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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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200 lines
6.8 KiB
C
200 lines
6.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* Board internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32_gpio.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
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# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
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# define GPIO_nLED_GREEN /* PE2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
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# define GPIO_nLED_BLUE /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
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# define BOARD_HAS_CONTROL_STATUS_LEDS 1
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# define BOARD_OVERLOAD_LED LED_RED
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# define BOARD_ARMED_STATE_LED LED_BLUE
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/*
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that
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* can be used by the Px4 Firmware in the adc driver
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*/
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/* ADC defines to be used in sensors.cpp to read from a particular channel */
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#define SYSTEM_ADC_BASE STM32_ADC1_BASE
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#define ADC1_CH(n) (n)
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/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
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#define PX4_ADC_GPIO \
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/* PC0 */ GPIO_ADC123_INP10, \
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/* PC1 */ GPIO_ADC123_INP11
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC0 */ ADC1_CH(10)
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#define ADC_BATTERY_CURRENT_CHANNEL /* PC1 */ ADC1_CH(11)
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY_CURRENT_CHANNEL))
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/* Define Battery 1 Voltage Divider and A per V
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*/
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// #define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */
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// #define BOARD_BATTERY1_A_PER_V (40.0f)
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// #define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 10
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#define DIRECT_INPUT_TIMER_CHANNELS 10
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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#define GPIO_TONE_ALARM_IDLE /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
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#define GPIO_TONE_ALARM_GPIO /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
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/* USB OTG FS
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*
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* PA8 OTG_FS_VBUS VBUS sensing
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*/
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#define GPIO_OTGFS_VBUS /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8)
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/* High-resolution timer */
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#define HRT_TIMER 2 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS5"
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#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
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#define GPIO_I2C2_DRDY1_SPL06 /* PD0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN0)
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/* SD Card */
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#define SDIO_SLOTNO 0 /* Only one slot */
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#define SDIO_MINOR 0
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120
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/* This board provides the board_on_reset interface */
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#define BOARD_HAS_ON_RESET 1
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#define PX4_GPIO_INIT_LIST { \
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PX4_ADC_GPIO, \
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GPIO_TONE_ALARM_IDLE, \
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}
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_NUM_IO_TIMERS 5
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__BEGIN_DECLS
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/****************************************************************************************************
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* Public Types
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****************************************************************************************************/
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/****************************************************************************************************
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* Public data
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****************************************************************************************************/
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#ifndef __ASSEMBLY__
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/****************************************************************************************************
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* Public Functions
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****************************************************************************************************/
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/****************************************************************************
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* Name: stm32_sdio_initialize
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*
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* Description:
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* Initialize SDIO-based MMC/SD card support
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*
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****************************************************************************/
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int stm32_sdio_initialize(void);
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/****************************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the board.
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*
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****************************************************************************************************/
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extern void stm32_spiinitialize(void);
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extern void stm32_usbinitialize(void);
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extern void board_peripheral_reset(int ms);
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#include <px4_platform_common/board_common.h>
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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