mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
px4fmu-v5:Use board_supports_single_wire
This is a stubbed out version that will rely on the hardware manifest moving forward.
This commit is contained in:
David Sidrane
Lorenz Meier
parent
13a972cfe6
commit
7ea592016e
@ -56,17 +56,17 @@
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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 /* hardwired on the board */
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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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#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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@ -130,9 +130,9 @@
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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_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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@ -188,30 +188,30 @@
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/* ^ END Legacy SPI defines TODO: fix this with enumeration */
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#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
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#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
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#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
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#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
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#define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
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#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
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#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
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#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
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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}
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#define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
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#define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMI055_ACC
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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}
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#define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
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#define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMI055_ACC
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#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
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#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
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#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
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#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
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#define PX4_SPIDEV_MEMORY PX4_MK_SPI_SEL(PX4_SPI_BUS_MEMORY,0)
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#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI2_CS_FRAM}
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#define PX4_MEMORY_BUS_FIRST_CS PX4_SPIDEV_MEMORY
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#define PX4_MEMORY_BUS_LAST_CS PX4_SPIDEV_MEMORY
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,0)
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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_BARO_BUS_FIRST_CS PX4_SPIDEV_BARO
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#define PX4_BARO_BUS_LAST_CS PX4_SPIDEV_SPI4_CS2
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,0)
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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_BARO_BUS_FIRST_CS PX4_SPIDEV_BARO
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#define PX4_BARO_BUS_LAST_CS PX4_SPIDEV_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_EXTERNAL1_BUS_CS_GPIO {SPI5_CS1_EXTERNAL1, SPI5_CS2_EXTERNAL1, SPI5_CS3_EXTERNAL1}
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#define PX4_EXTERNAL1_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL1_1
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#define PX4_EXTERNAL1_BUS_LAST_CS PX4_SPIDEV_EXTERNAL1_3
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@ -219,21 +219,21 @@
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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_SPIDEV_AUX_MEM PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL2,3)
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#define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2, SPIAUX_CS_MEM}
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#define PX4_EXTERNAL2_BUS_CS_GPIO {SPI6_CS1_EXTERNAL2, SPI6_CS2_EXTERNAL2, SPI6_CS3_EXTERNAL2, SPIAUX_CS_MEM}
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#define PX4_EXTERNAL2_BUS_FIRST_CS PX4_SPIDEV_EXTERNAL2_1
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#define PX4_EXTERNAL2_BUS_LAST_CS PX4_SPIDEV_AUX_MEM
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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 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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#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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@ -244,8 +244,8 @@
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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 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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@ -315,12 +315,12 @@
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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_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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#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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@ -330,9 +330,9 @@
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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_REV 2
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#define HW_INFO_INIT_VER 3
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#define HW_INFO_INIT {'V','5','x', 'x',0}
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#define HW_INFO_INIT_REV 2
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#define HW_INFO_INIT_VER 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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@ -364,7 +364,7 @@
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#define DIRECT_PWM_CAPTURE_CHANNELS 3
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/* TIM5_CH4 SPARE PIN */
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#define GPIO_TIM5_CH4IN /* PI0 T5C4 TIM5_SPARE_4 */ GPIO_TIM5_CH4IN_2
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#define GPIO_TIM5_CH4IN /* PI0 T5C4 TIM5_SPARE_4 */ GPIO_TIM5_CH4IN_2
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#define GPIO_TIM5_CH4OUT /* PI0 T5C4 TIM5_SPARE_4 */ GPIO_TIM5_CH4OUT_2
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/* PWM
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@ -498,8 +498,8 @@
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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 /* PE5 TIM9_CH1 */ 1 /* channel 1 */
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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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@ -513,33 +513,37 @@
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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_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 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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#define RC_UXART_BASE STM32_USART6_BASE /* NOT FMUv5 test HW ONLY*/
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#define RC_UXART_BASE STM32_USART6_BASE
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#define BOARD_HAS_SINGLE_WIRE 1
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#define INVERT_RC_INPUT(_invert_true) board_rc_input(_invert_true);
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#define RC_SERIAL_PORT "/dev/ttyS4"
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#define RC_SERIAL_PORT_IS_FULL_DUPLEX false
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#define GPS_DEFAULT_UART_PORT "/dev/ttyS0" /* UART1 on FMUv5 */
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/* Input Capture Channels. */
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#define INPUT_CAP1_TIMER 2
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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_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_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
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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
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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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@ -556,9 +560,6 @@
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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_SAFETY_SWITCH_IN /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
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#define INVERT_RC_INPUT(_invert_true) board_rc_input(_invert_true);
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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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@ -592,7 +593,7 @@
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# warning SDIO initialization cannot be perfomed on the IDLE thread
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#endif
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#define BOARD_NAME "PX4FMU_V5"
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#define BOARD_NAME "PX4FMU_V5"
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/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
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* this board support the ADC system_power interface, and therefore
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@ -635,7 +636,7 @@
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#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
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#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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#define BOARD_FMU_GPIO_TAB { \
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{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
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