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PX4-Autopilot/boards/nxp/fmuk66-e/src/board_config.h
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/****************************************************************************
*
* Copyright (c) 2013-2018 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
*
* NXP fmuk66-e internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
__BEGIN_DECLS
/* these headers are not C++ safe */
#include <kinetis.h>
#include <hardware/kinetis_pinmux.h>
#include <arch/board/board.h>
__END_DECLS
/* FMUK66 GPIOs ***********************************************************************************/
/* LEDs */
/* An RGB LED is connected through GPIO as shown below:
* TBD (no makring on schematic)
* LED K66
* ------ -------------------------------------------------------
* RED FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
* GREEN FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
* BLUE CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
*/
#define GPIO_LED_R (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTD | PIN1)
#define GPIO_LED_G (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN9)
#define GPIO_LED_B (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN8)
#define GPIO_LED_1 (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN13)
#define GPIO_LED_2 (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN14)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1 // Use D9 and D10
#define BOARD_OVERLOAD_LED LED_AMBER
#define BOARD_ARMED_STATE_LED LED_GREEN
#define GPIO_NFC_IO (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN26)
#define GPIO_SENSOR_P_EN (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN8)
/* UART tty Mapping
* Device tty alt Connector Name
* ------- ---------- -------------- --------- -------------------------
* LPUART0 /dev/tty0 /dev/console J16 DCD-Mini
* UART0 /dev/tty1 --- J7 SERIAL 2 / TELEMETRY 2 / IRDA
* UART1 /dev/tty2 --- J15 SERIAL4/FrSky, RC_IN
* UART2 /dev/tty3 --- J3 GPS connector
* UART4 /dev/tty4 --- J10 SERIAL 1 / TELEMETRY 1
*/
/* High-resolution timer */
#define HRT_TIMER 1 /* TPM1 timer for the HRT */
#define HRT_TIMER_CHANNEL 0 /* Use capture/compare channel 0 */
/* PPM IN
*/
#define HRT_PPM_CHANNEL 1 /* Use TPM1 capture/compare channel 1 */
#define GPIO_PPM_IN PIN_TPM1_CH1_1 /* PTC3 USART1 RX and PTA9 and PIN_TPM1_CH1 AKA FrSky_IN_RC_IN */
/*
*
* NXP fmuk66-e has separate RC_IN
*
* GPIO PPM_IN on PTA9 PIN_TPM1_CH1 and PCT3 USART1 RX
* SPEKTRUM_RX (it's TX or RX in Bind) on PCT3 USART1 RX
* Inversion is possible the UART
* The FMU can drive GPIO PPM_IN as an output
*/
/* Spektrum controls ******************************************************/
/* Power is a p-Channel FET */
#define GPIO_SPEKTRUM_P_EN (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN7)
/* For binding the Spektrum 3-pin interfaces is used with it TX (output)
* as an input Therefore we drive are UARTx_RX (normaly an input) as an
* output
*/
#define GPIO_PPM_IN_AS_OUT (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN3)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(PIN_UART1_RX)
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
/* RC input */
#define RC_SERIAL_PORT "/dev/ttyS2" /* UART1 */
#define GPIO_RSSI_IN PIN_ADC1_SE13
/* Ethernet Control
*
* Uninitialized to Reset Disabled and Inhibited
* All pins driven low to not back feed when power is off
*/
#define nGPIO_ETHERNET_P_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTE | PIN10)
#define GPIO_ENET_RST (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN28)
#define GPIO_ENET_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN29)
#define GPIO_ENET_INH (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN8)
/* CAN Control
* Control pin S allows two operating modes to be selected:
* high-speed mode (Low) or silent mode (high)
*/
#define GPIO_CAN0_STB (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTC | PIN19)
#define GPIO_CAN1_STB (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTC | PIN18)
/* Safety Switch
* TBD
*/
#define GPIO_LED_SAFETY (GPIO_HIGHDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTC | PIN0)
#define GPIO_BTN_SAFETY (GPIO_PULLUP | PIN_PORTE | PIN28)
/* NXP FMUK66-E GPIOs ****************************************************************/
/* SDHC
*
* A micro Secure Digital (SD) card slot is available on the board connected to
* the SD Host Controller (SDHC) signals of the MCU. This slot will accept micro
* format SD memory cards. The SD card detect pin (PTE6) is an open switch that
* shorts with VDD when card is inserted.
