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PX4-Autopilot/boards/px4/fmu-v5/src/board_config.h
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/****************************************************************************
*
* Copyright (c) 2016 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
*
* PX4FMU-v5 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform/board_ctrl.h>
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* PX4IO connection configuration */
#define BOARD_USES_PX4IO_VERSION 2
#define PX4IO_SERIAL_DEVICE "/dev/ttyS6"
#define PX4IO_SERIAL_TX_GPIO GPIO_UART8_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_UART8_RX
#define PX4IO_SERIAL_BASE STM32_UART8_BASE
#define PX4IO_SERIAL_VECTOR STM32_IRQ_UART8
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_UART8_TX
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_UART8_RX
#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB1ENR
#define PX4IO_SERIAL_RCC_EN RCC_APB1ENR_UART8EN
#define PX4IO_SERIAL_CLOCK STM32_PCLK1_FREQUENCY
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
/* Configuration ************************************************************************************/
#define BOARD_HAS_LTC4417
#if defined(BOARD_HAS_LTC4417)
# define BOARD_HAS_LTC44XX_VALIDS 2 // No LTC or N Bricks
# define BOARD_HAS_USB_VALID 1 // LTC Has No USB valid
# define BOARD_HAS_NBAT_V 2 // Only one Vbat to ADC
# define BOARD_HAS_NBAT_I 2 // No Ibat ADC
#else
# define BOARD_HAS_LTC44XX_VALIDS 0 // No LTC or N Bricks
# define BOARD_HAS_USB_VALID 0 // LTC Has No USB valid
# define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC
# define BOARD_HAS_NBAT_I 0 // No Ibat ADC
#endif
/* PX4FMU GPIOs ***********************************************************************************/
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
#define GPIO_nLED_RED /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_nLED_GREEN /* PC6 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
#define GPIO_nLED_BLUE /* PC7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_STATE_LED LED_BLUE
/*
* 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
*/
/* ADC defines to be used in sensors.cpp to read from a particular channel */
#define ADC1_CH(n) (n)
#define ADC1_GPIO(n) GPIO_ADC1_IN##n
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
#define PX4_ADC_GPIO \
/* PA0 */ ADC1_GPIO(0), \
/* PA1 */ ADC1_GPIO(1), \
/* PA2 */ ADC1_GPIO(2), \
/* PA3 */ ADC1_GPIO(3), \
/* PA4 */ ADC1_GPIO(4), \
/* PB8 */ ADC1_GPIO(8), \
/* PC0 */ ADC1_GPIO(10), \
/* PC1 */ ADC1_GPIO(11), \
/* PC2 */ ADC1_GPIO(12), \
/* PC3 */ ADC1_GPIO(13), \
/* PC4 */ ADC1_GPIO(14)
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_BATTERY1_VOLTAGE_CHANNEL /* PA0 */ ADC1_CH(0)
#define ADC_BATTERY1_CURRENT_CHANNEL /* PA1 */ ADC1_CH(1)
#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PA2 */ ADC1_CH(2)
#define ADC_BATTERY2_CURRENT_CHANNEL /* PA3 */ ADC1_CH(3)
#define ADC1_SPARE_2_CHANNEL /* PA4 */ ADC1_CH(4)
#define ADC_RSSI_IN_CHANNEL /* PB0 */ ADC1_CH(8)
#define ADC_SCALED_V5_CHANNEL /* PC0 */ ADC1_CH(10)
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC1 */ ADC1_CH(11)
#define ADC_HW_VER_SENSE_CHANNEL /* PC2 */ ADC1_CH(12)
#define ADC_HW_REV_SENSE_CHANNEL /* PC3 */ ADC1_CH(13)
#define ADC1_SPARE_1_CHANNEL /* PC4 */ ADC1_CH(14)
#if BOARD_HAS_NBAT_V == 2 && BOARD_HAS_NBAT_I == 2
#define ADC_CHANNELS \
((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
(1 << ADC1_SPARE_2_CHANNEL) | \
(1 << ADC_RSSI_IN_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
(1 << ADC_HW_VER_SENSE_CHANNEL) | \
(1 << ADC_HW_REV_SENSE_CHANNEL) | \
(1 << ADC1_SPARE_1_CHANNEL))
#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 1
#define ADC_CHANNELS \
((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
(1 << ADC1_SPARE_2_CHANNEL) | \
(1 << ADC_RSSI_IN_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
(1 << ADC_HW_VER_SENSE_CHANNEL) | \
(1 << ADC_HW_REV_SENSE_CHANNEL) | \
(1 << ADC1_SPARE_1_CHANNEL))
#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 0
#define ADC_CHANNELS \
((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
(1 << ADC1_SPARE_2_CHANNEL) | \
(1 << ADC_RSSI_IN_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
(1 << ADC_HW_VER_SENSE_CHANNEL) | \
(1 << ADC_HW_REV_SENSE_CHANNEL) | \
(1 << ADC1_SPARE_1_CHANNEL))
#endif
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
/* HW Version and Revision drive signals Default to 1 to detect */
#define BOARD_HAS_HW_VERSIONING
#define GPIO_HW_REV_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
#define HW_INFO_INIT_PREFIX "V5"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
#define V500 HW_VER_REV(0x0,0x0) // FMUV5, Rev 0
#define V515 HW_VER_REV(0x1,0x5) // CUAV V5, Rev 5
#define V540 HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3, Rev 0
#define V550 HW_VER_REV(0x5,0x0) // CUAV V5+, Rev 0
#define V552 HW_VER_REV(0x5,0x2) // CUAV V5+ ICM42688P, Rev 2
#define V560 HW_VER_REV(0x6,0x0) // CUAV V5nano with can 2, Rev 0
#define V562 HW_VER_REV(0x6,0x2) // CUAV V5nano ICM42688P, Rev 2
/* CAN Silence
*
* Silent mode control \ ESC Mux select
*/
#define GPIO_CAN1_SILENT_S0 /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
#define GPIO_CAN3_SILENT_S2 /* PH4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN4)
#define UAVCAN_NUM_IFACES_RUNTIME 1
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
/* PI0 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
* While armed it shall be configured at a GPIO OUT set LOW
*/
#define GPIO_nARMED_INIT /* PI0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
#define GPIO_nARMED /* PI0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)
/* For protected build, define the LOCKOUT_STATE macros as function calls */
#ifdef CONFIG_BUILD_FLAT
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
#else
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) boardctrl_indicate_external_lockout_state(enabled)
#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() boardctrl_get_external_lockout_state()
#endif
/* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 11
#define BOARD_HAS_LED_PWM 1
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
