSerial;
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bool useLEDStrip;
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#ifdef SONAR
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@ -29,7 +29,9 @@
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#ifdef USB_IO
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#ifdef USB_DETECT_PIN
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static IO_t usbDetectPin = IO_NONE;
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#endif
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void usbCableDetectDeinit(void)
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{
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@ -582,13 +582,11 @@ const clivalue_t valueTable[] = {
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{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "3d_deadband_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.flight3DConfig.deadband3d_throttle, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
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{ "unsynced_fast_pwm", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_unsyncedPwm, .config.lookup = { TABLE_OFF_ON } },
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{ "fast_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motor_pwm_protocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
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{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motor_pwm_protocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
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#ifdef CC3D
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{ "enable_buzzer_p6", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.use_buzzer_p6, .config.lookup = { TABLE_OFF_ON } },
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#endif
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{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 200, 32000 } },
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{ "motor_pwm_protocol", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.motor_pwm_protocol, .config.lookup = { TABLE_MOTOR_PWM_PROTOCOL } },
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{ "motor_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.motor_pwm_rate, .config.minmax = { 0, 32000 } },
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{ "servo_pwm_rate", VAR_UINT16 | MASTER_VALUE, &masterConfig.servo_pwm_rate, .config.minmax = { 50, 498 } },
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{ "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.disarm_kill_switch, .config.lookup = { TABLE_OFF_ON } },
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@ -125,11 +125,8 @@ void setGyroSamplingSpeed(uint16_t looptime) {
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masterConfig.mag_hardware = 1;
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masterConfig.pid_process_denom = 2;
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} else if (looptime < 375) {
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#if defined(LUX_RACE) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(ALIENFLIGHTF3) || defined(SPRACINGF3EVO) || defined(DOGE)
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masterConfig.acc_hardware = 0;
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#else
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masterConfig.acc_hardware = CONFIG_FASTLOOP_PREFERRED_ACC;
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masterConfig.acc_hardware = 1;
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#endif
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masterConfig.baro_hardware = 1;
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masterConfig.mag_hardware = 1;
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masterConfig.pid_process_denom = 2;
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@ -334,12 +334,12 @@ void init(void)
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} else {
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featureClear(FEATURE_ONESHOT125);
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}
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pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED); // Configurator feature abused for enabling Fast PWM
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// Configurator feature abused for enabling Fast PWM
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pwm_params.useFastPwm = (masterConfig.motor_pwm_protocol != PWM_TYPE_CONVENTIONAL && masterConfig.motor_pwm_protocol != PWM_TYPE_BRUSHED);
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pwm_params.pwmProtocolType = masterConfig.motor_pwm_protocol;
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pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
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pwm_params.idlePulse = masterConfig.escAndServoConfig.mincommand;
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pwm_params.useUnsyncedPwm = masterConfig.use_unsyncedPwm;
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if (feature(FEATURE_3D))
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pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
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if (masterConfig.motor_pwm_protocol == PWM_TYPE_BRUSHED)
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@ -351,7 +351,7 @@ void init(void)
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pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
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syncMotors(pwm_params.useUnsyncedPwm && pwm_params.motorPwmRate != PWM_TYPE_BRUSHED);
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syncMotors(pwm_params.motorPwmRate == 0 && pwm_params.motorPwmRate != PWM_TYPE_BRUSHED);
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mixerUsePWMOutputConfiguration(pwmOutputConfiguration);
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if (!feature(FEATURE_ONESHOT125))
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@ -97,7 +97,9 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon
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.echoIO = IO_TAG(PB0),
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};
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return &sonarHardware;
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#elif defined(SPRACINGF3) || defined(SPRACINGF3MINI)
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// TODO - move sonar pin selection to CLI
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#elif defined(SPRACINGF3) || defined(SPRACINGF3MINI) || defined(FURYF3)
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UNUSED(batteryConfig);
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static const sonarHardware_t const sonarHardware = {
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.trigger_pin = Pin_0, // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
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@ -20,6 +20,7 @@
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#define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
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#define ALIENFLIGHT
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#define CONFIG_FASTLOOP_PREFERRED_ACC 0
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#define USE_HARDWARE_REVISION_DETECTION
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#define HW_PIN PB2
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@ -21,6 +21,8 @@
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#define BST_DEVICE_NAME "COLIBRI RACE"
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#define BST_DEVICE_NAME_LENGTH 12
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#define CONFIG_FASTLOOP_PREFERRED_ACC 0
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#define LED0 PC15
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#define LED1 PC14
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#define LED2 PC13
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@ -1,372 +0,0 @@
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/**
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******************************************************************************
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* @file system_stm32f30x.c
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* @author MCD Application Team
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* @version V1.1.1
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* @date 28-March-2014
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* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
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* This file contains the system clock configuration for STM32F30x devices,
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* and is generated by the clock configuration tool
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* stm32f30x_Clock_Configuration_V1.0.0.xls
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*
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* 1. This file provides two functions and one global variable to be called from
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* user application:
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* - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
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* and Divider factors, AHB/APBx prescalers and Flash settings),
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* depending on the configuration made in the clock xls tool.
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* This function is called at startup just after reset and
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* before branch to main program. This call is made inside
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* the "startup_stm32f30x.s" file.
