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273 lines
10 KiB
C
273 lines
10 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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* HEX Cube Orange 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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#include <stm32_gpio.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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#define BOARD_HAS_STATIC_MANIFEST 1
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/* PX4IO connection configuration */
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#define BOARD_USES_PX4IO_VERSION 2
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
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#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
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#define PX4IO_SERIAL_BASE STM32_USART6_BASE
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#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
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#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX
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#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX
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#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR
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#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN
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#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
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#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
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/* Configuration ************************************************************************************/
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/* Cube Yellow GPIOs ***********************************************************************************/
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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_AMBER /* PE12*/ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
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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
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* can be used by the Px4 Firmware in the adc driver
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*/
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/* ADC defines to be used in sensors.cpp to read from a particular channel */
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#define ADC1_CH(n) (n)
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#define ADC1_GPIO(n) GPIO_ADC1_IN##n
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#define ADC_HW_REV_SENSE_CHANNEL 1
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/* ADC channels */
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#define PX4_ADC_GPIO \
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/* PA2 */ ADC1_GPIO(2), \
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/* PA3 */ ADC1_GPIO(3), \
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/* PA4 */ ADC1_GPIO(4), \
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/* PC3 */ ADC1_GPIO(13), \
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/* PC4 */ ADC1_GPIO(14), \
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/* PC5 */ ADC1_GPIO(15)
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/* Define Channel numbers must match above GPIO pins */
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#define ADC_BATTERY1_VOLTAGE_CHANNEL 2 /* PA2: BATT_VOLTAGE_SENS */
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#define ADC_BATTERY1_CURRENT_CHANNEL 3 /* PA3: BATT_CURRENT_SENS */
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#define ADC_SCALED_V5_CHANNEL 4 /* PA4: VDD_5V_SENS */
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#define ADC_BATTERY2_VOLTAGE_CHANNEL 13 /* PC3: FMU_AUX_POWER_ADC1 */
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#define ADC_BATTERY2_CURRENT_CHANNEL 14 /* PC4: FMU_AUX_ADC2 */
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#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 /* PC5: PRESSURE_SENS */
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
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(1 << ADC_AIRSPEED_VOLTAGE_CHANNEL))
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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 (10.1f)
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#define BOARD_BATTERY1_A_PER_V (17.0f)
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/* Define Battery 2 Voltage Divider and A per V
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*/
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#define BOARD_BATTERY2_V_DIV (10.1f)
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#define BOARD_BATTERY2_A_PER_V (17.0f)
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 6
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#define DIRECT_INPUT_TIMER_CHANNELS 6
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/* Power supply control and monitoring GPIOs */
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#define BOARD_NUMBER_BRICKS 2
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#define GPIO_nVDD_BRICK1_VALID /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_nVDD_BRICK2_VALID /* PB7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
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#define GPIO_nVDD_USB_VALID /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
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#define GPIO_nVDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
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#define GPIO_nVDD_5V_PERIPH_EN /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
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#define GPIO_nVDD_5V_PERIPH_OC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
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#define GPIO_nVDD_5V_HIPOWER_OC /* PE10 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN10)
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/* Define True logic Power Control in arch agnostic form */
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#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
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#define VDD_3V3_SENORS_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_3V3_SENSORS_EN, (on_true))
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#define VDD_5V_RC_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
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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)
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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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*
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* PA9 OTG_FS_VBUS VBUS sensing
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*/
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#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer */
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
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/* Power switch controls ******************************************************/
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#define SDIO_SLOTNO 0 /* Only one slot */
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#define SDIO_MINOR 0
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/* SD card bringup does not work if performed on the IDLE thread because it
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* will cause waiting. Use either:
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*
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* CONFIG_LIB_BOARDCTL=y, OR
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* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
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*/
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#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
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!defined(CONFIG_BOARD_INITTHREAD)
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# warning SDIO initialization cannot be perfomed on the IDLE thread
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#endif
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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 (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
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#define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
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#define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
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#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
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#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
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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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/* This board provides the board_on_reset interface */
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#define BOARD_HAS_ON_RESET 1
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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_nVDD_5V_PERIPH_EN, \
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GPIO_nVDD_5V_PERIPH_OC, \
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GPIO_nVDD_5V_HIPOWER_OC, \
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GPIO_nVDD_3V3_SENSORS_EN, \
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GPIO_TONE_ALARM_IDLE, \
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}
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_NUM_IO_TIMERS 5
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
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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_sdio_initialize
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*
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* Description:
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* Initialize SDIO-based MMC/SD card support
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*
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****************************************************************************/
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int stm32_sdio_initialize(void);
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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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extern void stm32_usbinitialize(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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