mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-19 20:53:33 +08:00
Jacob Dahl
f00e46f618
Overhauls the DShot driver with per-timer BDShot selection, multi-timer
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM
read/write via MAVLink. Expands ESC support from 8 to 12 channels.
BDShot:
- Per-timer BDShot protocol selection via actuator config UI
- Multi-timer sequential burst/capture on any DMA-capable timer
- Adaptive per-channel GCR bitstream decoding
- Per-channel online/offline detection with hysteresis
Extended DShot Telemetry (EDT):
- Temperature, voltage, current from BDShot frames (no serial wire)
- New DSHOT_BIDIR_EDT parameter
- EDT data merged with serial telemetry when both available
AM32 EEPROM:
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message
- ESCSettingsInterface abstraction for future ESC firmware types
- New DSHOT_ESC_TYPE parameter
Other changes:
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks
- Numerous bounds-check, overflow, and concurrency fixes
- Updated DShot documentation
405 lines
16 KiB
C
405 lines
16 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2016-2024 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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* ARK Pi6X 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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#undef TRACE_PINS
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/* Configuration ************************************************************************************/
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#define BOARD_HAS_NBAT_V 1d // 2 Digital Voltage
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#define BOARD_HAS_NBAT_I 1d // 2 Digital Current
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/* PX4FMU GPIOs ***********************************************************************************/
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/* Trace Clock and D0-D3 are available on the trace connector
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*
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* TRACECLK PE2 - Dedicated - Trace Connector Pin 1
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* TRACED0 PE3 - nLED_RED - Trace Connector Pin 3
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* TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5
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* TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7
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* TRACED3 PE6 - nARMED - Trace Connector Pin 8
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*/
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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
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#if !defined(TRACE_PINS)
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# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
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# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
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# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
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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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#else
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# define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
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# define GPIO_TRACED0 (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
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# define GPIO_TRACED1 (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
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# define GPIO_TRACED2 (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
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# define GPIO_TRACED3 (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
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//#define GPIO_TRACESWO //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
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# undef BOARD_HAS_CONTROL_STATUS_LEDS
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# undef BOARD_OVERLOAD_LED
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# undef BOARD_ARMED_STATE_LED
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# define GPIO_nLED_RED GPIO_TRACED0
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# define GPIO_nLED_GREEN GPIO_TRACED1
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# define GPIO_nLED_BLUE GPIO_TRACED2
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# define GPIO_nARMED GPIO_TRACED3
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# define GPIO_nARMED_INIT GPIO_TRACED3
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#endif
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/* I2C busses */
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/* Devices on the onboard buses.
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*
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* Note that these are unshifted addresses.
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*/
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#define PX4_I2C_OBDEV_SE050 0x48
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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 ADC1_CH(n) (n)
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/* N.B. there is no offset mapping needed for ADC3 because */
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#define ADC3_CH(n) (n)
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/* We are only use ADC3 for REV/VER.
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* ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
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* To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
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* respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
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* PA0SO of 0.
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*
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* 0 Analog switch closed (pads are connected through the analog switch)
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*
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* So ADC3_INP0 is GPIO_ADC123_INP12
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* ADC3_INP1 is GPIO_ADC12_INP13
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*/
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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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/* PA0 */ GPIO_ADC1_INP16, \
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/* PA4 */ GPIO_ADC12_INP18, \
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/* PB0 */ GPIO_ADC12_INP9, \
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/* PB1 */ GPIO_ADC12_INP5, \
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/* PC2 */ GPIO_ADC123_INP12, \
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/* PC3 */ GPIO_ADC12_INP13, \
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/* PF12 */ GPIO_ADC1_INP6, \
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/* PH3 */ GPIO_ADC3_INP14, \
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/* PH4 */ GPIO_ADC3_INP15
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* PA0 */ ADC1_CH(16)
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#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5)
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#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14)
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#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15)
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#define ADC_CHANNELS \
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((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL))
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
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#define SYSTEM_ADC_BASE STM32_ADC1_BASE
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* HW Version and Revision drive signals Default to 1 to detect */
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#define BOARD_HAS_HW_SPLIT_VERSIONING
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#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
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#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
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#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
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#define HW_INFO_INIT_PREFIX "ARKPI6X"
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#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
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// Base/FMUM
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#define ARKPI6X_0 HW_FMUM_ID(0x0) // ARKPI6X, Sensor Set Rev 0
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#define ARKPI6X_1 HW_FMUM_ID(0x1) // ARKPI6X, Sensor Set Rev 1
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#define UAVCAN_NUM_IFACES_RUNTIME 1
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/* HEATER
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* PWM in future
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*/
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#define GPIO_HEATER_OUTPUT
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#define HEATER_NUM 1
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#define GPIO_HEATER1_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
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#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
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/* PE6 is nARMED
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* The GPIO will be set as input while not armed HW will have external HW Pull UP.