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*
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* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
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* by the user application to setup the SysTick
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* timer or configure other parameters.
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*
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* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
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* be called whenever the core clock is changed
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* during program execution.
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*
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* 2. After each device reset the HSI (8 MHz) is used as system clock source.
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* Then SystemInit() function is called, in "startup_stm32f30x.s" file, to
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* configure the system clock before to branch to main program.
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*
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* 3. If the system clock source selected by user fails to startup, the SystemInit()
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* function will do nothing and HSI still used as system clock source. User can
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* add some code to deal with this issue inside the SetSysClock() function.
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*
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* 4. The default value of HSE crystal is set to 8MHz, refer to "HSE_VALUE" define
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* in "stm32f30x.h" file. When HSE is used as system clock source, directly or
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* through PLL, and you are using different crystal you have to adapt the HSE
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* value to your own configuration.
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*
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* 5. This file configures the system clock as follows:
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*=============================================================================
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* Supported STM32F30x device
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*-----------------------------------------------------------------------------
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* System Clock source | PLL (HSE)
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*-----------------------------------------------------------------------------
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* SYSCLK(Hz) | 72000000
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*-----------------------------------------------------------------------------
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* HCLK(Hz) | 72000000
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*-----------------------------------------------------------------------------
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* AHB Prescaler | 1
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*-----------------------------------------------------------------------------
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* APB2 Prescaler | 2
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*-----------------------------------------------------------------------------
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* APB1 Prescaler | 2
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*-----------------------------------------------------------------------------
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* HSE Frequency(Hz) | 8000000
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*----------------------------------------------------------------------------
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* PLLMUL | 9
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*-----------------------------------------------------------------------------
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* PREDIV | 1
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*-----------------------------------------------------------------------------
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* USB Clock | ENABLE
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*-----------------------------------------------------------------------------
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* Flash Latency(WS) | 2
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*-----------------------------------------------------------------------------
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* Prefetch Buffer | ON
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*-----------------------------------------------------------------------------
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*=============================================================================
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******************************************************************************
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* @attention
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*
|
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* <h2><center>© COPYRIGHT 2014 STMicroelectronics</center></h2>
|
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*
|
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* Licensed under MCD-ST Liberty SW License Agreement V2, (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.st.com/software_license_agreement_liberty_v2
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/** @addtogroup CMSIS
|
||||
* @{
|
||||
*/
|
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|
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/** @addtogroup stm32f30x_system
|
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* @{
|
||||
*/
|
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|
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/** @addtogroup STM32F30x_System_Private_Includes
|
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* @{
|
||||
*/
|
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|
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#include "stm32f30x.h"
|
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|
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uint32_t hse_value = HSE_VALUE;
|
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|
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/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
|
||||
/** @addtogroup STM32F30x_System_Private_Defines
|
||||
* @{
|
||||
*/
|
||||
/*!< Uncomment the following line if you need to relocate your vector Table in
|
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Internal SRAM. */
|
||||
/* #define VECT_TAB_SRAM */
|
||||
#define VECT_TAB_OFFSET 0x0 /*!< Vector Table base offset field.
|
||||
This value must be a multiple of 0x200. */
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
|
||||
/** @addtogroup STM32F30x_System_Private_Variables
|
||||
* @{
|
||||
*/
|
||||
|
||||
uint32_t SystemCoreClock = 72000000;
|
||||
|
||||
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F30x_System_Private_FunctionPrototypes
|
||||
* @{
|
||||
*/
|
||||
|
||||
void SetSysClock(void);
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F30x_System_Private_Functions
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief Setup the microcontroller system
|
||||
* Initialize the Embedded Flash Interface, the PLL and update the
|
||||
* SystemFrequency variable.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SystemInit(void)
|
||||
{
|
||||
/* FPU settings ------------------------------------------------------------*/
|
||||
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
|
||||
SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
|
||||
#endif
|
||||
|
||||
/* Reset the RCC clock configuration to the default reset state ------------*/
|
||||
/* Set HSION bit */
|
||||
RCC->CR |= (uint32_t)0x00000001;
|
||||
|
||||
/* Reset CFGR register */
|
||||
RCC->CFGR &= 0xF87FC00C;
|
||||
|
||||
/* Reset HSEON, CSSON and PLLON bits */
|
||||
RCC->CR &= (uint32_t)0xFEF6FFFF;
|
||||
|
||||
/* Reset HSEBYP bit */
|
||||
RCC->CR &= (uint32_t)0xFFFBFFFF;
|
||||
|
||||
/* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE bits */
|
||||
RCC->CFGR &= (uint32_t)0xFF80FFFF;
|
||||
|
||||
/* Reset PREDIV1[3:0] bits */
|
||||
RCC->CFGR2 &= (uint32_t)0xFFFFFFF0;
|
||||
|
||||
/* Reset USARTSW[1:0], I2CSW and TIMs bits */
|
||||
RCC->CFGR3 &= (uint32_t)0xFF00FCCC;
|
||||
|
||||
/* Disable all interrupts */
|
||||
RCC->CIR = 0x00000000;
|
||||
|
||||
/* Configure the System clock source, PLL Multiplier and Divider factors,
|
||||
AHB/APBx prescalers and Flash settings ----------------------------------*/
|
||||
//SetSysClock(); // called from main()
|
||||
|
||||
#ifdef VECT_TAB_SRAM
|
||||
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
|
||||
#else
|
||||
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Update SystemCoreClock variable according to Clock Register Values.
