mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-02 03:49:12 +08:00
David Sidrane
641 lines
27 KiB
C
641 lines
27 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* PX4FMU-v5 internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32_gpio.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* PX4IO connection configuration */
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#define BOARD_USES_PX4IO_VERSION 2
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS6"
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#define PX4IO_SERIAL_TX_GPIO GPIO_UART8_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_UART8_RX
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#define PX4IO_SERIAL_BASE STM32_UART8_BASE
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#define PX4IO_SERIAL_VECTOR STM32_IRQ_UART8
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#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_UART8_TX
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#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_UART8_RX
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#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB1ENR
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#define PX4IO_SERIAL_RCC_EN RCC_APB1ENR_UART8EN
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#define PX4IO_SERIAL_CLOCK STM32_PCLK1_FREQUENCY
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#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
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/* Configuration ************************************************************************************/
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#define BOARD_HAS_LTC4417
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#if defined(BOARD_HAS_LTC4417)
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# define BOARD_HAS_LTC44XX_VALIDS 2 // No LTC or N Bricks
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# define BOARD_HAS_USB_VALID 1 // LTC Has No USB valid
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# define BOARD_HAS_NBAT_V 2 // Only one Vbat to ADC
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# define BOARD_HAS_NBAT_I 2 // No Ibat ADC
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#else
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# define BOARD_HAS_LTC44XX_VALIDS 0 // No LTC or N Bricks
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# define BOARD_HAS_USB_VALID 0 // LTC Has No USB valid
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# define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC
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# define BOARD_HAS_NBAT_I 0 // No Ibat ADC
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#endif
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/* PX4FMU GPIOs ***********************************************************************************/
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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
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#define GPIO_nLED_RED /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_nLED_GREEN /* PC6 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
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#define GPIO_nLED_BLUE /* PC7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
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#define BOARD_HAS_CONTROL_STATUS_LEDS 1
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#define BOARD_OVERLOAD_LED LED_RED
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#define BOARD_ARMED_STATE_LED LED_BLUE
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/* SENSORS are on SPI1, 5, 6
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* MEMORY is on bus SPI2
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* MS5611 is on bus SPI4
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*/
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#define PX4_SPI_BUS_SENSORS 1
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#define PX4_SPI_BUS_MEMORY 2
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#define PX4_SPI_BUS_BARO 4
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#define PX4_SPI_BUS_EXTERNAL1 5
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#define PX4_SPI_BUS_EXTERNAL2 6
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/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
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/* SPI 1 CS */
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#define GPIO_SPI1_CS1_ICM20689 /* PF2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
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#define GPIO_SPI1_CS2_ICM20602 /* PF3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN3)
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#define GPIO_SPI1_CS3_BMI055_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
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#define GPIO_SPI1_CS4_BMI055_ACC /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
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#define GPIO_SPI1_CS5_AUX_MEM /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
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/* Define the SPI1 Data Ready interrupts */
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#define GPIO_SPI1_DRDY1_ICM20689 /* PB4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
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#define GPIO_SPI1_DRDY2_BMI055_GYRO /* PB14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN14)
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#define GPIO_SPI1_DRDY3_BMI055_ACC /* PB15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN15)
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#define GPIO_SPI1_DRDY4_ICM20602 /* PC5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN5)
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#define GPIO_SPI1_DRDY5_BMI055_GYRO /* PC13 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
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#define GPIO_SPI1_DRDY6_BMI055_ACC /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN10)
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/* SPI1 off */
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#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
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#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
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#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
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#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20689 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20689)
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#define GPIO_DRDY_OFF_SPI1_DRDY2_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY2_BMI055_GYRO)
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#define GPIO_DRDY_OFF_SPI1_DRDY3_BMI055_ACC _PIN_OFF(GPIO_SPI1_DRDY3_BMI055_ACC)
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#define GPIO_DRDY_OFF_SPI1_DRDY4_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY4_ICM20602)
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#define GPIO_DRDY_OFF_SPI1_DRDY5_BMI055_GYRO _PIN_OFF(GPIO_SPI1_DRDY5_BMI055_GYRO)
