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hw_config.h
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/*
* hw_config.h
*
* Created on: May 17, 2015
* Author: david_s5
*/
#ifndef HW_CONFIG_H_
#define HW_CONFIG_H_
/****************************************************************************
* TARGET_HW_PX4_FMU_V1
****************************************************************************/
/*
* Define usage to configure a bootloader
*
* Constant example Usage
* APP_LOAD_ADDRESS 0x08004000 - The address in Linker Script, where the app fw is org-ed
* BOOTLOADER_DELAY 5000 - Ms to wait while under USB pwr or bootloader request
* BOARD_FMUV2
* INTERFACE_USB 1 - (Optional) Scan and use the USB interface for bootloading
* INTERFACE_USART 1 - (Optional) Scan and use the Serial interface for bootloading
* USBDEVICESTRING "PX4 BL FMU v2.x" - USB id string
* USBPRODUCTID 0x0011 - PID Should match defconfig
* BOOT_DELAY_ADDRESS 0x000001a0 - (Optional) From the linker script from Linker Script to get a custom
* delay provided by an APP FW
* BOARD_TYPE 9 - Must match .prototype boad_id
* _FLASH_KBYTES (*(uint16_t *)0x1fff7a22) - Run time flash size detection
* BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
* BOARD_FLASH_SECTORS 11 - Hard coded zero based last sector
* BOARD_FLASH_SIZE (_FLASH_KBYTES*1024)- Total Flash size of device, determined at run time.
* (1024 * 1024) - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
* programmatically
*
* BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2 - Optional sectors index in the flash_sectors table (F4 only), to begin erasing.
* This is to allow sectors to be reserved for app fw usage. That will NOT be erased
* during a FW upgrade.
* The default is 0, and selects the first sector to be erased, as the 0th entry in the
* flash_sectors table. Which is the second physical sector of FLASH in the device.
* The first physical sector of FLASH is used by the bootloader, and is not defined
* in the table.
*
* APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
* BOOTLOADER_RESERVATION_SIZE will be deducted from
* BOARD_FLASH_SIZE to determine the size of the App FW
* and hence the address space of FLASH to erase and program.
* USBMFGSTRING "PX4 AP" - Optional USB MFG string (default is '3D Robotics' if not defined.)
*
* * Other defines are somewhat self explanatory.
*/
#if defined(TARGET_HW_PX4_FMU_V1)
# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_FMU
# define INTERFACE_USB 1
# define INTERFACE_USART 1
# define USBDEVICESTRING "PX4 BL FMU v1.x"
# define USBPRODUCTID 0x0010
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 5
# define BOARD_FLASH_SECTORS 11
# define BOARD_FLASH_SIZE (1024 * 1024)
# define OSC_FREQ 24
# define BOARD_PIN_LED_ACTIVITY GPIO15
# define BOARD_PIN_LED_BOOTLOADER GPIO14
# define BOARD_PORT_LEDS GPIOB
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_IOPBEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define BOARD_USART USART1
# define BOARD_USART_CLOCK_REGISTER RCC_APB2ENR
# define BOARD_USART_CLOCK_BIT RCC_APB2ENR_USART1EN
# define BOARD_PORT_USART GPIOB
# define BOARD_PORT_USART_AF GPIO_AF7
# define BOARD_PIN_TX GPIO6
# define BOARD_PIN_RX GPIO7
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHB1ENR_IOPBEN
/*
* Uncommenting this allows to force the bootloader through
* the PPM-in pin. Some receivers pull their PPM output low
* when the transmitter is off, resulting in a stuck bootup,
* so this feature is best disabled.
*
* # define BOARD_FORCE_BL_PIN GPIO10
* # define BOARD_FORCE_BL_PORT GPIOA
* # define BOARD_FORCE_BL_CLOCK_REGISTER RCC_AHB1ENR
* # define BOARD_FORCE_BL_CLOCK_BIT RCC_AHB1ENR_IOPAEN
* # define BOARD_FORCE_BL_PULL GPIO_PUPD_PULLUP
* # define BOARD_FORCE_BL_STATE 0
*/
/****************************************************************************
* TARGET_HW_PX4_FMU_V2
****************************************************************************/
#elif defined(TARGET_HW_PX4_FMU_V2)
# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_FMUV2
# define INTERFACE_USB 1
# define INTERFACE_USART 1
# define USBDEVICESTRING "PX4 BL FMU v2.x"
# define USBPRODUCTID 0x0011
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 9
# define _FLASH_KBYTES (*(uint16_t *)0x1fff7a22)
# define BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23)
# define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
# define OSC_FREQ 24
# define BOARD_PIN_LED_ACTIVITY 0 // no activity LED
# define BOARD_PIN_LED_BOOTLOADER GPIO12
# define BOARD_PORT_LEDS GPIOE
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_IOPEEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define BOARD_USART USART2
# define BOARD_USART_CLOCK_REGISTER RCC_APB1ENR
# define BOARD_USART_CLOCK_BIT RCC_APB1ENR_USART2EN
# define BOARD_PORT_USART GPIOD
# define BOARD_PORT_USART_AF GPIO_AF7
# define BOARD_PIN_TX GPIO5
# define BOARD_PIN_RX GPIO6
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHB1ENR_IOPDEN
/*
* Uncommenting this allows to force the bootloader through
* a PWM output pin. As this can accidentally initialize
* an ESC prematurely, it is not recommended. This feature
* has not been used and hence defaults now to off.
