diff --git a/src/drivers/boards/px4fmu-v3/board_config.h b/src/drivers/boards/px4fmu-v3/board_config.h deleted file mode 100644 index 9a833a0a85..0000000000 --- a/src/drivers/boards/px4fmu-v3/board_config.h +++ /dev/null @@ -1,327 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013-2016 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file board_config.h - * - * PX4FMUv2 internal definitions - */ - -#pragma once - -/**************************************************************************************************** - * Included Files - ****************************************************************************************************/ - -#include -#include -#include - -#include -#include - -#define UDID_START 0x1FFF7A10 - -/**************************************************************************************************** - * Definitions - ****************************************************************************************************/ -/* Configuration ************************************************************************************/ - -/* PX4IO connection configuration */ -#define PX4IO_SERIAL_DEVICE "/dev/ttyS4" -#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX -#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX -#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */ -#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6 -#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2 -#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2 -#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY -#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ - - -/* PX4FMU GPIOs ***********************************************************************************/ -/* LEDs */ - -#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) - -/* External interrupts */ -#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0) -#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) -#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4) -#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) - -/* Data ready pins off */ -#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0) -#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1) -#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4) -#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) - -/* SPI1 off */ -#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5) -#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6) -#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7) - -/* SPI1 chip selects off */ -#define GPIO_SPI_CS_GYRO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13) -#define GPIO_SPI_CS_ACCEL_MAG_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15) -#define GPIO_SPI_CS_BARO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7) -#define GPIO_SPI_CS_MPU_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2) - -/* SPI chip selects */ -#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) -#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) -#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) -#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) -#define GPIO_SPI_CS_HMC (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1) -#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) -#define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) -#define GPIO_SPI_CS_EXT1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) -#define GPIO_SPI_CS_EXT2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) -#define GPIO_SPI_CS_EXT3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) -#define GPIO_SPI_CS_LIS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) - -#define PX4_SPI_BUS_SENSORS 1 -#define PX4_SPI_BUS_RAMTRON 2 -#define PX4_SPI_BUS_EXT 4 -#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS - -/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */ -#define PX4_SPIDEV_GYRO 1 -#define PX4_SPIDEV_ACCEL_MAG 2 -#define PX4_SPIDEV_BARO 3 -#define PX4_SPIDEV_MPU 4 -#define PX4_SPIDEV_HMC 5 -#define PX4_SPIDEV_LIS 7 -#define PX4_SPIDEV_BMI 8 - -/* External bus */ -#define PX4_SPIDEV_EXT0 1 -#define PX4_SPIDEV_EXT1 2 -#define PX4_SPIDEV_EXT2 3 -#define PX4_SPIDEV_EXT3 4 - -/* FMUv3 SPI on external bus */ -#define PX4_SPIDEV_EXT_MPU PX4_SPIDEV_EXT0 -#define PX4_SPIDEV_EXT_BARO PX4_SPIDEV_EXT1 -#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_SPIDEV_EXT2 -#define PX4_SPIDEV_EXT_GYRO PX4_SPIDEV_EXT3 - -#define PX4_SPIDEV_EXT_BMI PX4_SPIDEV_EXT_GYRO - -/* I2C busses */ -#define PX4_I2C_BUS_EXPANSION 1 -#define PX4_I2C_BUS_ONBOARD 2 -#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD - -/* Devices on the onboard bus. - * - * Note that these are unshifted addresses. - */ -#define PX4_I2C_OBDEV_LED 0x55 -#define PX4_I2C_OBDEV_HMC5883 0x1e -#define PX4_I2C_OBDEV_LIS3MDL 0x1e - -/* - * ADC channels - * - * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver - */ -#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15) - -// ADC defines to be used in sensors.cpp to read from a particular channel -#define ADC_BATTERY_VOLTAGE_CHANNEL 2 -#define ADC_BATTERY_CURRENT_CHANNEL 3 -#define ADC_5V_RAIL_SENSE 4 -#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 - -/* User GPIOs - * - * GPIO0-5 are the PWM servo outputs. - */ -#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14) -#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13) -#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) -#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9) -#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13) -#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14) -#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) -#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13) -#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) -#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) -#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) -#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) - -/* Power