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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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116 lines
4.8 KiB
C
116 lines
4.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2020 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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* PX4FMUv4 internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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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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/* BUTTON *************************************************************************** */
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#define BUTTON_SAFETY /* PB3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)
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#define GPIO_RGB_S /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
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#define BOARD_SRGBLED_PORT STM32_GPIOB_ODR
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#define BOARD_SRGBLED_BIT 0
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/* CAN Silence
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*
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* Silent mode control \ ESC Mux select
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*/
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#define GPIO_CAN1_SILENT_S0 /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3)
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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 3 /* channel 1 */
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#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
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#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN10)
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/* High-resolution timer */
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#define HRT_TIMER 3 /* use timer 3 for the HRT */
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#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
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#define FLASH_BASED_PARAMS
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__BEGIN_DECLS
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#define BOARD_HAS_N_S_RGB_LED 8 /* Uses 8 SK6812 digital led chip */
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#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED
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/* USE_S_RGB_LED_DMAis passed in from the *.cmake file
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* Bootloader is not timming sensitive and can use the SW version as a
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* size savings
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* The Application can not as it needs DMA to maintain reall time.
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*/
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#if defined(USE_S_RGB_LED_DMA)
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# define S_RGB_LED_DMA DMAMAP_TIM1_CH2
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# define S_RGB_LED_TIMER 1 /* timer 1 */
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# define S_RGB_LED_CHANNEL 2 /* channel 2 */
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# define S_RGB_LED_CHANNELN 1 /* channel 2N */
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# define S_RGB_LED_TIM_GPIO GPIO_TIM1_CH2N_1
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#endif
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#ifndef __ASSEMBLY__
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/****************************************************************************************************
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* Public Functions
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****************************************************************************************************/
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/****************************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4FMU board.
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*
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****************************************************************************************************/
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extern void stm32_spiinitialize(void);
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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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