*
* # define BOARD_FORCE_BL_PIN_OUT GPIO14
* # define BOARD_FORCE_BL_PIN_IN GPIO11
* # define BOARD_FORCE_BL_PORT GPIOE
* # define BOARD_FORCE_BL_CLOCK_REGISTER RCC_AHB1ENR
* # define BOARD_FORCE_BL_CLOCK_BIT RCC_AHB1ENR_IOPEEN
* # define BOARD_FORCE_BL_PULL GPIO_PUPD_PULLUP
*/
/****************************************************************************
* TARGET_HW_PX4_FMU_V4
****************************************************************************/
#elif defined(TARGET_HW_PX4_FMU_V4)
# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_FMUV2
# define INTERFACE_USB 1
# define INTERFACE_USART 1
# define USBDEVICESTRING "PX4 BL FMU v4.x"
# define USBPRODUCTID 0x0012
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 11
# define _FLASH_KBYTES (*(uint16_t *)0x1fff7a22)
# define BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23)
# define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
# define OSC_FREQ 24
# define BOARD_PIN_LED_ACTIVITY GPIO3
# define BOARD_PIN_LED_BOOTLOADER GPIO11|GPIO1
# define BOARD_PORT_LEDS GPIOB
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_IOPBEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define BOARD_USART USART1
# define BOARD_USART_CLOCK_REGISTER RCC_APB2ENR
# define BOARD_USART_CLOCK_BIT RCC_APB2ENR_USART1EN
# define BOARD_PORT_USART GPIOB
# define BOARD_PORT_USART_AF GPIO_AF7
# define BOARD_PIN_TX GPIO6
# define BOARD_PIN_RX GPIO7
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHB1ENR_IOPBEN
/*
* Uncommenting this allows to force the bootloader through
* a PWM output pin. As this can accidentally initialize
* an ESC prematurely, it is not recommended. This feature
* has not been used and hence defaults now to off.
*
* # define BOARD_FORCE_BL_PIN_OUT GPIO14
* # define BOARD_FORCE_BL_PIN_IN GPIO11
* # define BOARD_FORCE_BL_PORT GPIOE
* # define BOARD_FORCE_BL_CLOCK_REGISTER RCC_AHB1ENR
* # define BOARD_FORCE_BL_CLOCK_BIT RCC_AHB1ENR_IOPEEN
* # define BOARD_FORCE_BL_PULL GPIO_PUPD_PULLUP
*/
/****************************************************************************
* TARGET_HW_MINDPX_V2
****************************************************************************/
#elif defined(TARGET_HW_MINDPX_V2)
# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_FMUV2
# define INTERFACE_USB 1
# define INTERFACE_USART 1
# define USBDEVICESTRING "MindPX BL FMU v2.x"
# define USBPRODUCTID 0x0030
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 88
# define _FLASH_KBYTES (*(uint16_t *)0x1fff7a22)
# define BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 11 : 23)
# define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
# define OSC_FREQ 8
# define BOARD_PIN_LED_ACTIVITY 0 // no activity LED
# define BOARD_PIN_LED_BOOTLOADER GPIO8
# define BOARD_PORT_LEDS GPIOA
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_IOPAEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define BOARD_USART USART2
# define BOARD_USART_CLOCK_REGISTER RCC_APB1ENR
# define BOARD_USART_CLOCK_BIT RCC_APB1ENR_USART2EN
# define BOARD_PORT_USART GPIOD
# define BOARD_PORT_USART_AF GPIO_AF7
# define BOARD_PIN_TX GPIO5
# define BOARD_PIN_RX GPIO6
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHB1ENR_IOPDEN
/*
* Uncommenting this allows to force the bootloader through
* a PWM output pin. As this can accidentally initialize
* an ESC prematurely, it is not recommended. This feature
* has not been used and hence defaults now to off.
