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hw_config.h
1350 lines (1109 loc) · 54 KB
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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_
/****************************************************************************
* 10-8--2016:
* To simplify the ripple effect on the tools, we will be using
* /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
* moving forward all Bootloaders must contain the prefix "PX4 BL "
* in the USBDEVICESTRING
* This Change will be made in an upcoming BL release
****************************************************************************/
/*
* 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.)
* SERIAL_BREAK_DETECT_DISABLED - Optional prevent break selection on Serial port from entering or staying in BL
*
* * Other defines are somewhat self explanatory.
*/
/* Boot device selection list*/
#define USB0_DEV 0x01
#define SERIAL0_DEV 0x02
#define SERIAL1_DEV 0x04
#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
# define SERIAL_BREAK_DETECT_DISABLED 1
/*
* 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
# define SERIAL_BREAK_DETECT_DISABLED 1
/*
* 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_V3
****************************************************************************/
#elif defined(TARGET_HW_PX4_FMU_V3)
# 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 v3.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
# define SERIAL_BREAK_DETECT_DISABLED 1
/*
* 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
# define SERIAL_BREAK_DETECT_DISABLED 1
/*
* 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_PRO
****************************************************************************/
#elif defined(TARGET_HW_PX4_FMU_V4_PRO)
# 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 PRO"
# define USBPRODUCTID 0x0013
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 13
# 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 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
# define SERIAL_BREAK_DETECT_DISABLED 1
/*
* 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_V5
****************************************************************************/
#elif defined(TARGET_HW_PX4_FMU_V5)
# define APP_LOAD_ADDRESS 0x08008000
# define BOOTLOADER_DELAY 5000
# define INTERFACE_USB 1
# define INTERFACE_USART 1
# define USBDEVICESTRING "PX4 BL FMU v5.x"
# define USBPRODUCTID 0x0032
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 50
# define _FLASH_KBYTES (*(uint16_t *)0x1ff0f442)
# define BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 7 : 11)
# define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
# define OSC_FREQ 16
# define BOARD_PIN_LED_ACTIVITY GPIO7 // BLUE
# define BOARD_PIN_LED_BOOTLOADER GPIO6 // GREEN
# define BOARD_PORT_LEDS GPIOC
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_GPIOCEN
# 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_GPIODEN
# define SERIAL_BREAK_DETECT_DISABLED 1
/*
* 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_V5X
****************************************************************************/
#elif defined(TARGET_HW_PX4_FMU_V5X)
# define APP_LOAD_ADDRESS 0x08008000
# define BOOTLOADER_DELAY 5000
# define INTERFACE_USB 1
# define INTERFACE_USART 1
# define USBDEVICESTRING "PX4 BL FMU v5X.x"
# define USBPRODUCTID 0x0033
# define USBVENDORID 0x3185
# define USBMFGSTRING "Auterion"
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 51
# define _FLASH_KBYTES (*(uint16_t *)0x1ff0f442)
# define BOARD_FLASH_SECTORS ((_FLASH_KBYTES == 0x400) ? 7 : 11)
# define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
# define OSC_FREQ 16
# define BOARD_PIN_LED_ACTIVITY GPIO5 // BLUE
# define BOARD_PIN_LED_BOOTLOADER GPIO4 // GREEN
# define BOARD_PORT_LEDS GPIOE
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_GPIOEEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define BOARD_USART UART5
# define BOARD_USART_CLOCK_REGISTER RCC_APB1ENR
# define BOARD_USART_CLOCK_BIT RCC_APB1ENR_UART5EN
# define BOARD_PORT_USART_AF_TX GPIO_AF7
# define BOARD_PORT_USART_TX GPIOB
# define BOARD_PIN_TX GPIO9
# define BOARD_PORT_USART_AF_RX GPIO_AF8
# define BOARD_PORT_USART_RX GPIOD
# define BOARD_PIN_RX GPIO2
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_USART_PIN_CLOCK_BIT_TX RCC_AHB1ENR_GPIOBEN