*
* ------------ ------------- --------
* SD Card Slot Board Signal K66 Pin
* ------------ ------------- --------
* DAT0 SDHC0_D0 PTE1
* DAT1 SDHC0_D1 PTE0
* DAT2 SDHC0_D2 PTE5
* CD/DAT3 SDHC0_D3 PTE4
* CMD SDHC0_CMD PTE3
* CLK SDHC0_DCLK PTE2
* SWITCH D_CARD_DETECT PTD10
* CAED_P_EN PTD6
* ------------ ------------- --------
*
* There is no Write Protect pin available to the K66
*/
#define nVDD_3V3_SD_CARD_EN (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN25)
/* SE050 Secure Element */
#define SE050_ENA (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN24)
#define SE050_RST_N (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN11)
//#define GPIO_SD_CARDDETECT (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTD | PIN10)
/* SPI device reset signals
* In Active state
*/
/* Sensor interrupts */
#define GPIO_nSPI1_DRDY1_BMI1088_ACCEL_INT1 (GPIO_PULLUP | PIN_INT_FALLING | PIN_PORTD | PIN12)
#define GPIO_nSPI1_DRDY2_BMI1088_GYRO_INT2 (GPIO_PULLUP | PIN_INT_FALLING | PIN_PORTE | PIN7)
#define GPIO_nSPI1_DRDY3_ICM42688_INT1 (GPIO_PULLUP | PIN_INT_FALLING | PIN_PORTE | PIN9)
/*
* 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. ADC1 has 32 channels, with some a/b selection overlap
* in the AD4-AD7 range on the same ADC.
*
* Only ADC1 is used
* Bits 31:0 are ADC1 channels 31:0
*/
#define ADC1_CH(c) (((c) & 0x1f)) /* Define ADC number Channel number */
#define ADC1_GPIO(n) PIN_ADC1_SE##n
/* ADC defines to be used in sensors.cpp to read from a particular channel */
#define ADC_USB_VBUS_VALID ADC1_CH(0) /* USB_VBUS_VALID 29 - ADC1_DP0 */
#define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(10) /* BAT_VSENS 85 PTB4 ADC1_SE10 */
#define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(11) /* BAT_ISENS 86 PTB5 ADC1_SE11 */
#define ADC_5V_RAIL_SENSE ADC1_CH(12) /* 5V_VSENS 87 PTB6 ADC1_SE12 */
#define ADC_RSSI_IN ADC1_CH(13) /* RSSI_IN 88 PTB7 ADC1_SE13 */
#define ADC_AD1 ADC1_CH(16) /* AD1 35 - ADC1_SE16 */
#define ADC_AD2 ADC1_CH(18) /* AD2 37 - ADC1_SE18 */
#define ADC_AD3 ADC1_CH(23) /* AD3 39 - ADC1_SE23 */
/* Mask use to initialize the ADC driver */
#define ADC_CHANNELS ((1 << ADC_USB_VBUS_VALID) | \
(1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
(1 << ADC_5V_RAIL_SENSE) | \
(1 << ADC_RSSI_IN) | \
(1 << ADC_AD1) | \
(1 << ADC_AD2) | \
(1 << ADC_AD3))
/* GPIO that require Configuration */
#define PX4_ADC_GPIO \
/* PTB4 ADC1_SE10 */ ADC1_GPIO(10), \
/* PTB5 ADC1_SE11 */ ADC1_GPIO(11), \
/* PTB6 ADC1_SE12 */ ADC1_GPIO(12), \
/* PTB7 ADC1_SE13 */ ADC1_GPIO(13)
/* User GPIOs
*
*/
/* Timer I/O PWM and capture
*
* 14 PWM outputs are configured.
* 14 Timer inputs are configured.