|
||||
* The SystemCoreClock variable contains the core clock (HCLK), it can
|
||||
* be used by the user application to setup the SysTick timer or configure
|
||||
* other parameters.
|
||||
*
|
||||
* @note Each time the core clock (HCLK) changes, this function must be called
|
||||
* to update SystemCoreClock variable value. Otherwise, any configuration
|
||||
* based on this variable will be incorrect.
|
||||
*
|
||||
* @note - The system frequency computed by this function is not the real
|
||||
* frequency in the chip. It is calculated based on the predefined
|
||||
* constant and the selected clock source:
|
||||
*
|
||||
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
|
||||
*
|
||||
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
|
||||
*
|
||||
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
|
||||
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
|
||||
*
|
||||
* (*) HSI_VALUE is a constant defined in stm32f30x.h file (default value
|
||||
* 8 MHz) but the real value may vary depending on the variations
|
||||
* in voltage and temperature.
|
||||
*
|
||||
* (**) HSE_VALUE is a constant defined in stm32f30x.h file (default value
|
||||
* 8 MHz), user has to ensure that HSE_VALUE is same as the real
|
||||
* frequency of the crystal used. Otherwise, this function may
|
||||
* have wrong result.
|
||||
*
|
||||
* - The result of this function could be not correct when using fractional
|
||||
* value for HSE crystal.
|
||||
*
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SystemCoreClockUpdate (void)
|
||||
{
|
||||
uint32_t tmp = 0, pllmull = 0, pllsource = 0, prediv1factor = 0;
|
||||
|
||||
/* Get SYSCLK source -------------------------------------------------------*/
|
||||
tmp = RCC->CFGR & RCC_CFGR_SWS;
|
||||
|
||||
switch (tmp)
|
||||
{
|
||||
case 0x00: /* HSI used as system clock */
|
||||
SystemCoreClock = HSI_VALUE;
|
||||
break;
|
||||
case 0x04: /* HSE used as system clock */
|
||||
SystemCoreClock = HSE_VALUE;
|
||||
break;
|
||||
case 0x08: /* PLL used as system clock */
|
||||
/* Get PLL clock source and multiplication factor ----------------------*/
|
||||
pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
|
||||
pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
|
||||
pllmull = ( pllmull >> 18) + 2;
|
||||
|
||||
if (pllsource == 0x00)
|
||||
{
|
||||
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
|
||||
SystemCoreClock = (HSI_VALUE >> 1) * pllmull;
|
||||
}
|
||||
else
|
||||
{
|
||||
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1;
|
||||
/* HSE oscillator clock selected as PREDIV1 clock entry */
|
||||
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
|
||||
}
|
||||
break;
|
||||
default: /* HSI used as system clock */
|
||||
SystemCoreClock = HSI_VALUE;
|
||||
break;
|
||||
}
|
||||
/* Compute HCLK clock frequency ----------------*/
|
||||
/* Get HCLK prescaler */
|
||||
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
|
||||
/* HCLK clock frequency */
|
||||
SystemCoreClock >>= tmp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Configures the System clock source, PLL Multiplier and Divider factors,
|
||||
* AHB/APBx prescalers and Flash settings
|
||||
* @note This function should be called only once the RCC clock configuration
|
||||
* is reset to the default reset state (done in SystemInit() function).
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SetSysClock(void)
|
||||
{
|
||||
__IO uint32_t StartUpCounter = 0, HSEStatus = 0;
|
||||
|
||||
/******************************************************************************/
|
||||
/* PLL (clocked by HSE) used as System clock source */
|
||||
/******************************************************************************/
|
||||
|
||||
/* SYSCLK, HCLK, PCLK2 and PCLK1 configuration -----------*/
|
||||
/* Enable HSE */
|
||||
RCC->CR |= ((uint32_t)RCC_CR_HSEON);
|
||||
|
||||
/* Wait till HSE is ready and if Time out is reached exit */
|
||||
do
|
||||
{
|
||||
HSEStatus = RCC->CR & RCC_CR_HSERDY;
|
||||
StartUpCounter++;
|
||||
} while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
|
||||
|
||||
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
|
||||
{
|
||||
HSEStatus = (uint32_t)0x01;
|
||||
}
|
||||
else
|
||||
{
|
||||
HSEStatus = (uint32_t)0x00;
|
||||
}
|
||||
|
||||
if (HSEStatus == (uint32_t)0x01)
|
||||
{
|
||||
/* Enable Prefetch Buffer and set Flash Latency */
|
||||
FLASH->ACR = FLASH_ACR_PRFTBE | (uint32_t)FLASH_ACR_LATENCY_1;
|
||||
|
||||
/* HCLK = SYSCLK / 1 */
|
||||
RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1;
|
||||
|
||||
/* PCLK2 = HCLK / 1 */
|
||||
RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1;
|
||||
|
||||
/* PCLK1 = HCLK / 2 */
|
||||
RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2;
|
||||
|
||||
/* PLL configuration */
|
||||
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL));
|
||||
RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9);
|
||||
|
||||
/* Enable PLL */
|
||||
RCC->CR |= RCC_CR_PLLON;
|
||||
|
||||
/* Wait till PLL is ready */
|
||||
while((RCC->CR & RCC_CR_PLLRDY) == 0)
|
||||
{
|
||||
}
|
||||
|
||||
/* Select PLL as system clock source */
|
||||
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
|
||||
RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;
|
||||
|
||||
/* Wait till PLL is used as system clock source */
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
|
||||
{
|
||||
}
|
||||
}
|
||||
else
|
||||
{ /* If HSE fails to start-up, the application will have wrong clock
|
||||
configuration. User can add here some code to deal with this error */
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
|
|
@ -1,76 +0,0 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* @file system_stm32f30x.h
