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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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321 lines
11 KiB
C
321 lines
11 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2018, 2014 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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* omnibusf4sd 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_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* Configuration ************************************************************************************/
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/* omnibusf4sd GPIOs ***********************************************************************************/
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/* LEDs */
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// power - green
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// LED1 - PB5 - blue
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_LED_BLUE GPIO_LED1
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#define BOARD_OVERLOAD_LED LED_BLUE
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#define FLASH_BASED_PARAMS
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/*
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
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*/
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#define ADC_CHANNELS (1 << 0) | (1 << 11) | (1 << 12)
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#define ADC_BATTERY_VOLTAGE_CHANNEL 12
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#define ADC_BATTERY_CURRENT_CHANNEL 11
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#define ADC_RC_RSSI_CHANNEL 0
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/* Define Battery 1 Voltage Divider and A per V
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*/
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#define BOARD_BATTERY1_V_DIV (11.12f)
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#define BOARD_BATTERY1_A_PER_V (31.f)
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/* User GPIOs
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*
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* GPIO0-5 are the PWM servo outputs.
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* GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1 //PB0 S1_OUT D1_ST7
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* GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1 //PB1 S2_OUT D1_ST2
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* GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 //PA3 S3_OUT D1_ST6
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* GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 //PA2 S4_OUT D1_ST1
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* GPIO_TIM5_CH2OUT GPIO_TIM5_CH2OUT_1 //PA1 S5_OUT
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* GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 //PA8 S6_OUT
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*/
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#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
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#define GPIO_GPIO0_INPUT _MK_GPIO_INPUT(GPIO_TIM3_CH3IN)
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#define GPIO_GPIO1_INPUT _MK_GPIO_INPUT(GPIO_TIM3_CH4IN)
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#define GPIO_GPIO2_INPUT _MK_GPIO_INPUT(GPIO_TIM2_CH4IN)
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#define GPIO_GPIO3_INPUT _MK_GPIO_INPUT(GPIO_TIM2_CH3IN)
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//#define GPIO_GPIO4_INPUT _MK_GPIO_INPUT(GPIO_TIM5_CH2IN)
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//#define GPIO_GPIO5_INPUT _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
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#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
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#define GPIO_GPIO0_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM3_CH3OUT)
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#define GPIO_GPIO1_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM3_CH4OUT)
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#define GPIO_GPIO2_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM2_CH4OUT)
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#define GPIO_GPIO3_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM2_CH3OUT)
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//#define GPIO_GPIO4_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT)
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//#define GPIO_GPIO5_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
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/*----------------------------------------------------------*/
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/* OMNIBUSF4SD SPI chip selects and DRDY */
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/*----------------------------------------------------------*/
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/* SPI chip selects */
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/*
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* Define the Chip Selects for SPI1
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*
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* MPU6000: PA4
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*
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*/
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#define GPIO_SPI_CS_MEMS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
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/*
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* Define the Chip Selects for SPI2
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*
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* SD Card: PB12
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*
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*/
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#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
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/*
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* Define the Chip Selects for SPI3
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*
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* BMP280: PB3
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* ABT7456: PA15
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*
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*/
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#define GPIO_SPI3_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
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#define GPIO_SPI3_CS_OSD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
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/*
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* Define the ability to shut off off the sensor signals
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* by changing the signals to inputs
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*/
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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/* SPI 1 bus off */
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#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
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#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
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#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
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/* SPI 1 CS's off */
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#define GPIO_SPI1_CS_MEMS_OFF _PIN_OFF(GPIO_SPI_CS_MEMS)
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/* SPI 2 bus off */
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#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
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#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
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#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
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/* SPI 2 CS's off */
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#define GPIO_SPI2_CS_SDCARD_OFF _PIN_OFF(GPIO_SPI_CS_SDCARD)
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/* SPI 3 bus off */
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#define GPIO_SPI3_SCK_OFF _PIN_OFF(GPIO_SPI3_SCK)
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#define GPIO_SPI3_MISO_OFF _PIN_OFF(GPIO_SPI3_MISO)
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#define GPIO_SPI3_MOSI_OFF _PIN_OFF(GPIO_SPI3_MOSI)
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/* SPI 3 CS's off */
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#define GPIO_SPI3_CS_BARO_OFF _PIN_OFF(GPIO_SPI3_CS_BARO)
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#define GPIO_SPI3_CS_OSD_OFF _PIN_OFF(GPIO_SPI3_CS_OSD)
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// One device per bus
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#define PX4_SPI_BUS_SENSORS 1
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#define PX4_SPIDEV_MPU 1
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#define PX4_SPIDEV_ICM_20602 1
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#define PX4_SPIDEV_BARO_BUS 3
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#define PX4_SPIDEV_BARO 1
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#define PX4_SPIDEV_OSD 2
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/* USB OTG FS
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*
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* PA9 OTG_FS_VBUS VBUS sensing
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*/
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#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
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/*----------------------------------------------------------*/
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/* End OMNIBUSF4SD SPI chip selects and DRDY */
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/*----------------------------------------------------------*/
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#define PX4_SPI_BUS_BARO 3
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#define PX4_SPI_BUS_OSD 3
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#define PX4_I2C_BUS_EXPANSION 2
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#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
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/* PWM
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*
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* 6 PWM outputs are configured.