*
* Pins:
* Defined in board.h
*/
// todo:Design this!
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define GPIO_ULTRASOUND_TRIGGER /* PTD0 */ (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
#define GPIO_ULTRASOUND_ECHO /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)
/* Power supply control and monitoring GPIOs */
// None
#define GPIO_PERIPH_3V3_EN 0
/* Tone alarm output PTA11 - TMP 2_CH1 is On +P12-4, -P12-5
* It is driving a NPN
*/
#define TONE_ALARM_TIMER 2 /* timer */
#define TONE_ALARM_CHANNEL 1 /* channel */
#define GPIO_TONE_ALARM_IDLE (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN11)
#define GPIO_TONE_ALARM (PIN_TPM2_CH1_1)
/* USB
*
* VBUS detection is on 29 ADC_DPM0 and PTE8
*/
#define GPIO_USB_VBUS_VALID /* PTE8 */ (GPIO_PULLUP | PIN_PORTE | PIN8)
/* PWM input driver. Use FMU PWM14 pin
* todo:desing this
*/
#define PWMIN_TIMER 0
#define PWMIN_TIMER_CHANNEL 2
#define GPIO_PWM_IN GPIO_FTM0_CH2IN
/* Define True logic Power Control in arch agnostic form */
#define VDD_ETH_EN(on_true) px4_arch_gpiowrite(nGPIO_ETHERNET_P_EN, !(on_true))
// Do not have #define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
// Do not have #define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(on_true))
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_SENSOR_P_EN, (on_true))
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_P_EN, !(on_true))
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_SPEKTRUM_P_EN)
// Do not have #define VDD_5V_RC_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
// Do not have #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(nVDD_3V3_SD_CARD_EN, !(on_true))
/* Map to control term used in RC lib */
#define SPEKTRUM_POWER(on_true) VDD_3V3_SPEKTRUM_POWER_EN((on_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_USB_VBUS_VALID))
#define BOARD_ADC_BRICK_VALID (1)
#define BOARD_ADC_SERVO_VALID (1)
#define BOARD_ADC_PERIPH_5V_OC (0)
#define BOARD_ADC_HIPOWER_5V_OC (0)
#define BOARD_HAS_LED_PWM 1
#define LED_TIM3_CH1OUT /* PTD1 RGB_R */ PIN_FTM3_CH1_1
#define LED_TIM3_CH5OUT /* PTC9 RGB_G */ PIN_FTM3_CH5_1
#define LED_TIM3_CH4OUT /* PTC8 RGB_B */ PIN_FTM3_CH4_1
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 2048
/* This board provides the board_on_reset interface */
#define BOARD_HAS_ON_RESET 1
#define PX4_GPIO_INIT_LIST { \
GPIO_LED_R, \
GPIO_LED_G, \
GPIO_LED_B, \
GPIO_SENSOR_P_EN, \
nVDD_3V3_SD_CARD_EN, \
nGPIO_ETHERNET_P_EN, \
GPIO_SPEKTRUM_P_EN, \
SE050_ENA, \
SE050_RST_N, \
PX4_ADC_GPIO, \
GPIO_USB_VBUS_VALID, \
GPIO_ENET_RST, \
GPIO_ENET_EN, \
GPIO_ENET_INH, \
PIN_CAN0_RX, \
PIN_CAN0_TX, \
PIN_CAN1_RX, \
PIN_CAN1_TX, \
GPIO_CAN0_STB, \
GPIO_CAN1_STB, \
GPIO_BTN_SAFETY, \
GPIO_TONE_ALARM_IDLE, \
GPIO_NFC_IO, \
GPIO_LED_1, \
GPIO_LED_2 \
}
/* Automounter */
#define HAVE_MMCSD 1
#define HAVE_AUTOMOUNTER 1
#if !defined(CONFIG_FS_AUTOMOUNTER) || !defined(HAVE_MMCSD)
# undef HAVE_AUTOMOUNTER
# undef CONFIG_FMUK66_SDHC_AUTOMOUNT
#endif
#ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT
# undef HAVE_AUTOMOUNTER
#endif
/* Automounter defaults */
#ifdef HAVE_AUTOMOUNTER
# ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_FSTYPE
# define CONFIG_FMUK66_SDHC_AUTOMOUNT_FSTYPE "vfat"
# endif
# ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_BLKDEV
# define CONFIG_FMUK66_SDHC_AUTOMOUNT_BLKDEV "/dev/mmcds0"
# endif
# ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_MOUNTPOINT
# define CONFIG_FMUK66_SDHC_AUTOMOUNT_MOUNTPOINT "/mnt/sdcard"
# endif
# ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_DDELAY
# define CONFIG_FMUK66_SDHC_AUTOMOUNT_DDELAY 1000
# endif
# ifndef CONFIG_FMUK66_SDHC_AUTOMOUNT_UDELAY
# define CONFIG_FMUK66_SDHC_AUTOMOUNT_UDELAY 2000
# endif
#endif /* HAVE_AUTOMOUNTER */
#define BOARD_HAS_NOISY_FXOS8700_MAG 1 // Disable internal MAG
#define BOARD_NUM_IO_TIMERS 3
/************************************************************************************
* Public data
