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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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226 lines
9.5 KiB
C
226 lines
9.5 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2019 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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* UVify Core 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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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* Configuration ************************************************************************************/
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/* UVify Core GPIOs ***********************************************************************************/
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/* LEDs */
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_LED3 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
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#define GPIO_LED_RED GPIO_LED1
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#define GPIO_LED_GREEN GPIO_LED2
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#define GPIO_LED_BLUE GPIO_LED3
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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_LED LED_BLUE
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#define BOARD_ARMED_STATE_LED LED_GREEN
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#ifdef CONFIG_STM32_SPI4
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# define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
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#endif /* CONFIG_STM32_SPI4 */
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/**
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* ADC channels:
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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 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
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/* ADC defines to be used in sensors.cpp to read from a particular channel. */
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#define ADC_BATTERY_VOLTAGE_CHANNEL 2
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#define ADC_BATTERY_CURRENT_CHANNEL 3
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#define ADC_5V_RAIL_SENSE 4
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#define ADC_RC_RSSI_CHANNEL 11
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/* Define Battery 1 Voltage Divider and A per V. */
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#define BOARD_BATTERY1_V_DIV (10.14f)
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#define BOARD_BATTERY1_A_PER_V (18.18f)
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/* Power supply control and monitoring GPIOs. */
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#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
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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 /* channel 1 */
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#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
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#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
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/*
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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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/**
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* USB OTG FS:
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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_PORTA|GPIO_PIN9)
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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 HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
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#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS4"
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL 2
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#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2
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#define GPIO_RSSI_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
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#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
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#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
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#define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
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/* For,this signal is active high. */
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#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
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#define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
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#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
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/* GPIOs */
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#define GPIO_PE2 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
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#define GPIO_PB4 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
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#define GPIO_PE5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
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#define GPIO_PE6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
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/* Heater pins (reserved) */
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#define GPIO_HEATER_INPUT (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
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#define GPIO_HEATER_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
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/* Power switch controls */
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#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))
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/**
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* UVify Core has separate RC_IN
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*
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* GPIO PPM_IN on PB0 T3C3
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* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
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* Inversion is possible via the 74LVC2G86 controlled by the FMU
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* The FMU 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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/**
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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_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
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#define BOARD_ADC_USB_VALID (px4_arch_gpioread(GPIO_VDD_USB_VALID))
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#define BOARD_ADC_SERVO_VALID (1)
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#define BOARD_ADC_PERIPH_5V_OC (0)
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#define BOARD_ADC_HIPOWER_5V_OC (0)
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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_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
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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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****************************************************************************************************/
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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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