/**************************************************************************** * * 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 #include #include #include /**************************************************************************************************** * Definitions ****************************************************************************************************/ // #define FLASH_BASED_PARAMS /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ # define GPIO_nLED_RED /* PC6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6) # define GPIO_nLED_GREEN /* PB14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) # define GPIO_nLED_BLUE /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) # define BOARD_HAS_CONTROL_STATUS_LEDS 1 # define BOARD_OVERLOAD_LED LED_RED # define BOARD_ARMED_STATE_LED LED_BLUE /* I2C busses */ /* Devices on the onboard buses. * * Note that these are unshifted addresses. */ // #define PX4_I2C_OBDEV_SE050 0x48 #define GPIO_I2C1_DRDY1_BMP388 /* PB9 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN9) /* * 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 */ /* ADC defines to be used in sensors.cpp to read from a particular channel */ #define SYSTEM_ADC_BASE STM32_ADC1_BASE #define ADC12_CH(n) (n) #define PX4_ADC_GPIO \ /* PB0 */ GPIO_ADC12_INP5, \ /* PB1 */ GPIO_ADC12_INP9 /* Define GPIO pins used as ADC N.B. Channel numbers must match below */ /* Define Channel numbers must match above GPIO pin IN(n)*/ #define ADC_BATTERY_VOLTAGE_CHANNEL ADC12_CH(9) #define ADC_BATTERY_CURRENT_CHANNEL ADC12_CH(5) #define ADC_CHANNELS \ ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY_CURRENT_CHANNEL)) #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) /* Define Battery 1 Voltage Divider and A per V */ // #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */ // #define BOARD_BATTERY1_A_PER_V (40.0f) // #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */ /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 #define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS /* Spare GPIO */ #define GPIO_PD4 /* PD4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN4) #define GPIO_PC13 /* PC13 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN13) #define GPIO_PH1 /* PH1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN1) /* Tone alarm output */ #define TONE_ALARM_TIMER 1 /* Timer 3 */ #define TONE_ALARM_CHANNEL 1 /* PC7 GPIO_TIM3_CH2 */ /*NC can be modified with Spare GPIO then connected with hardware */ #define GPIO_BUZZER_1 /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) #define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 #define GPIO_TONE_ALARM GPIO_BUZZER_1 /* USB OTG FS * * PE2 OTG_FS_VBUS VBUS sensing */ #define GPIO_OTGFS_VBUS /* PA15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN15) #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) /* High-resolution timer */ #define HRT_TIMER 8 /* use timer1 for the HRT */ #define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ /* RC Serial port */ #define RC_SERIAL_PORT "/dev/ttyS5" #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT /* SD card bringup does not work if performed on the IDLE thread because it * will cause waiting. Use either: * * CONFIG_LIB_BOARDCTL=y, OR * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y */ #define SDIO_SLOTNO 0 /* Only one slot */ #define SDIO_MINOR 0 #if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \ !defined(CONFIG_BOARD_INITTHREAD) # warning SDIO initialization cannot be perfomed on the IDLE thread #endif /* 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_TONE_ALARM_IDLE, \ } #define BOARD_ENABLE_CONSOLE_BUFFER #define BOARD_NUM_IO_TIMERS 5 __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 board. * ****************************************************************************************************/ extern void stm32_spiinitialize(void); extern void stm32_usbinitialize(void); extern void board_peripheral_reset(int ms); #include #endif /* __ASSEMBLY__ */ __END_DECLS