#define BOARD_HAS_UI_LED_PWM 1
#define BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW 1
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
#define GPIO_nPOWER_IN_B /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
#define GPIO_nPOWER_IN_C /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */
#define BOARD_NUMBER_BRICKS 2
#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */
#define GPIO_nVDD_5V_PERIPH_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
#define GPIO_nVDD_5V_PERIPH_OC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
#define GPIO_nVDD_5V_HIPOWER_EN /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
#define GPIO_nVDD_5V_HIPOWER_OC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
#define GPIO_VDD_3V3_SPEKTRUM_PASSIVE /* PE4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN4)
#define GPIO_VDD_5V_RC_EN /* PG5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
#define GPIO_VDD_5V_WIFI_EN /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
#define GPIO_VDD_3V3_SD_CARD_EN /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
/* Define True logic Power Control in arch agnostic form */
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
#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)
#define VDD_5V_RC_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
#define VDD_5V_WIFI_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true))
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
/* Tone alarm output */
#define TONE_ALARM_TIMER 9 /* timer 9 */
#define TONE_ALARM_CHANNEL 1 /* PE5 TIM9_CH1 */
#define GPIO_BUZZER_1 /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5)
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
#define GPIO_TONE_ALARM GPIO_TIM9_CH1OUT_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 */
#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS4"
#define RC_SERIAL_SINGLEWIRE
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
/* 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
/* Shared pins Both FMU and PX4IO control/monitor
* FMU Initializes these pins to passive input until it is known
* if we have and PX4IO on board
*/
#define GPIO_RSSI_IN /* PB0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
#define GPIO_RSSI_IN_INIT /* PB0 */ 0 /* Leave as ADC RSSI_IN */
/* Safety Switch is HW version dependent on having an PX4IO
* So we init to a benign state with the _INIT definition
* and provide the the non _INIT one for the driver to make a run time
* decision to use it.
*/
#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PE12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN12)
#define GPIO_nSAFETY_SWITCH_LED_OUT /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
#define GPIO_SAFETY_SWITCH_IN /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
/* 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)
#define SPEKTRUM_POWER_PASSIVE() px4_arch_configgpio(GPIO_VDD_3V3_SPEKTRUM_PASSIVE)
#define SPEKTRUM_POWER_CONFIG() px4_arch_configgpio(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
/*
* FMUv5 has a separate RC_IN
*
* GPIO PPM_IN on PI5 T8CH1
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
* In version 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_PORTI|GPIO_PIN5)
#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))
#define SDIO_SLOTNO 0 /* Only one slot */
#define SDIO_MINOR 0
/* SD card bringup does not work if performed on the IDLE thread because it
* will cause waiting. Use either:
*
* CONFIG_BOARDCTL=y, OR
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
*/
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
!defined(CONFIG_BOARD_INITTHREAD)
# warning SDIO initialization cannot be perfomed on the IDLE thread
#endif
/* 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))
#if BOARD_HAS_USB_VALID == 1
# define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
#else
# define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED
#endif
/* FMUv5 never powers odd the Servo rail */
#define BOARD_ADC_SERVO_VALID (1)
#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
# define BOARD_ADC_BRICK1_VALID (1)
# define BOARD_ADC_BRICK2_VALID (0)
#elif BOARD_HAS_LTC44XX_VALIDS == 1
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (0)
#elif BOARD_HAS_LTC44XX_VALIDS == 2
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
#elif BOARD_HAS_LTC44XX_VALIDS == 3
# 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_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
#elif BOARD_HAS_LTC44XX_VALIDS == 4
# 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_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
#else
# error Unsupported BOARD_HAS_LTC44XX_VALIDS value
#endif
#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 PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_HW_REV_DRIVE, \
GPIO_HW_VER_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_CAN3_TX, \
GPIO_CAN3_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_CAN3_SILENT_S2, \
GPIO_HEATER_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
GPIO_nVDD_5V_PERIPH_EN, \
GPIO_nVDD_5V_PERIPH_OC, \
GPIO_nVDD_5V_HIPOWER_EN, \
GPIO_nVDD_5V_HIPOWER_OC, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_VDD_5V_RC_EN, \
GPIO_VDD_5V_WIFI_EN, \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_RSSI_IN_INIT, \
GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
GPIO_SAFETY_SWITCH_IN, \
GPIO_nARMED_INIT, \
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_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL), \
PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA), \
PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
#define BOARD_NUM_IO_TIMERS 5
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************
* Name: stm32_sdio_initialize
*
* Description:
* Initialize SDIO-based MMC/SD card support
*
****************************************************************************/
int stm32_sdio_initialize(void);
/****************************************************************************************************
* 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 <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS
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