|
||||
* @author MCD Application Team
|
||||
* @version V1.1.1
|
||||
* @date 28-March-2014
|
||||
* @brief CMSIS Cortex-M4 Device System Source File for STM32F30x devices.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© COPYRIGHT 2014 STMicroelectronics</center></h2>
|
||||
*
|
||||
* Licensed under MCD-ST Liberty SW License Agreement V2, (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.st.com/software_license_agreement_liberty_v2
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/** @addtogroup CMSIS
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup stm32f30x_system
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief Define to prevent recursive inclusion
|
||||
*/
|
||||
#ifndef __SYSTEM_STM32F30X_H
|
||||
#define __SYSTEM_STM32F30X_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
/* Exported macro ------------------------------------------------------------*/
|
||||
/* Exported functions ------------------------------------------------------- */
|
||||
|
||||
/** @addtogroup STM32F30x_System_Exported_Functions
|
||||
* @{
|
||||
*/
|
||||
|
||||
extern void SystemInit(void);
|
||||
extern void SystemCoreClockUpdate(void);
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /*__SYSTEM_STM32F30X_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
|
@ -19,6 +19,8 @@
|
|||
|
||||
#define TARGET_BOARD_IDENTIFIER "DOGE"
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC 0
|
||||
|
||||
// tqfp48 pin 34
|
||||
#define LED0 PA13
|
||||
|
||||
|
|
|
@ -0,0 +1,68 @@
|
|||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <platform.h>
|
||||
#include "drivers/pwm_mapping.h"
|
||||
|
||||
const uint16_t multiPPM[] = {
|
||||
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
|
||||
|
||||
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
const uint16_t multiPWM[] = {
|
||||
PWM1 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM2 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
const uint16_t airPPM[] = {
|
||||
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
|
||||
|
||||
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
const uint16_t airPWM[] = {
|
||||
PWM1 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM2 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||
0xFFFF
|
||||
};
|
||||
|
||||
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||
{ TIM2, GPIOB, Pin_3, TIM_Channel_2, TIM2_IRQn, 0, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_1}, // PPM IN
|
||||
{ TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // SS1 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
|
||||
{ TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 0, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // SS1 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
|
||||
|
||||
{ TIM4, GPIOB, Pin_7, TIM_Channel_2, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_2}, // PWM4 - S1
|
||||
{ TIM4, GPIOB, Pin_6, TIM_Channel_1, TIM4_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_2}, // PWM5 - S2
|
||||
{ TIM17, GPIOB, Pin_5, TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, Mode_AF_PP, GPIO_PinSource5, GPIO_AF_10}, // PWM6 - S3
|
||||
{ TIM16, GPIOB, Pin_4, TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_1}, // PWM7 - S4
|
||||
|
||||
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // GPIO TIMER - LED_STRIP
|
||||
|
||||
};
|
||||
|
||||
|
|
@ -0,0 +1,209 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "FURY"
|
||||
|
||||
#define MPU_INT_EXTI PC4
|
||||
#define USE_EXTI
|
||||
#define CONFIG_PREFER_ACC_ON
|
||||
|
||||
#define LED0 PC14
|
||||
|
||||
#define BEEPER PC15
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU INT, SDCardDetect
|
||||
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
#define GYRO
|
||||
#define ACC
|
||||
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_SPI_INSTANCE SPI1
|
||||
|
||||
#define MPU6500_CS_PIN PA4
|
||||
#define MPU6500_SPI_INSTANCE SPI1
|
||||
|
||||
#define USE_GYRO_SPI_MPU6000
|
||||
#define GYRO_MPU6000_ALIGN CW180_DEG // changedkb 270
|
||||
#define USE_ACC_SPI_MPU6000
|
||||
#define ACC_MPU6000_ALIGN CW180_DEG // changedkb 270
|
||||
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW90_DEG // changedkb 270
|
||||
|
||||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW90_DEG // changedkb 270
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
#define USE_BARO_BMP280
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_1
|
||||
#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
|
||||
|
||||
#define SPI2_NSS_PIN PB12
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PB14
|
||||
#define SPI2_MOSI_PIN PB15
|
||||
|
||||
//#define USE_FLASHFS
|
||||
//#define USE_FLASH_M25P16
|
||||
//#define M25P16_CS_PIN PB12
|
||||
//#define M25P16_SPI_INSTANCE SPI2
|
||||
|
||||
#define USE_SDCARD
|
||||
#define USE_SDCARD_SPI2
|
||||
|
||||
#define SDCARD_DETECT_INVERTED
|
||||
|
||||
#define SDCARD_DETECT_PIN PB2
|
||||
#define SDCARD_DETECT_EXTI_LINE EXTI_Line2
|
||||
#define SDCARD_DETECT_EXTI_PIN_SOURCE EXTI_PinSource2
|
||||
#define SDCARD_DETECT_EXTI_PORT_SOURCE EXTI_PortSourceGPIOB
|
||||
#define SDCARD_DETECT_EXTI_IRQn EXTI15_10_IRQn
|
||||
|
||||
#define SDCARD_SPI_INSTANCE SPI2
|
||||
#define SDCARD_SPI_CS_GPIO SPI2_GPIO
|
||||
#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
|
||||
|
||||
// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
|
||||
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
|
||||
// Divide to under 25MHz for normal operation:
|
||||
#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 2
|
||||
|
||||
// Note, this is the same DMA channel as USART1_RX. Luckily we don't use DMA for USART Rx.