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#define GPIO_DRDY_OFF_SPI1_DRDY6_BMI055_ACC _PIN_OFF(GPIO_SPI1_DRDY6_BMI055_ACC)
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/* SPI 2 CS */
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#define GPIO_SPI2_CS_FRAM /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN5)
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/* SPI 4 CS */
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#define GPIO_SPI4_CS1_MS5611 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
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#define GPIO_SPI4_CS2 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN11)
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/* SPI 5 CS */
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#define SPI5_CS1_EXTERNAL1 /* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
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#define SPI5_CS2_EXTERNAL1 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
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#define SPI5_CS3_EXTERNAL1 /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN11)
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/* Define the SPI1 Data Ready and Control signals */
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#define GPIO_SPI5_DRDY7_EXTERNAL1 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
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#define GPIO_nSPI5_RESET_EXTERNAL1 /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
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#define GPIO_SPI5_SYNC_EXTERNAL1 /* PH15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|PORTH|PIN15)
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/* SPI 6 */
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#define SPI6_CS1_EXTERNAL2 /* PI6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
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#define SPI6_CS2_EXTERNAL2 /* PI7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
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#define SPI6_CS3_EXTERNAL2 /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
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/*
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* Define the ability to shut off off the sensor signals
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* by changing the signals to inputs
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*/
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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#define GPIO_DRDY_OFF_SPI5_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI5_DRDY7_EXTERNAL1)
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/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
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#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
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/* ^ END Legacy SPI defines TODO: fix this with enumeration */
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#include <drivers/drv_sensor.h>
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#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20689)
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#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
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#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI055)
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#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI055)
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#define PX4_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(0,4)
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#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI1_CS1_ICM20689, GPIO_SPI1_CS2_ICM20602, GPIO_SPI1_CS3_BMI055_GYRO, GPIO_SPI1_CS4_BMI055_ACC, GPIO_SPI1_CS5_AUX_MEM}
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#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
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#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_MS5611)
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#define PX4_SPIDEV_SPI4_CS2 PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,1)
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#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI4_CS1_MS5611, GPIO_SPI4_CS2}
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#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,0)
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#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,1)
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#define PX4_SPIDEV_EXTERNAL1_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL1,2)
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#define PX4_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1, SPI5_CS3_EXTERNAL1}
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#define PX4_SPIDEV_EXTERNAL2_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,0)
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#define PX4_SPIDEV_EXTERNAL2_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,1)
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#define PX4_SPIDEV_EXTERNAL2_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,2)
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#define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2}
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/* I2C busses */
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_I2C_BUS_EXPANSION1 2
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#define PX4_I2C_BUS_ONBOARD 3
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#define PX4_I2C_BUS_EXPANSION2 4
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#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
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#define BOARD_NUMBER_I2C_BUSES 4
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#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
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/*
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that
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* can be used by the Px4 Firmware in the adc driver
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*/
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/* ADC defines to be used in sensors.cpp to read from a particular channel */
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#define ADC1_CH(n) (n)
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#define ADC1_GPIO(n) GPIO_ADC1_IN##n
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/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
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#define PX4_ADC_GPIO \
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/* PA0 */ ADC1_GPIO(0), \
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/* PA1 */ ADC1_GPIO(1), \
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/* PA2 */ ADC1_GPIO(2), \
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/* PA3 */ ADC1_GPIO(3), \
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/* PA4 */ ADC1_GPIO(4), \
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/* PB8 */ ADC1_GPIO(8), \
