/**************************************************************************** * * 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 /* PX4IO connection configuration */ #define BOARD_USES_PX4IO_VERSION 2 #define PX4IO_SERIAL_DEVICE "/dev/ttyS3" #define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX #define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX #define PX4IO_SERIAL_BASE STM32_USART6_BASE #define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6 #define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX #define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX #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 */ #define PX4IO_HEATER_ENABLED /* LEDs */ #define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12) #define BOARD_HAS_CONTROL_STATUS_LEDS 1 #define BOARD_ARMED_LED LED_AMBER /* ADC channels */ #define PX4_ADC_GPIO \ /* PA2 */ GPIO_ADC12_INP14, \ /* PA3 */ GPIO_ADC12_INP15, \ /* PA4 */ GPIO_ADC12_INP18, \ /* PC3 */ GPIO_ADC12_INP13, \ /* PC4 */ GPIO_ADC12_INP4, \ /* PC5 */ GPIO_ADC12_INP8 /* Define Channel numbers must match above GPIO pins */ #define ADC_BATTERY1_VOLTAGE_CHANNEL 14 /* PA2: BATT_VOLTAGE_SENS */ #define ADC_BATTERY1_CURRENT_CHANNEL 15 /* PA3: BATT_CURRENT_SENS */ #define ADC_SCALED_V5_CHANNEL 18 /* PA4: VDD_5V_SENS */ #define ADC_BATTERY2_VOLTAGE_CHANNEL 13 /* PC3: FMU_AUX_POWER_ADC1 */ #define ADC_BATTERY2_CURRENT_CHANNEL 4 /* PC4: FMU_AUX_ADC2 */ #define ADC_AIRSPEED_VOLTAGE_CHANNEL 8 /* PC5: PRESSURE_SENS */ #define ADC_CHANNELS \ ((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY1_CURRENT_CHANNEL) | \ (1 << ADC_SCALED_V5_CHANNEL) | \ (1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY2_CURRENT_CHANNEL) | \ (1 << ADC_AIRSPEED_VOLTAGE_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) /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 6 #define GPIO_PWM_VOLT_SEL /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4) /* Power supply control and monitoring GPIOs */ #define BOARD_NUMBER_BRICKS 2 #define GPIO_nVDD_BRICK1_VALID /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) // VDD_BRICK_VALID #define GPIO_nVDD_BRICK2_VALID /* PB7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) // VDD_BACKUP_VALID #define GPIO_nVDD_USB_VALID /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) // VBUS_VALID #define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3) // VDD_3V3_SENSORS_EN #define GPIO_nVDD_5V_PERIPH_EN /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) // VDD_5V_PERIPH_EN #define GPIO_nVDD_5V_PERIPH_OC /* PE15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15) // VDD_5V_PERIPH_OC #define GPIO_nVDD_5V_HIPOWER_OC /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10) // VDD_5V_HIPOWER_OC /* 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) // ALARM #define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 #define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ #define PWMIN_TIMER 4 #define PWMIN_TIMER_CHANNEL /* T4C2 */ 2 #define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2 /* USB * OTG FS: PA9 OTG_FS_VBUS VBUS sensing */ #define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 8 /* use timer8 for the HRT */ #define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */ /* 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_nVDD_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_HAS_STATIC_MANIFEST 1 #define BOARD_ENABLE_CONSOLE_BUFFER #define PX4_GPIO_INIT_LIST { \ PX4_ADC_GPIO, \ GPIO_CAN1_TX, \ GPIO_CAN1_RX, \ GPIO_CAN2_TX, \ GPIO_CAN2_RX, \ GPIO_PWM_VOLT_SEL, \ GPIO_nVDD_BRICK1_VALID, \ GPIO_nVDD_BRICK1_VALID, \ GPIO_nVDD_USB_VALID, \ GPIO_VDD_3V3_SENSORS_EN, \ GPIO_nVDD_5V_PERIPH_EN, \ GPIO_nVDD_5V_PERIPH_OC, \ GPIO_nVDD_5V_HIPOWER_OC, \ PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL), \ PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \ PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \ PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \ 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_TONE_ALARM_IDLE, \ GPIO_OTGFS_VBUS, \ } __BEGIN_DECLS #ifndef __ASSEMBLY__ extern void stm32_spiinitialize(void); extern void board_peripheral_reset(int ms); #include #endif /* __ASSEMBLY__ */ __END_DECLS