|
||||
#define SDCARD_DMA_CHANNEL_TX DMA1_Channel5
|
||||
#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
|
||||
|
||||
// Performance logging for SD card operations:
|
||||
// #define AFATFS_USE_INTROSPECTIVE_LOGGING
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 8
|
||||
|
||||
#define USB_IO
|
||||
|
||||
#define USE_VCP
|
||||
#define USE_USART1
|
||||
#define USE_USART2
|
||||
#define USE_USART3
|
||||
#define USE_SOFTSERIAL1
|
||||
#define SERIAL_PORT_COUNT 5
|
||||
|
||||
#ifndef UART1_GPIO
|
||||
#define UART1_TX_PIN GPIO_Pin_9 // PA9
|
||||
#define UART1_RX_PIN GPIO_Pin_10 // PA10
|
||||
#define UART1_GPIO GPIOA
|
||||
#define UART1_GPIO_AF GPIO_AF_7
|
||||
#define UART1_TX_PINSOURCE GPIO_PinSource9
|
||||
#define UART1_RX_PINSOURCE GPIO_PinSource10
|
||||
#endif
|
||||
|
||||
#define UART2_TX_PIN GPIO_Pin_14 // PA14
|
||||
#define UART2_RX_PIN GPIO_Pin_15 // PA15
|
||||
#define UART2_GPIO GPIOA
|
||||
#define UART2_GPIO_AF GPIO_AF_7
|
||||
#define UART2_TX_PINSOURCE GPIO_PinSource14
|
||||
#define UART2_RX_PINSOURCE GPIO_PinSource15
|
||||
|
||||
#ifndef UART3_GPIO
|
||||
#define UART3_TX_PIN GPIO_Pin_10 // PB10 (AF7)
|
||||
#define UART3_RX_PIN GPIO_Pin_11 // PB11 (AF7)
|
||||
#define UART3_GPIO_AF GPIO_AF_7
|
||||
#define UART3_GPIO GPIOB
|
||||
#define UART3_TX_PINSOURCE GPIO_PinSource10
|
||||
#define UART3_RX_PINSOURCE GPIO_PinSource11
|
||||
#endif
|
||||
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 1
|
||||
#define SOFTSERIAL_1_TIMER_TX_HARDWARE 2
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_1) // SDA (PB9/AF4), SCL (PB8/AF4)
|
||||
|
||||
#define I2C1_SCL_PIN PB8
|
||||
#define I2C1_SDA_PIN PB9
|
||||
|
||||
#define USE_ADC
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
|
||||
#define ADC_INSTANCE ADC1
|
||||
#define ADC_DMA_CHANNEL DMA1_Channel1
|
||||
#define ADC_AHB_PERIPHERAL RCC_AHBPeriph_DMA1
|
||||
|
||||
#define VBAT_ADC_GPIO GPIOA
|
||||
#define VBAT_ADC_GPIO_PIN GPIO_Pin_0
|
||||
#define VBAT_ADC_CHANNEL ADC_Channel_1
|
||||
|
||||
#define RSSI_ADC_GPIO GPIOA
|
||||
#define RSSI_ADC_GPIO_PIN GPIO_Pin_1
|
||||
#define RSSI_ADC_CHANNEL ADC_Channel_2
|
||||
|
||||
#define CURRENT_METER_ADC_GPIO GPIOA
|
||||
#define CURRENT_METER_ADC_GPIO_PIN GPIO_Pin_2
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_Channel_3
|
||||
|
||||
#define LED_STRIP
|
||||
#define LED_STRIP_TIMER TIM1
|
||||
|
||||
#define USE_LED_STRIP_ON_DMA1_CHANNEL2
|
||||
#define WS2811_GPIO GPIOA
|
||||
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
|
||||
#define WS2811_GPIO_AF GPIO_AF_6
|
||||
#define WS2811_PIN GPIO_Pin_8
|
||||
#define WS2811_PIN_SOURCE GPIO_PinSource8
|
||||
#define WS2811_TIMER TIM1
|
||||
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
|
||||
#define WS2811_DMA_CHANNEL DMA1_Channel2
|
||||
#define WS2811_IRQ DMA1_Channel2_IRQn
|
||||
#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2
|
||||
#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
|
||||
|
||||
#define BLACKBOX
|
||||
#define DISPLAY
|
||||
#define GPS
|
||||
#define SERIAL_RX
|
||||
#define TELEMETRY
|
||||
#define USE_SERVOS
|
||||
#define USE_CLI
|
||||
#define SONAR
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
// USART3,
|
||||
#define BIND_PIN PB11
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
#define TARGET_IO_PORTF (BIT(4))
|
||||
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(16) |TIM_N(17))
|
||||
|
||||
#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4)
|
||||
#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17)
|
||||
#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB)
|
|
@ -20,6 +20,8 @@
|
|||
#define TARGET_BOARD_IDENTIFIER "LUX"
|
||||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC 0
|
||||
|
||||
#define LED0 PC15
|
||||
#define LED1 PC14
|
||||
#define LED2 PC13
|
||||
|
|
|
@ -1,372 +0,0 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* @file system_stm32f30x.c
|
||||
* @author MCD Application Team
|
||||
* @version V1.1.1
|
||||
* @date 28-March-2014
|
||||
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
|
||||
* This file contains the system clock configuration for STM32F30x devices,
|
||||
* and is generated by the clock configuration tool
|
||||
* stm32f30x_Clock_Configuration_V1.0.0.xls
|
||||
*
|
||||
* 1. This file provides two functions and one global variable to be called from
|
||||
* user application:
|
||||
* - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
|
||||
* and Divider factors, AHB/APBx prescalers and Flash settings),
|
||||
* depending on the configuration made in the clock xls tool.