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/* PC0 */ ADC1_GPIO(10), \
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/* PC1 */ ADC1_GPIO(11), \
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/* PC2 */ ADC1_GPIO(12), \
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/* PC3 */ ADC1_GPIO(13), \
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/* PC4 */ ADC1_GPIO(14)
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_BATTERY1_VOLTAGE_CHANNEL /* PA0 */ ADC1_CH(0)
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#define ADC_BATTERY1_CURRENT_CHANNEL /* PA1 */ ADC1_CH(1)
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#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PA2 */ ADC1_CH(2)
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#define ADC_BATTERY2_CURRENT_CHANNEL /* PA3 */ ADC1_CH(3)
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#define ADC1_SPARE_2_CHANNEL /* PA4 */ ADC1_CH(4)
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#define ADC_RSSI_IN_CHANNEL /* PB0 */ ADC1_CH(8)
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#define ADC_SCALED_V5_CHANNEL /* PC0 */ ADC1_CH(10)
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#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC1 */ ADC1_CH(11)
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#define ADC_HW_VER_SENSE_CHANNEL /* PC2 */ ADC1_CH(12)
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#define ADC_HW_REV_SENSE_CHANNEL /* PC3 */ ADC1_CH(13)
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#define ADC1_SPARE_1_CHANNEL /* PC4 */ ADC1_CH(14)
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#if BOARD_HAS_NBAT_V == 2 && BOARD_HAS_NBAT_I == 2
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
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(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
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(1 << ADC1_SPARE_2_CHANNEL) | \
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(1 << ADC_RSSI_IN_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
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(1 << ADC_HW_VER_SENSE_CHANNEL) | \
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(1 << ADC_HW_REV_SENSE_CHANNEL) | \
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(1 << ADC1_SPARE_1_CHANNEL))
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#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 1
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
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(1 << ADC1_SPARE_2_CHANNEL) | \
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(1 << ADC_RSSI_IN_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
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(1 << ADC_HW_VER_SENSE_CHANNEL) | \
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(1 << ADC_HW_REV_SENSE_CHANNEL) | \
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(1 << ADC1_SPARE_1_CHANNEL))
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#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 0
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
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(1 << ADC1_SPARE_2_CHANNEL) | \
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(1 << ADC_RSSI_IN_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
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(1 << ADC_HW_VER_SENSE_CHANNEL) | \
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(1 << ADC_HW_REV_SENSE_CHANNEL) | \
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(1 << ADC1_SPARE_1_CHANNEL))
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#endif
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/* Define Battery 1 Voltage Divider and A per V
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*/
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#define BOARD_BATTERY1_V_DIV (18.1f) /* measured with the provided PM board */
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#define BOARD_BATTERY1_A_PER_V (36.367515152f)
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* HW Version and Revision drive signals Default to 1 to detect */
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#define BOARD_HAS_HW_VERSIONING
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#define GPIO_HW_REV_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
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#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
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#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
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#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
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#define HW_INFO_INIT {'V','5','x', 'x',0}
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#define HW_INFO_INIT_VER 2
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#define HW_INFO_INIT_REV 3
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/* CAN Silence
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*
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* Silent mode control \ ESC Mux select
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*/
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#define GPIO_CAN1_SILENT_S0 /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
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#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
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#define GPIO_CAN3_SILENT_S2 /* PH4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN4)
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#define UAVCAN_NUM_IFACES_RUNTIME 1
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/* HEATER
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* PWM in future
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*/
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#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
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/* PWM Capture
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*
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* 3 PWM Capture inputs are configured.
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*
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* Pins:
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*
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* FMU_CAP1 : PA5 : TIM2_CH1
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* FMU_CAP2 : PB3 : TIM2_CH2
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* FMU_CAP3 : PB11 : TIM2_CH4
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*/
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#define GPIO_TIM2_CH1_IN /* PA5 T22C1 FMU_CAP1 */ GPIO_TIM2_CH1IN_3
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#define GPIO_TIM2_CH2_IN /* PB3 T22C2 FMU_CAP2 */ GPIO_TIM2_CH2IN_2
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#define GPIO_TIM2_CH4_IN /* PB11 T22C4 FMU_CAP3 */ GPIO_TIM2_CH4IN_2
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#define DIRECT_PWM_CAPTURE_CHANNELS 3
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/* PI0 is nARMED
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* The GPIO will be set as input while not armed HW will have external HW Pull UP.