*
* # define BOARD_FORCE_BL_PIN_OUT GPIO14
* # define BOARD_FORCE_BL_PIN_IN GPIO11
* # define BOARD_FORCE_BL_PORT GPIOE
* # define BOARD_FORCE_BL_CLOCK_REGISTER RCC_AHB1ENR
* # define BOARD_FORCE_BL_CLOCK_BIT RCC_AHB1ENR_IOPEEN
* # define BOARD_FORCE_BL_PULL GPIO_PUPD_PULLUP
*/
/****************************************************************************
* TARGET_HW_PX4_FLOW_V1
****************************************************************************/
#elif defined(TARGET_HW_PX4_FLOW_V1)
# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_FLOW
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "PX4 BL FLOW v1.3"
# define USBPRODUCTID 0x0015
# define BOARD_TYPE 6
# define BOARD_FLASH_SECTORS 11
# define BOARD_FLASH_SIZE (1024 * 1024)
# define OSC_FREQ 24
# define BOARD_PIN_LED_ACTIVITY GPIO3
# define BOARD_PIN_LED_BOOTLOADER GPIO2
# define BOARD_PORT_LEDS GPIOE
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_IOPEEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
/****************************************************************************
* TARGET_HW_PX4_DISCOVERY_V1
****************************************************************************/
#elif defined(TARGET_HW_PX4_DISCOVERY_V1)
# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_DISCOVERY
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "PX4 BL DISCOVERY"
# define USBPRODUCTID 0x0001
# define BOARD_TYPE 99
# define BOARD_FLASH_SECTORS 11
# define BOARD_FLASH_SIZE (1024 * 1024)
# define OSC_FREQ 8
# define BOARD_PIN_LED_ACTIVITY GPIO12
# define BOARD_PIN_LED_BOOTLOADER GPIO13
# define BOARD_PORT_LEDS GPIOD
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_IOPDEN
# define BOARD_LED_ON gpio_set
# define BOARD_LED_OFF gpio_clear
/****************************************************************************
* TARGET_HW_PX4_PIO_V1 or TARGET_HW_PX4_PIO_V2
****************************************************************************/
#elif defined(TARGET_HW_PX4_PIO_V1) || defined(TARGET_HW_PX4_PIO_V2)
# define APP_LOAD_ADDRESS 0x08001000
# define APP_SIZE_MAX 0xf000
# define BOOTLOADER_DELAY 200
# define BOARD_PIO
# define INTERFACE_USB 0
# define INTERFACE_USART 1
# define USBDEVICESTRING ""
# define USBPRODUCTID -1
# define OSC_FREQ 24
# define BOARD_PIN_LED_ACTIVITY GPIO14
# define BOARD_PIN_LED_BOOTLOADER GPIO15
# define BOARD_PORT_LEDS GPIOB
# define BOARD_CLOCK_LEDS_REGISTER RCC_APB2ENR
# define BOARD_CLOCK_LEDS RCC_APB2ENR_IOPBEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define BOARD_USART USART2
# define BOARD_USART_CLOCK_REGISTER RCC_APB1ENR
# define BOARD_USART_CLOCK_BIT RCC_APB1ENR_USART2EN
# define BOARD_PORT_USART GPIOA
# define BOARD_PIN_TX GPIO_USART2_TX
# define BOARD_PIN_RX GPIO_USART2_RX
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_APB2ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_APB2ENR_IOPAEN
# define BOARD_FORCE_BL_PIN GPIO5
# define BOARD_FORCE_BL_PORT GPIOB
# define BOARD_FORCE_BL_CLOCK_REGISTER RCC_APB2ENR
# define BOARD_FORCE_BL_CLOCK_BIT RCC_APB2ENR_IOPBEN
# define BOARD_FORCE_BL_PULL GPIO_CNF_INPUT_FLOAT // depend on external pull
# define BOARD_FORCE_BL_VALUE BOARD_FORCE_BL_PIN
# define BOARD_FLASH_SECTORS 60
# define BOARD_TYPE 10
# define FLASH_SECTOR_SIZE 0x400
/****************************************************************************
* TARGET_HW_PX4_AEROCORE_V1
****************************************************************************/
#elif defined(TARGET_HW_PX4_AEROCORE_V1)
# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_AEROCORE
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "Gumstix BL AEROCORE"