|
||||
* This function is called at startup just after reset and
|
||||
* before branch to main program. This call is made inside
|
||||
* the "startup_stm32f30x.s" file.
|
||||
*
|
||||
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
|
||||
* by the user application to setup the SysTick
|
||||
* timer or configure other parameters.
|
||||
*
|
||||
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
|
||||
* be called whenever the core clock is changed
|
||||
* during program execution.
|
||||
*
|
||||
* 2. After each device reset the HSI (8 MHz) is used as system clock source.
|
||||
* Then SystemInit() function is called, in "startup_stm32f30x.s" file, to
|
||||
* configure the system clock before to branch to main program.
|
||||
*
|
||||
* 3. If the system clock source selected by user fails to startup, the SystemInit()
|
||||
* function will do nothing and HSI still used as system clock source. User can
|
||||
* add some code to deal with this issue inside the SetSysClock() function.
|
||||
*
|
||||
* 4. The default value of HSE crystal is set to 8MHz, refer to "HSE_VALUE" define
|
||||
* in "stm32f30x.h" file. When HSE is used as system clock source, directly or
|
||||
* through PLL, and you are using different crystal you have to adapt the HSE
|
||||
* value to your own configuration.
|
||||
*
|
||||
* 5. This file configures the system clock as follows:
|
||||
*=============================================================================
|
||||
* Supported STM32F30x device
|
||||
*-----------------------------------------------------------------------------
|
||||
* System Clock source | PLL (HSE)
|
||||
*-----------------------------------------------------------------------------
|
||||
* SYSCLK(Hz) | 72000000
|
||||
*-----------------------------------------------------------------------------
|
||||
* HCLK(Hz) | 72000000
|
||||
*-----------------------------------------------------------------------------
|
||||
* AHB Prescaler | 1
|
||||
*-----------------------------------------------------------------------------
|
||||
* APB2 Prescaler | 2
|
||||
*-----------------------------------------------------------------------------
|
||||
* APB1 Prescaler | 2
|
||||
*-----------------------------------------------------------------------------
|
||||
* HSE Frequency(Hz) | 8000000
|
||||
*----------------------------------------------------------------------------
|
||||
* PLLMUL | 9
|
||||
*-----------------------------------------------------------------------------
|
||||
* PREDIV | 1
|
||||
*-----------------------------------------------------------------------------
|
||||
* USB Clock | ENABLE
|
||||
*-----------------------------------------------------------------------------
|
||||
* Flash Latency(WS) | 2
|
||||
*-----------------------------------------------------------------------------
|
||||
* Prefetch Buffer | ON
|
||||
*-----------------------------------------------------------------------------
|
||||
*=============================================================================
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© COPYRIGHT 2014 STMicroelectronics</center></h2>
|
||||
*
|
||||
* Licensed under MCD-ST Liberty SW License Agreement V2, (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.st.com/software_license_agreement_liberty_v2
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
/** @addtogroup CMSIS
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup stm32f30x_system
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F30x_System_Private_Includes
|
||||
* @{
|
||||
*/
|
||||
|
||||
#include "stm32f30x.h"
|
||||
|
||||
uint32_t hse_value = HSE_VALUE;
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* Private typedef -----------------------------------------------------------*/
|
||||
|
||||
/** @addtogroup STM32F30x_System_Private_Defines
|
||||
* @{
|
||||
*/
|
||||
/*!< Uncomment the following line if you need to relocate your vector Table in
|
||||
Internal SRAM. */
|
||||
/* #define VECT_TAB_SRAM */
|
||||
#define VECT_TAB_OFFSET 0x0 /*!< Vector Table base offset field.