# define BOARD_USART_PIN_CLOCK_BIT_RX RCC_AHB1ENR_GPIODEN
# define SERIAL_BREAK_DETECT_DISABLED 1
# define OVERRIDE_USART_BAUDRATE 1500000
/****************************************************************************
* 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
# define SERIAL_BREAK_DETECT_DISABLED 1
/*
* 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_PIO_V3
****************************************************************************/
#elif defined(TARGET_HW_PX4_PIO_V3)
# define APP_LOAD_ADDRESS 0x08001000
# define APP_SIZE_MAX 0x3f000
# 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 0
# define BOARD_PIN_LED_BOOTLOADER GPIO13
# define BOARD_PORT_LEDS GPIOB
# define BOARD_CLOCK_LEDS_REGISTER RCC_AHBENR
# define BOARD_CLOCK_LEDS RCC_AHBENR_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_PORT_USART_AF GPIO_AF7
# define BOARD_PIN_TX GPIO2
# define BOARD_PIN_RX GPIO3
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHBENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHBENR_IOPAEN
# define BOARD_FORCE_BL_PIN GPIO5
# define BOARD_FORCE_BL_PORT GPIOB
# define BOARD_FORCE_BL_CLOCK_REGISTER RCC_AHBENR
# define BOARD_FORCE_BL_CLOCK_BIT RCC_AHBENR_IOPBEN
# define BOARD_FORCE_BL_PULL GPIO_PUPD_NONE // depend on external pull
# define BOARD_FORCE_BL_VALUE BOARD_FORCE_BL_PIN
# define BOARD_FLASH_SECTORS (128-4) /* application #sec - bootloader - sec */
# define BOARD_TYPE 13
# define FLASH_SECTOR_SIZE 0x800
/****************************************************************************
* 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_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 1
# define USBDEVICESTRING "PX4 BL TAP v1.x"
# define USBPRODUCTID 0x0040
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 64
# 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_USART USART2
# define BOARD_USART_CLOCK_REGISTER RCC_APB1ENR
# define BOARD_USART_CLOCK_BIT RCC_APB1ENR_USART2EN
# define BOARD_PORT_USART GPIOA
# define BOARD_PORT_USART_AF GPIO_AF7
# define BOARD_PIN_TX GPIO2
# define BOARD_PIN_RX GPIO3
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHB1ENR_IOPAEN
# 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"
# define USB_FORCE_DISCONNECT 1
#define SERIAL_BREAK_DETECT_DISABLED 1
/****************************************************************************
* TARGET_HW_CRAZYFLIE
****************************************************************************/
#elif defined(TARGET_HW_CRAZYFLIE)
# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_CRAZYFLIE
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "Crazyflie BL"
# define USBPRODUCTID 0x0016
# define BOARD_TYPE 12
# define BOARD_FLASH_SECTORS 11
# define BOARD_FLASH_SIZE (1024 * 1024)
# define OSC_FREQ 8
# define BOARD_PIN_LED_ACTIVITY GPIO0
# define BOARD_PIN_LED_BOOTLOADER GPIO2
# 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_USB_VBUS_SENSE_DISABLED
# define USBMFGSTRING "Bitcraze AB"
/****************************************************************************
* TARGET_HW_OMNIBUS_NXT
****************************************************************************/
#elif defined(TARGET_HW_OMNIBUSF4SD)
# define APP_LOAD_ADDRESS 0x08008000
# define BOOTLOADER_DELAY 5000
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "PX4 OmnibusF4SD"
# define USBPRODUCTID 0x0016
# define BOARD_TYPE 42
# define BOARD_FLASH_SECTORS 11
# define BOARD_FLASH_SIZE (1024 * 1024)
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
# define APP_RESERVATION_SIZE (1 * 16 * 1024) /* 1 16 Kib Sectors */
# define OSC_FREQ 8
# define BOARD_PIN_LED_ACTIVITY GPIO5
# define BOARD_PIN_LED_BOOTLOADER GPIO4
# 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_USB_VBUS_SENSE_DISABLED
# define USBMFGSTRING "Vertile"
/****************************************************************************
* TARGET_HW_KAKUTEF7
****************************************************************************/
#elif defined(TARGET_HW_KAKUTEF7)
# define APP_LOAD_ADDRESS 0x08018000
# define BOOTLOADER_DELAY 5000
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "PX4 KakuteF7"
# define USBPRODUCTID 0x0016
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 123
# define BOARD_FLASH_SECTORS 7
# define BOARD_FLASH_SIZE (1024 * 1024)
# define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 2
# define APP_RESERVATION_SIZE (2 * 32 * 1024) /* 2 32 Kib Sectors */
# define OSC_FREQ 8
# define BOARD_PIN_LED_ACTIVITY 0
# define BOARD_PIN_LED_BOOTLOADER GPIO2 // BLUE
# define BOARD_PORT_LEDS GPIOA
# define BOARD_CLOCK_LEDS RCC_AHB1ENR_GPIOAEN
# define BOARD_LED_ON gpio_clear
# define BOARD_LED_OFF gpio_set
# define USBMFGSTRING "Holybro"
// VBUS sense is connected to PA8 instead of PA9
