/**************************************************************************** * * Copyright (c) 2020 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 #include #include #include #include /* LEDs */ #define GPIO_nLED_RED /* PI5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5) #define GPIO_nLED_GREEN /* PI6 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6) #define GPIO_nLED_BLUE /* PI7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7) #define BOARD_HAS_LED_PWM 1 /* ADC channels */ #define PX4_ADC_GPIO \ /* PA0 */ GPIO_ADC1_INP16, \ /* PA1 */ GPIO_ADC1_INP17, \ /* PA2 */ GPIO_ADC12_INP14, \ /* PF11 */ GPIO_ADC1_INP2, \ /* PC4 */ GPIO_ADC12_INP4, \ /* PA4 */ GPIO_ADC12_INP18, \ /* PF12 */ GPIO_ADC1_INP6, \ /* PC5 */ GPIO_ADC12_INP8, \ /* PC1 */ GPIO_ADC123_INP11, \ /* PC2 */ GPIO_ADC123_INP12, \ /* PC3 */ GPIO_ADC12_INP13 /* Define Channel numbers must match above GPIO pins */ #define ADC_BATTERY1_VOLTAGE_CHANNEL 16 /* PA0 */ #define ADC_BATTERY1_CURRENT_CHANNEL 17 /* PA1 */ #define ADC_BATTERY2_VOLTAGE_CHANNEL 14 /* PA2 */ #define ADC_BATTERY2_CURRENT_CHANNEL 2 /* PF11 */ #define ADC1_6V6_IN_CHANNEL 4 /* PC4 */ // SPARE1_ADC1: ADC6.6 #define ADC1_3V3_IN_CHANNEL 18 /* PA4 */ // SPARE2_ADC1: ADC3.3 #define ADC_RSSI_IN_CHANNEL 6 /* PF12 */ #define ADC_SCALED_V5_CHANNEL 8 /* PC5 */ // VDD_5V_SENS: Motherboard 5V voltage detection #define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL 11 /* PC1 */ // SCALED_V3V3: Sensor power detection #define ADC_HW_VER_SENSE_CHANNEL 12 /* PC2 */ #define ADC_HW_REV_SENSE_CHANNEL 13 /* PC3 */ #define ADC_CHANNELS \ ((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY1_CURRENT_CHANNEL) | \ (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \ (1 << ADC1_6V6_IN_CHANNEL) | \ (1 << ADC1_3V3_IN_CHANNEL) | \ (1 << ADC_RSSI_IN_CHANNEL) | \ (1 << ADC_SCALED_V5_CHANNEL) | \ (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \ (1 << ADC_HW_VER_SENSE_CHANNEL) | \ (1 << ADC_HW_REV_SENSE_CHANNEL)) /* HW has to large of R termination on ADC todo:change when HW value is chosen */ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) #define GPIO_HW_REV_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14) #define GPIO_HW_REV_SENSE /* PC3 */ GPIO_ADC12_INP13 #define GPIO_HW_VER_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN3) #define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12 /* CAN Silence Silent mode control */ #define GPIO_CAN1_SILENT_S0 /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2) #define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3) /* HEATER */ #define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8) #define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true)) /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 14 #define BOARD_NUM_IO_TIMERS 4 /* Power supply control and monitoring GPIOs */ #define BOARD_NUMBER_BRICKS 2 #define GPIO_nPOWER_IN_ADC /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1) #define GPIO_nPOWER_IN_CAN /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2) #define GPIO_nPOWER_IN_C /* PG0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0) #define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */ #define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen */ #define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB is Chosen */ #define GPIO_VDD_5V_HIPOWER_EN /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11) #define GPIO_nVDD_5V_PERIPH_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4) #define GPIO_VDD_5V_RC_EN /* PG5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5) #define GPIO_VDD_3V3_SD_CARD_EN /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7) #define GPIO_VDD_5V_HIPOWER_OC /* PJ3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3) #define GPIO_nVDD_5V_PERIPH_OC /* PJ4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4) /* Power switch controls ******************************************************/ #define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true)) #define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true)) #define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true)) #define SPEKTRUM_POWER(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true)) #define READ_SPEKTRUM_POWER() px4_arch_gpioread(GPIO_VDD_5V_RC_EN) /* Tone alarm output */ #define TONE_ALARM_TIMER 15 /* timer 15 */ #define TONE_ALARM_CHANNEL 1 /* PE5 TIM15_CH1 */ #define GPIO_TONE_ALARM_IDLE /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5) // ALARM #define GPIO_TONE_ALARM GPIO_TIM15_CH1OUT_2 /* USB * OTG FS: PA9 OTG_FS_VBUS VBUS sensing * HS USB EN: PH15 */ #define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) #define GPIO_HS_USB_EN /* PH15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN15) /* High-resolution timer */ #define HRT_TIMER 3 /* use timer3 for the HRT */ #define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */ #define HRT_PPM_CHANNEL /* T3C1 */ 1 /* use capture/compare channel 1 */ #define GPIO_PPM_IN /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2 #define RC_SERIAL_PORT "/dev/ttyS5" #define RC_SERIAL_SINGLEWIRE /** * GPIO PPM_IN on PB4 T3C1 * SPEKTRUM_RX (it's TX or RX in Bind) on UART8 PE0 * Inversion is possible in the UART and can drive GPIO_PPM_IN as an output */ #define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4) #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT) #define SPEKTRUM_RX_AS_UART() /* Can be left as uart */ #define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true)) /* RSSI_IN */ #define GPIO_RSSI_IN /* PB0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0) /* Safety Switch is only on FMU */ #define FMU_LED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN12) // FMU_LED_AMBER #define GPIO_BTN_SAFETY /* PE10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN10) // SAFETY_SW #define GPIO_LED_SAFETY FMU_LED_AMBER /* 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)) #define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) #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_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC)) #define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC)) /* 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 BOARD_ENABLE_CONSOLE_BUFFER #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_CAN1_SILENT_S0, \ GPIO_CAN2_SILENT_S1, \ GPIO_HEATER_OUTPUT, \ GPIO_nPOWER_IN_CAN, \ GPIO_nPOWER_IN_ADC, \ GPIO_nPOWER_IN_C, \ GPIO_nVDD_5V_PERIPH_EN, \ GPIO_nVDD_5V_PERIPH_OC, \ GPIO_VDD_5V_HIPOWER_EN, \ GPIO_VDD_5V_HIPOWER_OC, \ GPIO_VDD_5V_RC_EN, \ PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \ PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \ PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \ PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \ PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\ GPIO_VDD_3V3_SD_CARD_EN, \ GPIO_TONE_ALARM_IDLE, \ GPIO_OTGFS_VBUS, \ PX4_GPIO_PIN_OFF(GPIO_HS_USB_EN), \ GPIO_RSSI_IN, \ FMU_LED_AMBER, \ GPIO_BTN_SAFETY, \ } __BEGIN_DECLS #ifndef __ASSEMBLY__ extern void stm32_spiinitialize(void); extern void board_peripheral_reset(int ms); #include #endif /* __ASSEMBLY__ */ __END_DECLS