|
||||
This value must be a multiple of 0x200. */
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* Private macro -------------------------------------------------------------*/
|
||||
|
||||
/** @addtogroup STM32F30x_System_Private_Variables
|
||||
* @{
|
||||
*/
|
||||
|
||||
uint32_t SystemCoreClock = 72000000;
|
||||
|
||||
__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F30x_System_Private_FunctionPrototypes
|
||||
* @{
|
||||
*/
|
||||
|
||||
void SetSysClock(void);
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/** @addtogroup STM32F30x_System_Private_Functions
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief Setup the microcontroller system
|
||||
* Initialize the Embedded Flash Interface, the PLL and update the
|
||||
* SystemFrequency variable.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SystemInit(void)
|
||||
{
|
||||
/* FPU settings ------------------------------------------------------------*/
|
||||
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
|
||||
SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
|
||||
#endif
|
||||
|
||||
/* Reset the RCC clock configuration to the default reset state ------------*/
|
||||
/* Set HSION bit */
|
||||
RCC->CR |= (uint32_t)0x00000001;
|
||||
|
||||
/* Reset CFGR register */
|
||||
RCC->CFGR &= 0xF87FC00C;
|
||||
|
||||
/* Reset HSEON, CSSON and PLLON bits */
|
||||
RCC->CR &= (uint32_t)0xFEF6FFFF;
|
||||
|
||||
/* Reset HSEBYP bit */
|
||||
RCC->CR &= (uint32_t)0xFFFBFFFF;
|
||||
|
||||
/* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE bits */
|
||||
RCC->CFGR &= (uint32_t)0xFF80FFFF;
|
||||
|
||||
/* Reset PREDIV1[3:0] bits */
|
||||
RCC->CFGR2 &= (uint32_t)0xFFFFFFF0;
|
||||
|
||||
/* Reset USARTSW[1:0], I2CSW and TIMs bits */
|
||||
RCC->CFGR3 &= (uint32_t)0xFF00FCCC;
|
||||
|
||||
/* Disable all interrupts */
|
||||
RCC->CIR = 0x00000000;
|
||||
|
||||
/* Configure the System clock source, PLL Multiplier and Divider factors,
|
||||
AHB/APBx prescalers and Flash settings ----------------------------------*/
|
||||
//SetSysClock(); // called from main()
|
||||
|
||||
#ifdef VECT_TAB_SRAM
|
||||
SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
|
||||
#else
|
||||
SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Update SystemCoreClock variable according to Clock Register Values.
|
||||
* The SystemCoreClock variable contains the core clock (HCLK), it can
|
||||
* be used by the user application to setup the SysTick timer or configure
|
||||
* other parameters.
|
||||
*
|
||||
* @note Each time the core clock (HCLK) changes, this function must be called
|
||||
* to update SystemCoreClock variable value. Otherwise, any configuration
|
||||
* based on this variable will be incorrect.
|
||||
*
|
||||
* @note - The system frequency computed by this function is not the real
|
||||
* frequency in the chip. It is calculated based on the predefined
|
||||
* constant and the selected clock source:
|
||||
*
|
||||
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
|
||||
*
|
||||
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
|
||||
*
|
||||
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
|
||||
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
|
||||
*
|
||||
* (*) HSI_VALUE is a constant defined in stm32f30x.h file (default value
|
||||
* 8 MHz) but the real value may vary depending on the variations
|
||||
* in voltage and temperature.
|
||||
*
|
||||
* (**) HSE_VALUE is a constant defined in stm32f30x.h file (default value
|
||||
* 8 MHz), user has to ensure that HSE_VALUE is same as the real
|
||||
* frequency of the crystal used. Otherwise, this function may
|
||||
* have wrong result.
|
||||
*
|
||||
* - The result of this function could be not correct when using fractional
|
||||
* value for HSE crystal.
|
||||
*
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SystemCoreClockUpdate (void)
|
||||
{
|
||||
uint32_t tmp = 0, pllmull = 0, pllsource = 0, prediv1factor = 0;
|
||||
|
||||
/* Get SYSCLK source -------------------------------------------------------*/
|
||||
tmp = RCC->CFGR & RCC_CFGR_SWS;
|
||||
|
||||
switch (tmp)
|
||||
{
|
||||
case 0x00: /* HSI used as system clock */
|
||||
SystemCoreClock = HSI_VALUE;
|
||||
break;
|
||||
case 0x04: /* HSE used as system clock */
|
||||
SystemCoreClock = HSE_VALUE;
|
||||
break;
|
||||
case 0x08: /* PLL used as system clock */
|
||||
/* Get PLL clock source and multiplication factor ----------------------*/
|
||||
pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
|
||||
pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
|
||||
pllmull = ( pllmull >> 18) + 2;
|
||||
|
||||
if (pllsource == 0x00)
|
||||
{
|
||||
/* HSI oscillator clock divided by 2 selected as PLL clock entry */
|
||||
SystemCoreClock = (HSI_VALUE >> 1) * pllmull;
|
||||
}
|
||||
else
|
||||
{
|
||||
prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1;
|
||||
/* HSE oscillator clock selected as PREDIV1 clock entry */
|
||||
SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
|
||||
}
|
||||
break;
|
||||
default: /* HSI used as system clock */
|
||||
SystemCoreClock = HSI_VALUE;
|
||||
break;
|
||||
}
|
||||
/* Compute HCLK clock frequency ----------------*/
|
||||
/* Get HCLK prescaler */
|
||||
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
|
||||
/* HCLK clock frequency */
|
||||
SystemCoreClock >>= tmp;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Configures the System clock source, PLL Multiplier and Divider factors,
|
||||
* AHB/APBx prescalers and Flash settings
|
||||
* @note This function should be called only once the RCC clock configuration
|
||||
* is reset to the default reset state (done in SystemInit() function).
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void SetSysClock(void)
|
||||
{
|
||||
__IO uint32_t StartUpCounter = 0, HSEStatus = 0;
|
||||
|
||||
/******************************************************************************/
|
||||
/* PLL (clocked by HSE) used as System clock source */
|
||||
/******************************************************************************/
|
||||
|
||||
/* SYSCLK, HCLK, PCLK2 and PCLK1 configuration -----------*/
|
||||
/* Enable HSE */
|
||||
RCC->CR |= ((uint32_t)RCC_CR_HSEON);
|
||||
|
||||
/* Wait till HSE is ready and if Time out is reached exit */
|
||||
do
|
||||
{
|
||||
HSEStatus = RCC->CR & RCC_CR_HSERDY;
|
||||
StartUpCounter++;
|
||||
} while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
|
||||
|
||||
if ((RCC->CR & RCC_CR_HSERDY) != RESET)
|
||||
{
|
||||
HSEStatus = (uint32_t)0x01;
|
||||
}
|
||||
else
|
||||
{
|
||||
HSEStatus = (uint32_t)0x00;
|
||||
}
|
||||
|
||||
if (HSEStatus == (uint32_t)0x01)
|
||||
{
|
||||
/* Enable Prefetch Buffer and set Flash Latency */
|
||||
FLASH->ACR = FLASH_ACR_PRFTBE | (uint32_t)FLASH_ACR_LATENCY_1;
|
||||
|
||||
/* HCLK = SYSCLK / 1 */
|
||||
RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1;
|
||||
|
||||
/* PCLK2 = HCLK / 1 */
|
||||
RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1;
|
||||
|
||||
/* PCLK1 = HCLK / 2 */
|
||||
RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2;
|
||||
|
||||
/* PLL configuration */
|
||||
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL));
|
||||
RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9);
|
||||
|
||||
/* Enable PLL */
|
||||
RCC->CR |= RCC_CR_PLLON;
|
||||
|
||||
/* Wait till PLL is ready */
|
||||
while((RCC->CR & RCC_CR_PLLRDY) == 0)
|
||||
{
|
||||
}
|
||||
|
||||
/* Select PLL as system clock source */
|
||||
RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
|
||||
RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;
|
||||
|
||||
/* Wait till PLL is used as system clock source */
|
||||
while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
|
||||
{
|
||||
}
|
||||
}
|
||||
else
|
||||
{ /* If HSE fails to start-up, the application will have wrong clock
|
||||
configuration. User can add here some code to deal with this error */
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
|
|
@ -1,76 +0,0 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* @file system_stm32f30x.h
|
||||
* @author MCD Application Team
|
||||
* @version V1.1.1
|
||||
* @date 28-March-2014
|
||||
* @brief CMSIS Cortex-M4 Device System Source File for STM32F30x devices.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© COPYRIGHT 2014 STMicroelectronics</center></h2>
|
||||
*
|
||||
* Licensed under MCD-ST Liberty SW License Agreement V2, (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.st.com/software_license_agreement_liberty_v2
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
/** @addtogroup CMSIS
|
||||
* @{
|
||||
*/
|
||||
|
||||
/** @addtogroup stm32f30x_system
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief Define to prevent recursive inclusion
|
||||
*/
|
||||
#ifndef __SYSTEM_STM32F30X_H
|
||||
#define __SYSTEM_STM32F30X_H
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/* Exported types ------------------------------------------------------------*/
|
||||
extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
|
||||
/* Exported constants --------------------------------------------------------*/
|
||||
/* Exported macro ------------------------------------------------------------*/
|
||||
/* Exported functions ------------------------------------------------------- */
|
||||
|
||||
/** @addtogroup STM32F30x_System_Exported_Functions
|
||||
* @{
|
||||
*/
|
||||
|
||||
extern void SystemInit(void);
|
||||
extern void SystemCoreClockUpdate(void);
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /*__SYSTEM_STM32F30X_H */
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
|
@ -20,6 +20,8 @@
|
|||
#define TARGET_BOARD_IDENTIFIER "MOTO" // MotoLab
|
||||
#define USE_CLI
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC 0
|
||||
|
||||
#define LED0 PB5 // Blue LEDs - PB5
|
||||
//#define LED1 PB9 // Green LEDs - PB9
|
||||
|
||||
|
|
|
@ -19,6 +19,8 @@
|
|||
|
||||
#define TARGET_BOARD_IDENTIFIER "SPEV"
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC 0
|
||||
|
||||
#define LED0 PB8
|
||||
|
||||
#define BEEPER PC15
|
||||
|
|
|
@ -17,6 +17,8 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC 1
|
||||
|
||||
#ifdef STM32F4
|
||||
#define TASK_GYROPID_DESIRED_PERIOD 125
|
||||
#define SCHEDULER_DELAY_LIMIT 10
|
||||
|
|
Loading…
Reference in New Issue