************************************************************************************/
__BEGIN_DECLS
#ifndef __ASSEMBLY__
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: fmuk66_spidev_initialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the NXP FMUK66-E board.
*
************************************************************************************/
void fmuk66_spidev_initialize(void);
/************************************************************************************
* Name: fmuk66_spi_bus_initialize
*
* Description:
* Called to configure SPI Buses.
*
************************************************************************************/
int fmuk66_spi_bus_initialize(void);
/****************************************************************************************************
* Name: board_spi_reset board_peripheral_reset
*
* Description:
* Called to reset SPI and the perferal bus
*
****************************************************************************************************/
void board_peripheral_reset(int ms);
/************************************************************************************
* Name: fmuk66_bringup
*
* Description:
* Bring up board features
*
************************************************************************************/
#if defined(CONFIG_BOARDCTL) || defined(CONFIG_BOARD_INITIALIZE)
int fmuk66_bringup(void);
#endif
/****************************************************************************
* Name: fmuk66_sdhc_initialize
*
* Description:
* Inititialize the SDHC SD card slot
*
****************************************************************************/
int fmuk66_sdhc_initialize(void);
/************************************************************************************
* Name: fmuk66_cardinserted
*
* Description:
* Check if a card is inserted into the SDHC slot
*
************************************************************************************/
#ifdef HAVE_AUTOMOUNTER
bool fmuk66_cardinserted(void);
#else
# define fmuk66_cardinserted() (false)
#endif
/************************************************************************************
* Name: fmuk66_writeprotected
*
* Description:
* Check if the card in the MMC/SD slot is write protected
*
************************************************************************************/
#ifdef HAVE_AUTOMOUNTER
bool fmuk66_writeprotected(void);
#else
# define fmuk66_writeprotected() (false)
#endif
/************************************************************************************
* Name: fmuk66_automount_initialize
*
* Description:
* Configure auto-mounter for the configured SDHC slot
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
************************************************************************************/
#ifdef HAVE_AUTOMOUNTER
void fmuk66_automount_initialize(void);
#endif
/************************************************************************************
* Name: fmuk66_automount_event
*
* Description:
* The SDHC card detection logic has detected an insertion or removal event. It
* has already scheduled the MMC/SD block driver operations. Now we need to
* schedule the auto-mount event which will occur with a substantial delay to make
* sure that everything has settle down.
*
* Input Parameters:
* inserted - True if the card is inserted in the slot. False otherwise.
*
* Returned Value:
* None
*
* Assumptions:
* Interrupts are disabled.
*
************************************************************************************/
#ifdef HAVE_AUTOMOUNTER
void fmuk66_automount_event(bool inserted);
#endif
/************************************************************************************
* Name: fmuk66_timer_initialize
*
* Description:
* Called to configure the FTM to provide 1 Mhz
*
************************************************************************************/
void fmuk66_timer_initialize(void);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS
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