/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software 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.
*
* Betaflight 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// NUCLEO-C562RE development bring-up config.
//
// Goal: exercise the STM32C562 platform path on the STMicro NUCLEO-64 board
// against real sensor hardware: LSM6DSK320X gyro/accel on SPI1, LIS2MDL mag
// and LPS22DF baro on I2C1. CLI/MSP runs over the MCU's on-chip USB DRD FS
// (PA11/PA12). USART2 on PA2/PA3 is kept as a backup serial console wired
// to the on-board ST-LINK.
//
// Motor map: TIM1 CH1/CH2 on PA8/PA9 for MOTOR1/MOTOR2, TIM2 CH3/CH4 on
// PB10/PB11 for MOTOR3/MOTOR4. PA10 is reserved for the DSK320X EXTI
// data-ready line; PA11/PA12 are the USB DRD FS pins. The STM32C562 die
// lacks TIM3 and TIM4 so a contiguous single-timer motor group isn't
// available without rewiring the sensor.
#define FC_TARGET_MCU STM32C562
#define BOARD_NAME NUCLEOC562
#define MANUFACTURER_ID STMI
// HSE: drive SYSCLK from the on-board X3 24 MHz crystal (NUCLEO-C562RE
// default configuration: R3/R4 fitted, SB3/SB4/SB5 open). The C5
// platform PSI reference selector must match this (see
// system_stm32c5xx.c). If the crystal isn't fitted the platform falls
// back to HSIS at 144 MHz.
#define SYSTEM_HSE_MHZ 24
// Keep the runtime config in RAM during platform bring-up to sidestep the
// flash-partition path (see notes on STM32N657DK bring-up).
#define CONFIG_IN_RAM
// --- Sensors ------------------------------------------------------------
// LSM6DSK320X gyro/accel on SPI1 (CS PC9, MOSI PA7, MISO PA6, SCK PA5),
// data-ready/EXTI line on PA10. LIS2MDL mag and LPS22DF baro on I2C1
// (PB6/PB7).
#define USE_ACC
#define USE_GYRO
#define USE_ACCGYRO_LSM6DSK320X
#define USE_GYRO_EXTI
#define USE_SPI_DEVICE_1
#define SPI1_SCK_PIN PA5
#define SPI1_SDI_PIN PA6
#define SPI1_SDO_PIN PA7
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PC9
#define GYRO_1_EXTI_PIN PA10
#define USE_MAG
#define USE_MAG_LIS2MDL
#define USE_BARO
#define USE_BARO_LPS22DF
// I2C1 on PB6/PB7 for LIS2MDL mag and LPS22DF baro.
#define USE_I2C_DEVICE_1
#define I2C1_SCL_PIN PB6
#define I2C1_SDA_PIN PB7
#define MAG_I2C_INSTANCE I2CDEV_1
#define BARO_I2C_INSTANCE I2CDEV_1
#define MAG_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW180_DEG
// --- ST-LINK Virtual COM port -------------------------------------------
// USART2 PA2 (TX) / PA3 (RX), AF7 -- wired to the on-board ST-LINK MCU.
// Kept as a backup serial console; MSP defaults to the USB VCP.
#define UART2_TX_PIN PA2
#define UART2_RX_PIN PA3
// --- Motor outputs ------------------------------------------------------
// MOTOR1/MOTOR2 on TIM1 CH1/CH2 (PA8/PA9). MOTOR3/MOTOR4 on TIM2 CH3/CH4
// (PB10/PB11). PA10 is the DSK320X EXTI line; PA11/PA12 are USB DM/DP.
#define MOTOR1_PIN PA8
#define MOTOR2_PIN PA9
#define MOTOR3_PIN PB10
#define MOTOR4_PIN PB11
// timerIOConfig is empty by default; without TIMER_PIN_MAPPING entries
// the motor pins find no timer and DSHOT bitbang init bails with
// MOTOR_PIN_CONFLICT, so the motor stack reports zero motors over MSP.
// Each pin only has one entry in fullTimerHardware on this die so the
// occurrence index is always 1; dmaopt is -1 (bitbang is per-port DMA).
#define TIMER_PIN_MAPPING \
TIMER_PIN_MAP( 0, PA8 , 1, -1) \
TIMER_PIN_MAP( 1, PA9 , 1, -1) \
TIMER_PIN_MAP( 2, PB10, 1, -1) \
TIMER_PIN_MAP( 3, PB11, 1, -1)
// 4 kHz PID loop at the default 8 kHz gyro rate (denom = gyro / pid).
// Keeps headroom for the C562 / 144 MHz core during bring-up; can be
// raised once the platform settles.
#define DEFAULT_PID_PROCESS_DENOM 2
// ADC1 routes via LPDMA2 CH0 on the C5. The dmaChannelSpec opts 0-7
// are LPDMA1 CH0-7 (used by DSHOT bitbang pacers and SPI), so pick
// opt 8 (LPDMA2 CH0) which is free for the ADC. Default of
// DMA_OPT_UNUSED in common_defaults_post.h would make adcInit() skip
// DMA setup entirely (status: Vref=0.00V, Core temp=-282degC).
#define ADC1_DMA_OPT 8
// --- Status LED ---------------------------------------------------------
// LD2 (User LED) on PA5, also exposed as Arduino D13.
#define LED0_PIN PA5