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*
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* Alternatively CH3/CH4 could be assigned to UART6_TX/RX
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*
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* Pins:
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*
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* INPUTS:
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* CH1 : PB8 : TIM10_CH1 // PPM
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* CH2 : PB9 : TIM4_CH4
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* CH3 : PC6 : TIM8_CH1 // OR UART6_TX
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* CH4 : PC7 : TIM8_CH2 // OR UART6_RX
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* CH5 : PC8 : TIM8_CH3
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* CH6 : PC9 : TIM8_CH4
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*
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* OUTPUTS:
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* M1 : PB0 : TIM3_CH3
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* M2 : PB1 : TIM3_CH4
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* M3 : PA3 : TIM2_CH3
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* M4 : PA2 : TIM2_CH4
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* M5 : PA1 : TIM5_CH2 // UART4_RX
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* M6 : PA8 : TIM1_CH1 // USART2_TX
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*/
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#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1 //PB0 S1_OUT D1_ST7
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#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1 //PB1 S2_OUT D1_ST2
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#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 //PA3 S3_OUT D1_ST6
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#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 //PA2 S4_OUT D1_ST1
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#define DIRECT_PWM_OUTPUT_CHANNELS 4
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#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_1
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#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_1
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#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_1
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#define GPIO_TIM2_CH3IN GPIO_TIM2_CH3IN_1
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#define DIRECT_INPUT_TIMER_CHANNELS 4
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// Has pwm outputs
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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/* High-resolution timer */
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#define HRT_TIMER 4 // T4C1
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#define HRT_TIMER_CHANNEL 1 // use capture/compare channel 1
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#define HRT_PPM_CHANNEL 3 // capture/compare channel 3
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#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
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#define RC_SERIAL_PORT "/dev/ttyS0"
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/*
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* One RC_IN
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*
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* GPIO PPM_IN on PB8 T4CH3
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* SPEKTRUM_RX (it's TX or RX in Bind) on PA10 UART1
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* The FMU can drive GPIO PPM_IN as an output
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*/
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// TODO?
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//#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
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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() px4_arch_configgpio(GPIO_USART1_RX)
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//#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120
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#define BOARD_HAS_ON_RESET 1
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {2, 3, 1, 0};
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__BEGIN_DECLS
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/****************************************************************************************************
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* Public Types
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****************************************************************************************************/
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/****************************************************************************************************
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* Public data
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****************************************************************************************************/
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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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* mask - is bus selection
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* 1 - 1 << 0
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* 2 - 1 << 1
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*
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****************************************************************************************************/
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extern void stm32_spiinitialize(void);
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void board_spi_reset(int ms);
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/****************************************************************************************************
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* Name: stm32_usbinitialize
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*
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* Description:
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* Called to configure USB IO.
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*
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****************************************************************************************************/
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extern void stm32_usbinitialize(void);
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extern void board_peripheral_reset(int ms);
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#include <drivers/boards/common/board_common.h>
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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