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* While armed it shall be configured at a GPIO OUT set LOW
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*/
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#if !defined(TRACE_PINS)
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#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
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#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
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#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
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#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
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#endif
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define GPIO_FMU_CH1 /* PI0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
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#define GPIO_FMU_CH2 /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
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#define GPIO_FMU_CH3 /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
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#define GPIO_FMU_CH4 /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
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#define GPIO_FMU_CH5 /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_FMU_CH6 /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
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#define GPIO_FMU_CH7 /* PH6 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
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#define GPIO_FMU_CH8 /* PH9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
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#define GPIO_FMU_CAP /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_SPIX_SYNC /* PE9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
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#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 6
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#define BROADCOM_AFBR_S50_S2PI_CS /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
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#define BROADCOM_AFBR_S50_S2PI_IRQ /* PD11 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN11|GPIO_EXTI)
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#define BROADCOM_AFBR_S50_S2PI_CLK /* PB3 */ GPIO_SPI6_SCK_3
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#define BROADCOM_AFBR_S50_S2PI_MOSI /* PG14 */ GPIO_SPI6_MOSI_1
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#define BROADCOM_AFBR_S50_S2PI_MISO /* PA6 */ GPIO_SPI6_MISO_2
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/* Power supply control and monitoring GPIOs */
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#define BOARD_NUMBER_BRICKS 0
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#define BOARD_NUMBER_DIGITAL_BRICKS 1
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#define GPIO_VDD_5V_HIPOWER_nEN /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
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#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
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#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
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/* Spare GPIO */
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#define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
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/* NFC GPIO */
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#define GPIO_NFC_GPIO /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0)
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/* Define True logic Power Control in arch agnostic form */
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#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
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#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
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/* Tone alarm output */
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#define TONE_ALARM_TIMER 14 /* Timer 14 */
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#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */
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#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
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#define GPIO_TONE_ALARM GPIO_TIM14_CH1OUT_2
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/* USB OTG FS
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*
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* PA9 OTG_FS_VBUS VBUS sensing
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*/
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#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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#define FLASH_BASED_PARAMS
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/* High-resolution timer */
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS4"
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
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#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
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#define SDIO_SLOTNO 0 /* Only one slot */
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#define SDIO_MINOR 0
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/* SD card bringup does not work if performed on the IDLE thread because it
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* will cause waiting. Use either:
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*
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* CONFIG_BOARDCTL=y, OR
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* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
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*/
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#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
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!defined(CONFIG_BOARD_INITTHREAD)
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# warning SDIO initialization cannot be perfomed on the IDLE thread
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#endif
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/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
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* this board support the ADC system_power interface, and therefore
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* provides the true logic GPIO BOARD_ADC_xxxx macros.
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*/
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#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
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/* ARKPI6X never powers off the Servo rail */
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#define BOARD_ADC_SERVO_VALID (1)
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#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
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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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#if defined(TRACE_PINS)
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#define GPIO_TRACE \
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GPIO_TRACECLK1, \
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GPIO_TRACED0, \
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GPIO_TRACED1, \
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GPIO_TRACED2, \
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GPIO_TRACED3
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#else
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#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
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#endif
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#define PX4_GPIO_INIT_LIST { \
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GPIO_TRACE, \
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PX4_ADC_GPIO, \
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GPIO_HW_VER_REV_DRIVE, \
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GPIO_CAN1_TX, \
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GPIO_CAN1_RX, \
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GPIO_HEATER1_OUTPUT, \
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GPIO_VDD_5V_HIPOWER_nEN, \
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GPIO_VDD_5V_HIPOWER_nOC, \
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GPIO_VDD_3V3_SD_CARD_EN, \
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GPIO_PD15, \
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GPIO_NFC_GPIO, \
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GPIO_TONE_ALARM_IDLE, \
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GPIO_nARMED_INIT, \
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GPIO_FMU_CH1, \
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GPIO_FMU_CH2, \
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GPIO_FMU_CH3, \
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GPIO_FMU_CH4, \
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GPIO_FMU_CH5, \
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GPIO_FMU_CH6, \
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GPIO_FMU_CH7, \
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GPIO_FMU_CH8, \
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GPIO_FMU_CAP, \
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GPIO_SPIX_SYNC \
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}
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_NUM_IO_TIMERS 3
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#define BOARD_SPIX_SYNC_FREQ 32000
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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 PX4FMU 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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