# define BOARD_USB_VBUS_SENSE_DISABLED
# define BOARD_PORT_VBUS GPIOA
# define BOARD_PIN_VBUS GPIO8
# define BOARD_USART USART3 // labeled as UART3
# define BOARD_USART_CLOCK_REGISTER RCC_APB1ENR
# define BOARD_USART_CLOCK_BIT RCC_APB1ENR_USART3EN
# define BOARD_PORT_USART GPIOB
# define BOARD_PORT_USART_AF GPIO_AF7
# define BOARD_PIN_TX GPIO10
# define BOARD_PIN_RX GPIO11
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHB1ENR_GPIOBEN
# define SERIAL_BREAK_DETECT_DISABLED 1
/****************************************************************************
* TARGET_HW_AUAV_X2V1
****************************************************************************/
#elif defined(TARGET_HW_AUAV_X2V1)
# define APP_LOAD_ADDRESS 0x08004000
# define BOOTLOADER_DELAY 5000
# define BOARD_FMUV2
# define INTERFACE_USB 1
# define INTERFACE_USART 1
# define USBDEVICESTRING "PX4 BL AUAV X2.1"
# define USBPRODUCTID 0x0021
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 33
# 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
# define SERIAL_BREAK_DETECT_DISABLED 1
/*
* 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
*/
# define USBMFGSTRING "AUAV"
/****************************************************************************
* TARGET_HW_PX4_AEROFC_V1
****************************************************************************/
#elif defined(TARGET_HW_AEROFC_V1)
# define APP_LOAD_ADDRESS 0x0800C000
# define BOOTLOADER_DELAY 5000
# define INTERFACE_USB 0
# define USBDEVICESTRING ""
# define USBPRODUCTID 0
# define INTERFACE_USART 1
# define BOOT_DELAY_ADDRESS 0x000001a0
# define BOARD_TYPE 65
# 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 GPIO12
# define BOARD_PIN_LED_BOOTLOADER GPIO9 | GPIO10 | GPIO11 | GPIO13 | GPIO14 | GPIO15
# 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 GPIOA
# define BOARD_PORT_USART_AF GPIO_AF7
# define BOARD_PIN_TX GPIO2
# define BOARD_PIN_RX GPIO3
# define BOARD_USART_PIN_CLOCK_REGISTER RCC_AHB1ENR
# define BOARD_USART_PIN_CLOCK_BIT RCC_AHB1ENR_IOPAEN
# define BOARD_FORCE_BL_PIN GPIO11
# 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_PULLDOWN
# define BOARD_FORCE_BL_STATE 1
/****************************************************************************
* TARGET_HW_FMUK66_V3
****************************************************************************/
#elif defined(TARGET_HW_FMUK66_V3)
# define APP_LOAD_ADDRESS 0x00006000 // Reserve 24K for BL
# define BOOTLOADER_DELAY 5000
# define BOARD_NXPHLITEV3
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "PX4 BL FMUK66 v3.x"
# define USBPRODUCTID 0x001c
# define USBVENDORID 0x1fc9
# define BOARD_TYPE 28
# define _FLASH_KBYTES 2048
# define FLASH_SECTOR_SIZE 4096
# define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
# define BOARD_FLASH_SECTORS ((BOARD_FLASH_SIZE / FLASH_SECTOR_SIZE)- (BOOTLOADER_RESERVATION_SIZE/FLASH_SECTOR_SIZE))
# define OSC_FREQ 16
# define BOARD_PIN_LED_ACTIVITY 14 // green LED
# define BOARD_PIN_LED_BOOTLOADER 13 // Amber LED
# define BOARD_PORT_LEDS D
# define BOARD_LED_ON GPIO_ClearPinsOutput
# define BOARD_LED_OFF GPIO_SetPinsOutput
# define BOARD_UART 4
# define BOARD_PORT_UART C
# define BOARD_PORT_UART_AF kPORT_MuxAlt3
# define BOARD_PIN_TX 15
# define BOARD_PIN_RX 14
# define BOARD_PORT_VBUS E
# define BOARD_PIN_VBUS 8
# define BOARD_PORT_UART_RTS E
# define BOARD_UART_RTS_PIN 27
# define SERIAL_BREAK_DETECT_DISABLED 1
# define USB_DATA_ALIGN __attribute__((aligned(2)))
# define ARCH_SN_MAX_LENGTH 16
/****************************************************************************
* TARGET_HW_FMUK66_E
****************************************************************************/
#elif defined(TARGET_HW_FMUK66_E)
# define APP_LOAD_ADDRESS 0x00006000 // Reserve 24K for BL
# define BOOTLOADER_DELAY 5000
# define BOARD_NXPHLITEV3
# define INTERFACE_USB 1
# define INTERFACE_USART 0
# define USBDEVICESTRING "PX4 BL FMUK66 E"
# define USBPRODUCTID 0x001c
# define USBVENDORID 0x1fc9
# define BOARD_TYPE 30
# define _FLASH_KBYTES 2048
# define FLASH_SECTOR_SIZE 4096
# define BOARD_FLASH_SIZE (_FLASH_KBYTES * 1024)
# define BOARD_FLASH_SECTORS ((BOARD_FLASH_SIZE / FLASH_SECTOR_SIZE)- (BOOTLOADER_RESERVATION_SIZE/FLASH_SECTOR_SIZE))
# define OSC_FREQ 16
# define BOARD_PIN_LED_ACTIVITY 14 // green LED