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* While armed it shall be configured at a GPIO OUT set LOW
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*/
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#define GPIO_nARMED_INIT /* PI0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
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#define GPIO_nARMED /* PI0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)
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#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define DIRECT_INPUT_TIMER_CHANNELS 8
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#define BOARD_HAS_LED_PWM 1
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#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
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#define BOARD_HAS_UI_LED_PWM 1
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#define BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW 1
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/* Power supply control and monitoring GPIOs */
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#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
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#define GPIO_nPOWER_IN_B /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
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#define GPIO_nPOWER_IN_C /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
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#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
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#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */
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#define BOARD_NUMBER_BRICKS 2
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#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */
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#define GPIO_nVDD_5V_PERIPH_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
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#define GPIO_nVDD_5V_PERIPH_OC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
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#define GPIO_nVDD_5V_HIPOWER_EN /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
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#define GPIO_nVDD_5V_HIPOWER_OC /* PG13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
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#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
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#define GPIO_VDD_5V_RC_EN /* PG5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
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#define GPIO_VDD_5V_WIFI_EN /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
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#define GPIO_VDD_3V3_SD_CARD_EN /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
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/* Define True logic Power Control in arch agnostic form */
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#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
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#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
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#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
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#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
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#define VDD_5V_RC_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
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#define VDD_5V_WIFI_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true))
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#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
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/* Tone alarm output */
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#define TONE_ALARM_TIMER 9 /* timer 9 */
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#define TONE_ALARM_CHANNEL 1 /* PE5 TIM9_CH1 */
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#define GPIO_BUZZER_1 /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5)
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
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#define GPIO_TONE_ALARM GPIO_TIM9_CH1OUT_2
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/* USB OTG FS
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*
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* PA9 OTG_FS_VBUS VBUS sensing
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*/
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#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer */
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
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#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */
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#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS4"
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#define RC_SERIAL_SINGLEWIRE
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/* Input Capture Channels. */
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#define INPUT_CAP1_TIMER 2
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#define INPUT_CAP1_CHANNEL /* T4C1 */ 1
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#define GPIO_INPUT_CAP1 /* PA5 */ GPIO_TIM2_CH1_IN
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#define INPUT_CAP2_TIMER 2
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#define INPUT_CAP2_CHANNEL /* T4C2 */ 2
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#define GPIO_INPUT_CAP2 /* PB3 */ GPIO_TIM2_CH2_IN
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#define INPUT_CAP3_TIMER 2
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#define INPUT_CAP3_CHANNEL /* T4C4 */ 4
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#define GPIO_INPUT_CAP3 /* PB11 */ GPIO_TIM2_CH4_IN
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
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#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
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/* Shared pins Both FMU and PX4IO control/monitor
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* FMU Initializes these pins to passive input until it is known
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|
* if we have and PX4IO on board
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*/
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#define GPIO_RSSI_IN /* PB0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_RSSI_IN_INIT /* PB0 */ 0 /* Leave as ADC RSSI_IN */
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/* Safety Switch is HW version dependent on having an PX4IO
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* So we init to a benign state with the _INIT definition
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|
* and provide the the non _INIT one for the driver to make a run time
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* decision to use it.
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*/
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#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PE12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN12)
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#define GPIO_nSAFETY_SWITCH_LED_OUT /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
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/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
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#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
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#define GPIO_SAFETY_SWITCH_IN /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
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/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
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#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
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/* Power switch controls ******************************************************/
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#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
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/*
|
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* FMUv5 has a separate RC_IN
|
|
*
|
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* GPIO PPM_IN on PI5 T8CH1
|
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* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
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* In version is possible in the UART
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* and can drive GPIO PPM_IN as an output
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*/
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#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
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|
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
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#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
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#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
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#define SDIO_SLOTNO 0 /* Only one slot */
|
|
#define SDIO_MINOR 0
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|
|
/* SD card bringup does not work if performed on the IDLE thread because it
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|
* will cause waiting. Use either:
|
|
*
|
|
* CONFIG_LIB_BOARDCTL=y, OR
|
|
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
|
|
*/
|
|
|
|
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
|
|
!defined(CONFIG_BOARD_INITTHREAD)
|
|
# warning SDIO initialization cannot be perfomed on the IDLE thread
|
|
#endif
|
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|
|
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
|
* 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))
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|
|
|
#if BOARD_HAS_USB_VALID == 1
|
|
# define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
|
|
#else
|
|
# define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED
|
|
#endif
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|
|
/* FMUv5 never powers odd the Servo rail */
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|
|
|
#define BOARD_ADC_SERVO_VALID (1)
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|
|
|
#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
|
|
# define BOARD_ADC_BRICK1_VALID (1)
|
|
# define BOARD_ADC_BRICK2_VALID (0)
|
|
#elif BOARD_HAS_LTC44XX_VALIDS == 1
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|
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
|
|
# define BOARD_ADC_BRICK2_VALID (0)
|
|
#elif BOARD_HAS_LTC44XX_VALIDS == 2
|
|
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
|
|
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
|
|
#elif BOARD_HAS_LTC44XX_VALIDS == 3
|
|
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
|
|
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
|
|
# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
|
|
#elif BOARD_HAS_LTC44XX_VALIDS == 4
|
|
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
|
|
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
|
|
# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
|
|
# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
|
|
#else
|
|
# error Unsupported BOARD_HAS_LTC44XX_VALIDS value
|
|
#endif
|
|
|
|
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
|
|
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
|
|
|
|
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
|
|
|
/* This board provides a DMA pool and APIs */
|
|
|
|
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
|
|
|
/* This board provides the board_on_reset interface */
|
|
|
|
#define BOARD_HAS_ON_RESET 1
|
|
|
|
#define PX4_GPIO_INIT_LIST { \
|
|
PX4_ADC_GPIO, \
|
|
GPIO_HW_REV_DRIVE, \
|
|
GPIO_HW_VER_DRIVE, \
|
|
GPIO_CAN1_TX, \
|
|
GPIO_CAN1_RX, \
|
|
GPIO_CAN2_TX, \
|
|
GPIO_CAN2_RX, \
|
|
GPIO_CAN3_TX, \
|
|
GPIO_CAN3_RX, \
|
|
GPIO_CAN1_SILENT_S0, \
|
|
GPIO_CAN2_SILENT_S1, \
|
|
GPIO_CAN3_SILENT_S2, \
|
|
GPIO_HEATER_OUTPUT, \
|
|
GPIO_nPOWER_IN_A, \
|
|
GPIO_nPOWER_IN_B, \
|
|
GPIO_nPOWER_IN_C, \
|
|
GPIO_nVDD_5V_PERIPH_EN, \
|
|
GPIO_nVDD_5V_PERIPH_OC, \
|
|
GPIO_nVDD_5V_HIPOWER_EN, \
|
|
GPIO_nVDD_5V_HIPOWER_OC, \
|
|
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
|
|
GPIO_VDD_5V_RC_EN, \
|
|
GPIO_VDD_5V_WIFI_EN, \
|
|
GPIO_VDD_3V3_SD_CARD_EN, \
|
|
GPIO_TONE_ALARM_IDLE, \
|
|
GPIO_RSSI_IN_INIT, \
|
|
GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
|
|
GPIO_SAFETY_SWITCH_IN, \
|
|
GPIO_nARMED_INIT \
|
|
}
|
|
|
|
#define BOARD_ENABLE_CONSOLE_BUFFER
|
|
|
|
#define BOARD_NUM_IO_TIMERS 5
|
|
|
|
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
|
|
|
|
__BEGIN_DECLS
|
|
|
|
/****************************************************************************************************
|
|
* Public Types
|
|
****************************************************************************************************/
|
|
|
|
/****************************************************************************************************
|
|
* Public data
|
|
****************************************************************************************************/
|
|
|
|
#ifndef __ASSEMBLY__
|
|
|
|
/****************************************************************************************************
|
|
* Public Functions
|
|
****************************************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: stm32_sdio_initialize
|
|
*
|
|
* Description:
|
|
* Initialize SDIO-based MMC/SD card support
|
|
*
|
|
****************************************************************************/
|
|
|
|
int stm32_sdio_initialize(void);
|
|
|
|
/****************************************************************************************************
|
|
* Name: stm32_spiinitialize
|
|
*
|
|
* Description:
|
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
|
*
|
|
****************************************************************************************************/
|
|
|
|
extern void stm32_spiinitialize(void);
|
|
|
|
extern void stm32_usbinitialize(void);
|
|
|
|
extern void board_peripheral_reset(int ms);
|
|
|
|
#include <px4_platform_common/board_common.h>
|
|
|
|
#endif /* __ASSEMBLY__ */
|
|
|
|
__END_DECLS
|