mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-03 04:51:37 +08:00
Thomas Watson
d390e6d46d
This corrects the board definition to use the proper polarity for the brick power valid signal, thus allowing the board to detect the battery and monitor it properly.
183 lines
7.7 KiB
C
183 lines
7.7 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2020-2021 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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* Board internal definitions
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*/
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#pragma once
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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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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
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#define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
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#define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
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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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/* ADC channels */
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#define PX4_ADC_GPIO \
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/* PA2 */ GPIO_ADC12_INP14, \
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/* PA3 */ GPIO_ADC12_INP15, \
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/* PA4 */ GPIO_ADC12_INP18, \
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/* PC1 */ GPIO_ADC123_INP11
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/* Define Channel numbers must match above GPIO pins */
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#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */
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#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */
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#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */
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#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_RC_RSSI_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 BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* CAN Silence: Silent mode control */
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#define GPIO_CAN1_SILENT_S0 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11)
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#define GPIO_CAN2_SILENT_S0 /* PF14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN14)
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#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
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#define GPIO_PWM_VOLT_SEL /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
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/* PWM */
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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/* Power supply control and monitoring GPIOs */
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#define GPIO_POWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_VDD_BRICK1_VALID GPIO_POWER_IN_A /* Brick 1 Is Chosen */
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#define BOARD_NUMBER_BRICKS 1
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#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
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/* Define True logic Power Control in arch agnostic form */
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#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
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#define READ_VDD_3V3_SPEKTRUM_POWER_EN() (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
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/* Tone alarm output */
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#define TONE_ALARM_TIMER 2 /* timer 2 */
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#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */
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#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) // ALARM
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
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#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
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/* USB OTG FS */
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#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_OPENDRAIN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer */
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#define HRT_TIMER 3 /* use timer3 for the HRT */
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#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
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#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */
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#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS4"
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#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
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#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
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/* Power switch controls ******************************************************/
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#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
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/*
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* Board has a separate RC_IN
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*
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* GPIO PPM_IN on PB0 T3CH3
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* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
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* Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
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*/
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#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
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#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
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#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
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#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
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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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#define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED
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#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
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#define BOARD_NUM_IO_TIMERS 3
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
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#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define PX4_GPIO_INIT_LIST { \
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PX4_ADC_GPIO, \
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GPIO_CAN1_TX, \
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GPIO_CAN1_RX, \
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GPIO_CAN2_TX, \
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GPIO_CAN2_RX, \
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GPIO_CAN1_SILENT_S0, \
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GPIO_CAN2_SILENT_S0, \
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GPIO_LEVEL_SHIFTER_OE, \
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GPIO_PWM_VOLT_SEL, \
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GPIO_POWER_IN_A, \
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GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
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GPIO_TONE_ALARM_IDLE, \
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GPIO_OTGFS_VBUS, \
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}
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__BEGIN_DECLS
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#ifndef __ASSEMBLY__
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extern void stm32_spiinitialize(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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