/**************************************************************************** * * 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 #include #include #include #include /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ #define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) #define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1) #define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3) #define BOARD_HAS_CONTROL_STATUS_LEDS 1 #define BOARD_OVERLOAD_LED LED_RED #define BOARD_ARMED_STATE_LED LED_BLUE /* ADC channels */ #define PX4_ADC_GPIO \ /* PA2 */ GPIO_ADC12_INP14, \ /* PA3 */ GPIO_ADC12_INP15, \ /* PA4 */ GPIO_ADC12_INP18, \ /* PC1 */ GPIO_ADC123_INP11 /* Define Channel numbers must match above GPIO pins */ #define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */ #define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */ #define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */ #define ADC_RC_RSSI_CHANNEL 11 /* PC1 */ #define ADC_CHANNELS \ ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ (1 << ADC_SCALED_V5_CHANNEL) | \ (1 << ADC_RC_RSSI_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) /* CAN Silence: Silent mode control */ #define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 /* Power supply control and monitoring GPIOs */ #define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) #define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ #define BOARD_NUMBER_BRICKS 1 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4) /* Define True logic Power Control in arch agnostic form */ #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true)) #define READ_VDD_3V3_SPEKTRUM_POWER_EN() (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0) /* Tone alarm output */ #define TONE_ALARM_TIMER 2 /* timer 2 */ #define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */ #define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) #define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 #define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 /* USB OTG FS */ #define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 3 /* use timer3 for the HRT */ #define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ #define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */ #define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 /* RC Serial port */ #define RC_SERIAL_PORT "/dev/ttyS3" #define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) /* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ #define GPIO_SAFETY_SWITCH_IN /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) /* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ #define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ /* Power switch controls ******************************************************/ #define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) /* * Board has a separate RC_IN * * GPIO PPM_IN on PB0 T3CH3 * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 * 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_PIN0) #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)) /* 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 BOARD_ADC_USB_CONNECTED #define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */ #define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID)) /* 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 #define BOARD_NUM_IO_TIMERS 3 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7}; #define BOARD_ENABLE_CONSOLE_BUFFER #define PX4_GPIO_INIT_LIST { \ PX4_ADC_GPIO, \ GPIO_CAN1_TX, \ GPIO_CAN1_RX, \ GPIO_CAN1_SILENT_S0, \ GPIO_nPOWER_IN_A, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ GPIO_TONE_ALARM_IDLE, \ GPIO_SAFETY_SWITCH_IN, \ GPIO_OTGFS_VBUS, \ } __BEGIN_DECLS #ifndef __ASSEMBLY__ extern void stm32_spiinitialize(void); extern void board_peripheral_reset(int ms); #include #endif /* __ASSEMBLY__ */ __END_DECLS