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PX4-Autopilot/boards/ark/fpv/src/board_config.h
T
Jacob DahlJulian Oesalexklimaj
 543851db50 [Sponsored by ARK] Bidirectional DShot (#23863) 
* Bidirectional DShot

Co-authored-by: Julian Oes <julian@oes.ch>

* f4/f1 support, not supported

* fix f1 build target

* sanity check timer_channel value, fix CCxNP ifdef, debug stuff

* removed debug code, added define for H7 HAVE_GTIM_CCXNP

* round robin sampling for less than 4 DMA

* unlimited esc_status logging

* dshot: fix formatting

* dshot: add define for number of DMA channels to use

This allows individual boards to override the number of DShot channels
and hence avoid round robin capture of the RPM feedback.

* ARK: enable 4 DMA channels for DShot on 6X

* dshot: publish when all channels are updated

This slows down the ESC_STATUS publication in the case of round robin
capture. E.g. for 800 Hz output with one DMA channel, the ESC_STATUS is
now published at 200 Hz.

* dshot: avoid duplicate publications for bidir and telem

Instead of publishing both bidirectional dshot updates as well as
telemetry updates, we now combine the data from both streams, and
publish whenever we get RPM updates, as the latter arrives with higher
rate, e.g. 200 Hz with round robin, or faster otherwise.

When combining the data, we take RPM from bidirectional dshot, and the
rest from telemetry.

When we have only one of the two, either telemetry or bidirectional
dshot, we just publish that one.

* boards: add ark fpv and pi6x BOARD_DMA_NUM_DSHOT_CHANNELS

* dshot: turn off debug build

---------

Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: alexklimaj <alex@arkelectron.com>
2025-03-12 12:55:15 -06:00

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/****************************************************************************
*
* Copyright (c) 2016-2024 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
*
* ARK FPV 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 ************************************************************************************/
# define BOARD_HAS_USB_VALID 1
# define BOARD_HAS_NBAT_V 1
# define BOARD_HAS_NBAT_I 1
/* PX4FMU GPIOs ***********************************************************************************/
/* Trace Clock and D0-D3 are available on the trace connector
*
* TRACECLK PE2 - Dedicated - Trace Connector Pin 1
* TRACED0 PE3 - nLED_RED - Trace Connector Pin 3
* TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5
* TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7
* TRACED3 PE6 - nARMED - Trace Connector Pin 8
*/
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
#if !defined(TRACE_PINS)
# 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
#else
# define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
# define GPIO_TRACED0 (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
# define GPIO_TRACED1 (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
# define GPIO_TRACED2 (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
# define GPIO_TRACED3 (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL) //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
//#define GPIO_TRACESWO //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
# undef BOARD_HAS_CONTROL_STATUS_LEDS
# undef BOARD_OVERLOAD_LED
# undef BOARD_ARMED_STATE_LED
# define GPIO_nLED_RED GPIO_TRACED0
# define GPIO_nLED_GREEN GPIO_TRACED1
# define GPIO_nLED_BLUE GPIO_TRACED2
# define GPIO_nARMED GPIO_TRACED3
# define GPIO_nARMED_INIT GPIO_TRACED3
#endif
/* SPI */
#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
#define SPI6_RESET(on_true) px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))
/* I2C busses */
/* Devices on the onboard buses.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_SE050 0x48
/*
* 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, \
/* 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_BATTERY_VOLTAGE_CHANNEL /* PB0 */ ADC1_CH(9)
#define ADC_BATTERY_CURRENT_CHANNEL /* PC2 */ ADC3_CH(12)
#define ADC_SCALED_12V_CHANNEL /* PA4 */ ADC1_CH(18)
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PA0 */ ADC1_CH(16)
#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5)
#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_BATTERY_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_SCALED_12V_CHANNEL))
#define BOARD_BATTERY1_V_DIV (21.0f) // (20k + 1k) / 1k = 21
#define BOARD_BATTERY_ADC_VOLTAGE_FILTER_S 0.075f
#define BOARD_BATTERY_ADC_CURRENT_FILTER_S 0.125f
#define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_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)
/* HW Version and Revision drive signals Default to 1 to detect */
#define BOARD_HAS_HW_SPLIT_VERSIONING
#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 HW_INFO_INIT_PREFIX "ARKFPV"
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
// Base/FMUM
#define ARKFPV_0 HW_FMUM_ID(0x0) // ARKFPV, Sensor Set Rev 0
#define ARKFPV_1 HW_FMUM_ID(0x1) // ARKFPV, Sensor Set Rev 1
#define UAVCAN_NUM_IFACES_RUNTIME 1
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
/* PE6 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 /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
#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 9
#define GPIO_FMU_CH1 /* PI0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
#define GPIO_FMU_CH2 /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
#define GPIO_FMU_CH3 /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
#define GPIO_FMU_CH4 /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
#define GPIO_FMU_CH5 /* PI5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN5)
#define GPIO_FMU_CH6 /* PI6 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN6)
#define GPIO_FMU_CH7 /* PI7 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN7)
#define GPIO_FMU_CH8 /* PI2 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN2)
#define GPIO_FMU_CH9 /* PD12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN12)
#define GPIO_SPIX_SYNC /* PE9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
/* Power supply control and monitoring GPIOs */
#define GPIO_VDD_5V_PGOOD /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
#define GPIO_VDD_12V_PGOOD /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
#define GPIO_5V_ON_BATTERY /* PG1 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTG|GPIO_PIN1)
#define GPIO_VDD_12V_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN4)
#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
#define BOARD_NUMBER_BRICKS 1
/* 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 PAYLOAD_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_12V_EN, (on_true))
/* 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)
#define FLASH_BASED_PARAMS
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer3 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS4"
/* 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
#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))
/* ARKFPV never powers off the Servo rail */
#define BOARD_ADC_SERVO_VALID (1)
#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_5V_PGOOD))
#define BOARD_GPIO_PAYOLOAD_V_VALID (px4_arch_gpioread(GPIO_VDD_12V_PGOOD))
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
/* This board has 3 DMA channels available for bidirectional dshot */
#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
/* This board provides the board_on_reset interface */
#define BOARD_HAS_ON_RESET 1
#if defined(TRACE_PINS)
#define GPIO_TRACE \
GPIO_TRACECLK1, \
GPIO_TRACED0, \
GPIO_TRACED1, \
GPIO_TRACED2, \
GPIO_TRACED3
#else
#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
#endif
#define PX4_GPIO_INIT_LIST { \
GPIO_TRACE, \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_VDD_5V_PGOOD, \
GPIO_VDD_12V_PGOOD, \
GPIO_VDD_12V_EN, \
GPIO_5V_ON_BATTERY, \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_nARMED_INIT, \
SPI6_nRESET_EXTERNAL1, \
GPIO_FMU_CH1, \
GPIO_FMU_CH2, \
GPIO_FMU_CH3, \
GPIO_FMU_CH4, \
GPIO_FMU_CH5, \
GPIO_FMU_CH6, \
GPIO_FMU_CH7, \
GPIO_FMU_CH8, \
GPIO_FMU_CH9, \
GPIO_SPIX_SYNC \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
#define BOARD_NUM_IO_TIMERS 3
#define BOARD_SPIX_SYNC_FREQ 32000
__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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