mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 04:13:34 +08:00
Alex Klimaj
b482986e8e
- adds functionality to enable the built in can termination on the ARK cannodes
88 lines
3.6 KiB
C
88 lines
3.6 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2021 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
|
|
*
|
|
* board internal definitions
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <nuttx/compiler.h>
|
|
#include <stdint.h>
|
|
|
|
/* CAN Silent mode control */
|
|
#define GPIO_CAN1_SILENT_S0 /* PA9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN9)
|
|
|
|
/* CAN termination software control */
|
|
#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
|
|
#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION
|
|
|
|
/* Boot config */
|
|
#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
|
|
|
|
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
|
#define GPIO_nLED_RED /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
|
|
#define GPIO_nLED_BLUE /* PA8 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
|
|
|
|
#define BROADCOM_AFBR_S50_S2PI_SPI_BUS 2
|
|
#define BROADCOM_AFBR_S50_S2PI_CS /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
|
|
#define BROADCOM_AFBR_S50_S2PI_IRQ /* PB4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI)
|
|
#define BROADCOM_AFBR_S50_S2PI_CLK /* PB10 */ GPIO_SPI2_SCK_1
|
|
#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */ GPIO_SPI2_MOSI_1
|
|
#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */ GPIO_SPI2_MISO_1
|
|
|
|
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
|
#define BOARD_OVERLOAD_LED LED_RED
|
|
#define BOARD_ARMED_STATE_LED LED_BLUE
|
|
|
|
#define FLASH_BASED_PARAMS
|
|
|
|
/* High-resolution timer */
|
|
#define HRT_TIMER 3 /* use timer 3 for the HRT */
|
|
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
|
|
|
|
__BEGIN_DECLS
|
|
|
|
#ifndef __ASSEMBLY__
|
|
|
|
extern void stm32_spiinitialize(void);
|
|
|
|
#include <px4_platform_common/board_common.h>
|
|
|
|
#endif /* __ASSEMBLY__ */
|
|
|
|
__END_DECLS
|