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PX4-Autopilot/boards/cuav/7-nano/src/board_config.h
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/****************************************************************************
*
* Copyright (c) 2024 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
*
* CUAV 7-Nano internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
#undef TRACE_PINS
// /* Configuration ************************************************************************************/
/* 7-Nano GPIOs ***********************************************************************************/
/* LEDs */
# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
# define BOARD_HAS_CONTROL_STATUS_LEDS 1
# define BOARD_OVERLOAD_LED LED_RED
# define BOARD_ARMED_STATE_LED LED_BLUE
/* CAN Silence Silent mode control */
#define GPIO_CAN1_SILENT_S0 /* PE2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN2)
#define GPIO_CAN2_SILENT_S1 /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN8)
/* SPI */
#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
/* I2C busses */
#define BOARD_MTD_NUM_EEPROM 1 /* imu_eeprom */
#define GPIO_I2C4_DRDY1_ICP20100 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
/*
* 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)
/* N.B. there is no offset mapping needed for ADC3 because */
#define ADC3_CH(n) (n)
/* We are only use ADC3 for REV/VER.
* ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
* To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
* respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
* PA0SO of 0.
*
* 0 Analog switch closed (pads are connected through the analog switch)
*
* So ADC3_INP0 is GPIO_ADC123_INP12
* ADC3_INP1 is GPIO_ADC12_INP13
*/
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
#define PX4_ADC_GPIO \
/* PA0 */ GPIO_ADC1_INP16, \
/* PA4 */ GPIO_ADC12_INP18, \
/* PB0 */ GPIO_ADC12_INP9, \
/* PB1 */ GPIO_ADC12_INP5, \
/* PC0 */ GPIO_ADC123_INP10, \
/* PC2 */ GPIO_ADC123_INP12, \
/* PC3 */ GPIO_ADC12_INP13, \
/* PF12 */ GPIO_ADC1_INP6, \
/* PH3 */ GPIO_ADC3_INP14, \
/* PH4 */ GPIO_ADC3_INP15
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* PA0 */ ADC1_CH(16)
#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL /* PA4 */ ADC1_CH(18)
#define ADC_BATTERY_CURRENT_CHANNEL /* PB0 */ ADC1_CH(9)
#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5)
#define ADC_RSSI_IN_CHANNEL /* PC0 */ ADC1_CH(10)
#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC2 */ ADC1_CH(12)
#define ADC_ADC3_3V3_CHANNEL /* PC3 */ ADC1_CH(13)
#define ADC_SERVO_VDD_SENSORS_CHANNEL /* PF12 */ ADC1_CH(6)
#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14)
#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15)
#define ADC_CHANNELS \
((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
(1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_RSSI_IN_CHANNEL) | \
(1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
(1 << ADC_ADC3_3V3_CHANNEL) | \
(1 << ADC_SERVO_VDD_SENSORS_CHANNEL))
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
#define SYSTEM_ADC_BASE STM32_ADC1_BASE
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
// #define UAVCAN_NUM_IFACES_RUNTIME 1
/* PE7 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
*/
#if !defined(TRACE_PINS)
#define GPIO_nARMED_INIT /* PE7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN7)
#define GPIO_nARMED /* PE7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN7)
#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)
#endif
/* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 14
/* PWM Power */
#define GPIO_PWM_LEVEL_CONTROL /* PG8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
#define VDD_5V_PWM_EN(on_true) px4_arch_gpiowrite(GPIO_PWM_LEVEL_CONTROL, (on_true))
/* Power supply control and monitoring GPIOs */
#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN13)
#define GPIO_VDD_5V_PERIPH_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
#define GPIO_VDD_PWM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_VDD_5V_HIPOWER_EN /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET| GPIO_PORTG|GPIO_PIN10)
/* ETHERNET GPIO */
#define GPIO_ETH_POWER_EN /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15)
/* Define True logic Power Control in arch agnostic form */
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_EN, (on_true))
#define VDD_PWM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_PWM_POWER_EN, (on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true))
#define VDD_3V3_ETH_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
/* Tone alarm output */
#define TONE_ALARM_TIMER 14 /* Timer 14 */
#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */
#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
#define GPIO_TONE_ALARM GPIO_TIM14_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 3 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 3 */
#define HRT_PPM_CHANNEL /* T3C1 */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PC6 T8C1 */ GPIO_TIM3_CH1IN_3
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS4"
#define RC_SERIAL_SINGLEWIRE
/* Input Capture Channels. */
#define INPUT_CAP1_TIMER 8
#define INPUT_CAP1_CHANNEL 2 /* T8C2 */
#define GPIO_INPUT_CAP1 GPIO_TIM8_CH2IN_2 /* PI6 */
#define INPUT_CAP2_TIMER 8
#define INPUT_CAP2_CHANNEL 3 /* T8C3 */
#define GPIO_INPUT_CAP2 GPIO_TIM8_CH3IN_2 /* PI7 */
#define INPUT_CAP3_TIMER 8
#define INPUT_CAP3_CHANNEL 1 /* T8C1 */
#define GPIO_INPUT_CAP3 GPIO_TIM8_CH1IN_2 /* PI5 */
#define INPUT_CAP4_TIMER 15
#define INPUT_CAP4_CHANNEL 2 /* T4C1 */
#define GPIO_INPUT_CAP4 GPIO_TIM4_CH1IN_2 /* PD12 */
#define INPUT_CAP5_TIMER 12
#define INPUT_CAP5_CHANNEL 1 /* T12C1 */
#define GPIO_INPUT_CAP5 GPIO_TIM12_CH1IN_2 /* PH6 */
#define INPUT_CAP6_TIMER 12
#define INPUT_CAP6_CHANNEL 2 /* T12C2 */
#define GPIO_INPUT_CAP6 GPIO_TIM12_CH2IN_2 /* PH9 */
/* 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
/* 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 /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
#define GPIO_nSAFETY_SWITCH_LED_OUT /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* 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 /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5)
/* 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)
/*
* 7-nano has a separate RC_IN
*
* GPIO PPM_IN on PI5 T8CH1
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
* Inversion 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_PORTC|GPIO_PIN6)
#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))
// /* RSSI_IN */
#define GPIO_RSSI_IN /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
#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))
#define BOARD_ADC_BRICK_VALID 1
#define BOARD_NUMBER_BRICKS 1
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
/* 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_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_VDD_5V_PERIPH_nOC, \
GPIO_VDD_5V_HIPOWER_nOC, \
GPIO_VDD_5V_PERIPH_EN, \
GPIO_VDD_PWM_POWER_EN, \
GPIO_VDD_5V_HIPOWER_EN, \
GPIO_ETH_POWER_EN, \
SPI6_nRESET_EXTERNAL1, \
GPIO_TONE_ALARM_IDLE, \
GPIO_nSAFETY_SWITCH_LED_OUT, \
GPIO_SAFETY_SWITCH_IN, \
GPIO_nARMED, \
GPIO_PWM_LEVEL_CONTROL, \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
#define PX4_I2C_BUS_MTD 1
#define BOARD_NUM_IO_TIMERS 6
__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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