/**************************************************************************** * * Copyright (c) 2019 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 * * UVify Core internal definitions */ #pragma once /**************************************************************************************************** * Included Files ****************************************************************************************************/ #include #include #include /**************************************************************************************************** * Definitions ****************************************************************************************************/ /* Configuration ************************************************************************************/ /* UVify Core GPIOs ***********************************************************************************/ /* LEDs */ #define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11) #define GPIO_LED2 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) #define GPIO_LED3 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3) #define GPIO_LED_RED GPIO_LED1 #define GPIO_LED_GREEN GPIO_LED2 #define GPIO_LED_BLUE GPIO_LED3 #define BOARD_HAS_CONTROL_STATUS_LEDS 1 #define BOARD_OVERLOAD_LED LED_RED #define BOARD_ARMED_LED LED_BLUE #define BOARD_ARMED_STATE_LED LED_GREEN #ifdef CONFIG_STM32_SPI4 # define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional #endif /* CONFIG_STM32_SPI4 */ /** * 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 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) /* 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_RC_RSSI_CHANNEL 11 /* Define Battery 1 Voltage Divider and A per V. */ #define BOARD_BATTERY1_V_DIV (10.14f) #define BOARD_BATTERY1_A_PER_V (18.18f) /* Power supply control and monitoring GPIOs. */ #define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) #define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) /* 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 */ #define DIRECT_PWM_OUTPUT_CHANNELS 6 #define DIRECT_INPUT_TIMER_CHANNELS 6 /** * USB OTG FS: * PA9 OTG_FS_VBUS VBUS sensing. */ #define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 3 /* use timer 3 for the HRT */ #define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */ #define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ #define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0) /* RC Serial port */ #define RC_SERIAL_PORT "/dev/ttyS4" /* 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 #define GPIO_RSSI_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) #define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3) #define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) #define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5) /* For,this signal is active high. */ #define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true) #define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4) /* GPIOs */ #define GPIO_PE2 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2) #define GPIO_PB4 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4) #define GPIO_PE5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5) #define GPIO_PE6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6) /* Heater pins (reserved) */ #define GPIO_HEATER_INPUT (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6) #define GPIO_HEATER_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6) /* Power switch controls */ #define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true)) /** * UVify Core has separate RC_IN * * GPIO PPM_IN on PB0 T3C3 * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 * Inversion is possible via the 74LVC2G86 controlled by the FMU * The FMU 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_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK_VALID)) #define BOARD_ADC_USB_VALID (px4_arch_gpioread(GPIO_VDD_USB_VALID)) #define BOARD_ADC_SERVO_VALID (1) #define BOARD_ADC_PERIPH_5V_OC (0) #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 #define BOARD_HAS_ON_RESET 1 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5}; #define BOARD_ENABLE_CONSOLE_BUFFER #define BOARD_CONSOLE_BUFFER_SIZE (1024*3) __BEGIN_DECLS /**************************************************************************************************** * Public Types ****************************************************************************************************/ /**************************************************************************************************** * Public data ****************************************************************************************************/ #ifndef __ASSEMBLY__ /**************************************************************************************************** * Public Functions ****************************************************************************************************/ /**************************************************************************************************** * Name: stm32_spiinitialize * * Description: * Called to configure SPI chip select GPIO pins for the PX4FMU board. * ****************************************************************************************************/ extern void stm32_spiinitialize(void); extern void stm32_usbinitialize(void); extern void board_peripheral_reset(int ms); #include #endif /* __ASSEMBLY__ */ __END_DECLS