supply control and monitoring GPIOs */ -#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8) -#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) -#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) -#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) -#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10) -#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15) - -/* Tone alarm output */ -#define TONE_ALARM_TIMER 2 /* timer 2 */ -#define TONE_ALARM_CHANNEL 1 /* channel 1 */ -#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) -#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15) - -/* PWM - * - * Six PWM outputs are configured. - * - * Pins: - * - * CH1 : PE14 : TIM1_CH4 - * CH2 : PE13 : TIM1_CH3 - * CH3 : PE11 : TIM1_CH2 - * CH4 : PE9 : TIM1_CH1 - * CH5 : PD13 : TIM4_CH2 - * CH6 : PD14 : TIM4_CH3 - */ -#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9) -#define GPIO_TIM1_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11) -#define GPIO_TIM1_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13) -#define GPIO_TIM1_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14) -#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13) -#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14) -#define DIRECT_PWM_OUTPUT_CHANNELS 6 - -#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2 -#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2 -#define GPIO_TIM1_CH3IN GPIO_TIM1_CH3IN_2 -#define GPIO_TIM1_CH4IN GPIO_TIM1_CH4IN_2 -#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2 -#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2 -#define DIRECT_INPUT_TIMER_CHANNELS 6 - -/* USB OTG FS - * - * PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) - */ -#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) - -/* High-resolution timer */ -#define HRT_TIMER 8 /* use timer8 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ - -/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ -#define PWMIN_TIMER 4 -#define PWMIN_TIMER_CHANNEL 2 -#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2 - -#define BOARD_NAME "PX4FMU_V2" - -/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC - * system_power interface, and therefore provides the true logic - * GPIO BOARD_ADC_xxxx macros. - */ -#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) -#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID)) -#define BOARD_ADC_SERVO_VALID (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID)) -#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC)) -#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC)) - -#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS - -#define BOARD_FMU_GPIO_TAB { \ - {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \ - {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \ - {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \ - {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \ - {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \ - {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, \ - {0, GPIO_VDD_5V_PERIPH_EN, 0}, \ - {0, GPIO_VDD_3V3_SENSORS_EN, 0}, \ - {GPIO_VDD_BRICK_VALID, 0, 0}, \ - {GPIO_VDD_SERVO_VALID, 0, 0}, \ - {GPIO_VDD_5V_HIPOWER_OC, 0, 0}, \ - {GPIO_VDD_5V_PERIPH_OC, 0, 0}, } - -/* This board provides a DMA pool and APIs */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 - -__BEGIN_DECLS - -/**************************************************************************************************** - * Public Types - ****************************************************************************************************/ - -/**************************************************************************************************** - * Public data - ****************************************************************************************************/ - -#ifndef __ASSEMBLY__ - -/**************************************************************************************************** - * Public Functions - ****************************************************************************************************/ - -/**************************************************************************************************** - * Name: stm32_spiinitialize - * - * Description: - * Called to configure SPI chip select GPIO pins for the PX4FMU board. - * - ****************************************************************************************************/ - -extern void stm32_spiinitialize(void); -extern void board_spi_reset(int ms); - -extern void stm32_usbinitialize(void); - -extern void board_peripheral_reset(int ms); - -/**************************************************************************** - * Name: nsh_archinitialize - * - * Description: - * Perform architecture specific initialization for NSH. - * - * CONFIG_NSH_ARCHINIT=y : - * Called from the NSH library - * - * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && - * CONFIG_NSH_ARCHINIT=n : - * Called from board_initialize(). - * - ****************************************************************************/ - -#ifdef CONFIG_NSH_LIBRARY -int nsh_archinitialize(void); -#endif - -#include "../common/board_common.h" - -#endif /* __ASSEMBLY__ */ - -__END_DECLS diff --git a/src/drivers/boards/px4fmu-v3/board_config.h b/src/drivers/boards/px4fmu-v3/board_config.h new file mode 120000 index 0000000000..29ff580556 --- /dev/null +++ b/src/drivers/boards/px4fmu-v3/board_config.h @@ -0,0 +1 @@ +../px4fmu-v2/board_config.h \ No newline at end of file