/**************************************************************************** * * 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 * * AUAVX2.1 internal definitions */ #pragma once /**************************************************************************************************** * Included Files ****************************************************************************************************/ #include #include #include /**************************************************************************************************** * Definitions ****************************************************************************************************/ /* Configuration ************************************************************************************/ /* PX4IO connection configuration */ #define BOARD_USES_PX4IO_VERSION 2 #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_RCC_REG STM32_RCC_APB2ENR #define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN #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) #define BOARD_OVERLOAD_LED LED_RED /* External interrupts but on board*/ #define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) /* Data ready pins but on board */ #define GPIO_EXTI_ICM_2060X_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14) /* Data ready pins off */ #define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) #define GPIO_EXTI_ICM_2060X_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14) /* 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_ICM_2060X_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_ICM_2060X (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_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) #define PX4_SPI_BUS_SENSORS 1 #define PX4_SPI_BUS_RAMTRON 2 #define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS /* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */ #define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) #define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) #define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) #define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4) /* I2C busses */ /* There is no I2C2 so there is not notion of internal / external*/ #define PX4_I2C_BUS_EXPANSION 1 #define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION /* * 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 << 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 */ // Signal is not connected #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_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) #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 /* 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 (1) #define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC)) #define BOARD_ADC_HIPOWER_5V_OC (0) #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 BOARD_HAS_STATIC_MANIFEST 1 __BEGIN_DECLS /**************************************************************************************************** * Public Types ****************************************************************************************************/ /**************************************************************************************************** * Public data ****************************************************************************************************/ #ifndef __ASSEMBLY__ /**************************************************************************************************** * Public Functions ****************************************************************************************************/ /**************************************************************************************************** * Name: board_spi_reset board_peripheral_reset * * Description: * Called to reset SPI and the perferal bus * ****************************************************************************************************/ extern void board_spi_reset(int ms); extern void board_peripheral_reset(int ms); /**************************************************************************************************** * Name: stm32_usbinitialize * * Description: * Called to configure USB IO. * ****************************************************************************************************/ extern void stm32_usbinitialize(void); /**************************************************************************************************** * Name: stm32_spiinitialize * * Description: * Called to configure SPI chip select GPIO pins for the PX4FMU board. * ****************************************************************************************************/ extern void stm32_spiinitialize(void); #include #endif /* __ASSEMBLY__ */ __END_DECLS