Support for Raspberry PI RP2040 MCU (#18083)

boards/raspberrypi/pico/src/board_config.h

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+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* LEDs */
+// LED1 - GPIO 25 - Green
+#define GPIO_LED1       PX4_MAKE_GPIO_OUTPUT_CLEAR(25) // Take a look at rpi_common micro_hal.h
+#define GPIO_LED_BLUE   GPIO_LED1
+
+#define BOARD_OVERLOAD_LED     LED_BLUE
+
+/*
+ * 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 << 0) | (1 << 1) | (1 << 2) | (1 << 3)	// Change this later based on the adc channels actually used
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL  1			// Corresponding GPIO 27. Used in init.c for disabling GPIO_IE
+#define ADC_BATTERY_CURRENT_CHANNEL  2			// Corresponding GPIO 28. Used in init.c for disabling GPIO_IE
+#define ADC_RC_RSSI_CHANNEL          0
+
+/* Define Battery 1 Voltage Divider and A per V. */
+#define BOARD_BATTERY1_V_DIV         (13.653333333f)
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
+/* High-resolution timer */
+#define HRT_TIMER 1
+#define HRT_TIMER_CHANNEL 1
+#define HRT_PPM_CHANNEL 1	// Number really doesn't matter for this board
+#define GPIO_PPM_IN		(16 | GPIO_FUN(RP2040_GPIO_FUNC_SIO))
+#define RC_SERIAL_PORT               "/dev/ttyS3"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
+
+/* This board provides a DMA pool and APIs */			// Needs to be figured out
+#define BOARD_DMA_ALLOC_POOL_SIZE 2048
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
+
+/* USB
+ *
+ *  VBUS detection is on 29  ADC_DPM0 and PTE8
+ */
+#define GPIO_USB_VBUS_VALID     (24 | GPIO_FUN(RP2040_GPIO_FUNC_SIO))    // Used in usb.c
+
+/* PWM
+ *
+ * Alternatively CH3/CH4 could be assigned to UART6_TX/RX
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS      4
+
+// Has pwm outputs
+#define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
+
+/*
+ * 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_USB_VBUS_VALID))
+
+__BEGIN_DECLS
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Name: rp2040_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void rp2040_spiinitialize(void);
+
+
+/****************************************************************************************************
+ * Name: rp2040_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
+extern void rp2040_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS