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Merge pull request paparazzi#2419 from paparazzi/tawaki_board-integra…
…tion Tawaki board integration
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# Hey Emacs, this is a -*- makefile -*- | ||
# | ||
# tawaki_1.0.makefile | ||
# | ||
# based on STM32F7 | ||
# only compatible with ChibiOS | ||
# | ||
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BOARD=tawaki | ||
BOARD_VERSION=1.0 | ||
BOARD_DIR=$(BOARD)/chibios/v$(BOARD_VERSION) | ||
BOARD_CFG=\"boards/$(BOARD_DIR)/$(BOARD).h\" | ||
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ARCH=chibios | ||
$(TARGET).ARCHDIR = $(ARCH) | ||
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RTOS=chibios | ||
MCU=cortex-m7 | ||
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## FPU on F7 | ||
USE_FPU=softfp | ||
USE_FPU_OPT= -mfpu=fpv5-d16 | ||
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USE_LTO=yes | ||
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$(TARGET).CFLAGS += -DSTM32F7 -DPPRZLINK_ENABLE_FD -DUSE_HARD_FAULT_RECOVERY | ||
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############################################################################## | ||
# Architecture or project specific options | ||
# | ||
# Define project name here (target) | ||
PROJECT = $(TARGET) | ||
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# Project specific files and paths (see Makefile.chibios for details) | ||
CHIBIOS_BOARD_PLATFORM = STM32F7xx/platform.mk | ||
CHIBIOS_BOARD_PORT = ARMCMx/STM32F7xx/port.mk | ||
CHIBIOS_BOARD_LINKER = STM32F76xxI.ld | ||
CHIBIOS_BOARD_STARTUP = startup_stm32f7xx.mk | ||
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# ITCM flash is a special flash that allow faster operations | ||
# At the moment it is not possible to flash the code in this mode using dfu-util | ||
# but it should work with the BlackMagicProbe or STLINK | ||
# By default, normal flash is used | ||
ifeq ($(USE_ITCM),1) | ||
$(TARGET).CFLAGS += -DUSE_ITCM=1 | ||
DFU_ADDR = 0x00200000 | ||
else | ||
$(TARGET).CFLAGS += -DUSE_ITCM=0 | ||
DFU_ADDR = 0x08000000 | ||
endif | ||
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############################################################################## | ||
# Compiler settings | ||
# | ||
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# default flash mode is via usb dfu bootloader | ||
# possibilities: DFU-UTIL, SWD, STLINK | ||
FLASH_MODE ?= DFU-UTIL | ||
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HAS_LUFTBOOT = FALSE | ||
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# | ||
# default LED configuration | ||
# | ||
RADIO_CONTROL_LED ?= 4 | ||
BARO_LED ?= none | ||
AHRS_ALIGNER_LED ?= 2 | ||
GPS_LED ?= 3 | ||
SYS_TIME_LED ?= 1 | ||
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# | ||
# default UART configuration (modem, gps, spektrum) | ||
# | ||
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MODEM_PORT ?= UART2 | ||
MODEM_BAUD ?= B57600 | ||
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GPS_PORT ?= UART7 | ||
GPS_BAUD ?= B57600 | ||
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RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART6 | ||
RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT ?= UART8 | ||
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# single mode | ||
SBUS_PORT ?= UART8 | ||
# dual mode | ||
SBUS1_PORT ?= UART8 | ||
SBUS2_PORT ?= UART6 | ||
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# | ||
# default actuator configuration | ||
# | ||
# you can use different actuators by adding a configure option to your firmware section | ||
# e.g. <configure name="ACTUATORS" value="actuators_ppm/> | ||
# and by setting the correct "driver" attribute in servo section | ||
# e.g. <servo driver="Ppm"> | ||
# | ||
ACTUATORS ?= actuators_pwm | ||
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<!DOCTYPE module SYSTEM "module.dtd"> | ||
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<module name="board_tawaki" dir="boards"> | ||
<doc> | ||
<description> | ||
Autoload several onboard sensors for the Tawaki board with proper configuration | ||
- IMU (icm206xx) (auto-detected from MPU6000 driver) | ||
- Baro (BMP3) | ||
- Mag (LIS3MDL) | ||
Normal front of the board is on USB connector side | ||
Normal up of the board is on the Molex connector side | ||
</description> | ||
<configure name="BOARD_TAWAKI_ROTATED" value="FALSE|TRUE" description="if TRUE, the board is not using is default orientation and axis can be redefined by hand"/> | ||
</doc> | ||
<autoload name="imu" type="mpu6000"/> | ||
<autoload name="baro" type="bmp3"/> | ||
<autoload name="mag" type="lis3mdl"/> | ||
<makefile target="!sim|nps|fbw"> | ||
<define name="IMU_MPU_GYRO_RANGE" value="MPU60X0_GYRO_RANGE_1000"/> | ||
<define name="IMU_MPU_ACCEL_RANGE" value="MPU60X0_ACCEL_RANGE_8G"/> | ||
<configure name="IMU_MPU_SPI_DEV" value="spi4" case="upper|lower"/> | ||
<configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE5"/> | ||
<define name="IMU_MPU_CHAN_X" value="1" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/> | ||
<define name="IMU_MPU_CHAN_Y" value="0" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/> | ||
<define name="IMU_MPU_Y_SIGN" value="-1" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/> | ||
<configure name="BMP3_I2C_DEV" value="i2c4" case="upper|lower"/> | ||
<define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/> | ||
<configure name="MAG_LIS3MDL_I2C_DEV" value="i2c4" case="upper|lower"/> | ||
<define name="LIS3MDL_CHAN_X" value="1" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/> | ||
<define name="LIS3MDL_CHAN_Y" value="0" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/> | ||
<define name="LIS3MDL_CHAN_X_SIGN" value="-" cond="ifneq (,$(findstring $(BOARD_TAWAKI_ROTATED),0 FALSE))"/> | ||
<configure name="SDLOG_USE_RTC" value="FALSE"/> <!-- disable RTC for now --> | ||
</makefile> | ||
</module> |
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