# define USBPRODUCTID 0x1001
# define BOARD_TYPE 98
# define BOARD_FLASH_SECTORS 23
# define BOARD_FLASH_SIZE (2048 * 1024)
# define OSC_FREQ 24
# define BOARD_PIN_LED_ACTIVITY GPIO10 // Yellow
# define BOARD_PIN_LED_BOOTLOADER GPIO9 // Blue
# define BOARD_PORT_LEDS GPIOE
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_IOPEEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define BOARD_FORCE_BL_PIN_OUT GPIO0 // J11 header, pin 1
# define BOARD_FORCE_BL_PIN_IN GPIO1 // J11 header, pin 3
# define BOARD_FORCE_BL_PORT GPIOB
# define BOARD_FORCE_BL_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_FORCE_BL_CLOCK_BIT RCC_AHB1ENR_IOPBEN
# define BOARD_FORCE_BL_PULL GPIO_PUPD_PULLUP
/****************************************************************************
* TARGET_HW_PX4_MAVSTATION_V1
****************************************************************************/
#elif defined(TARGET_HW_PX4_MAVSTATION_V1)
# define APP_LOAD_ADDRESS 0x08003000
# define APP_SIZE_MAX 0x1C000
# define BOOTLOADER_DELAY 3000
# define BOARD_MAVSTATION
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "MAVSTATION BL v0.1"
# define USBPRODUCTID 0x0014
# define OSC_FREQ 24
# define BOARD_PIN_LED_ACTIVITY GPIO14
# define BOARD_PIN_LED_BOOTLOADER GPIO15
# define BOARD_PORT_LEDS GPIOB
# define BOARD_CLOCK_LEDS_REGISTER RCC_APB2ENR
# define BOARD_CLOCK_LEDS RCC_APB2ENR_IOPBEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define BOARD_USART USART2
# define BOARD_USART_CLOCK_REGISTER RCC_APB1ENR
# define BOARD_USART_CLOCK_BIT RCC_APB1ENR_USART2EN
# define BOARD_PORT_USART GPIOA
# define BOARD_PIN_TX GPIO_USART1_TX
# define BOARD_PIN_RX GPIO_USART1_RX
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_APB2ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_APB2ENR_IOPAEN
# define BOARD_FORCE_BL_PIN GPIO4
# define BOARD_FORCE_BL_PORT GPIOA
# define BOARD_FORCE_BL_CLOCK_REGISTER RCC_APB2ENR
# define BOARD_FORCE_BL_CLOCK_BIT RCC_APB2ENR_IOPAEN
# define BOARD_FORCE_BL_PULL GPIO_CNF_INPUT_PULL_UPDOWN // depend on external pull
# define BOARD_FORCE_BL_VALUE 0
# define BOARD_FLASH_SECTORS 116
# define BOARD_TYPE 0x14
# define FLASH_SECTOR_SIZE 0x400
/****************************************************************************
* TARGET_HW_TAP_V1
****************************************************************************/
#elif defined(TARGET_HW_TAP_V1)
# define APP_LOAD_ADDRESS 0x0800C000
# define BOOTLOADER_DELAY 5000
# define BOARD_TAP
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "PX4 BL TAP v1.x"
# define USBPRODUCTID 0x0040
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 78
# define BOARD_FLASH_SECTORS 11
# define BOARD_FLASH_SIZE (1024 * 1024)
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2
# define APP_RESERVATION_SIZE (2 * 16 * 1024) /* 2 16 Kib Sectors */
# define OSC_FREQ 16
# define BOARD_PIN_LED_ACTIVITY GPIO4
# define BOARD_PIN_LED_BOOTLOADER GPIO5
# define BOARD_PORT_LEDS GPIOC
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_IOPCEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define BOARD_POWER_PIN_OUT GPIO4
# define BOARD_POWER_PORT GPIOA
# define BOARD_POWER_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_POWER_CLOCK_BIT RCC_AHB1ENR_IOPAEN
# define BOARD_POWER_ON gpio_set
# define BOARD_POWER_OFF gpio_clear
# undef BOARD_POWER_PIN_RELEASE /* Leave pin enabling Power - un comment to release (disable power)*/
# define USBMFGSTRING "The Autopilot"
#else
# error Undefined Target Hardware
#endif
#if !defined(USBMFGSTRING)
# define USBMFGSTRING "3D Robotics"
#endif
#if !defined(APP_RESERVATION_SIZE)
# define APP_RESERVATION_SIZE 0
#endif
#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 0
#endif
#endif /* HW_CONFIG_H_ */