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PX4-Autopilot/src/drivers/boards/asc-v1/board_config.h
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/****************************************************************************
*
* Copyright (c) 2012-2016 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
*
* @author David Sidrane <david_s5@nscdg.com>
* @author Lorenz Meier <lorenz@px4.io>
*
* TAP_V1 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
__BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
#define UDID_START 0x1FFF7A10
/* PX4FMU GPIOs ***********************************************************************************/
/* LEDs
*
* PC4 BLUE_LED D4 Blue LED cathode
* PC5 RED_LED D5 Red LED cathode
*/
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
#define GPIO_BLUE_LED GPIO_LED1
#define GPIO_RED_LED GPIO_LED2
/*
* SPI
*
* Peripheral Port Signal Name CONN
* SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
* SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK
* SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0
* SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI
*
* PC2 SD_SW SD-9 SW
*
*/
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
#define GPIO_SPI_SD_SW (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN2)
/*
* I2C busses
*
* Peripheral Port Signal Name CONN
* I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
* I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
*
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
*
* I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
* I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
*
*/
#define PX4_I2C_BUS_ONBOARD 1
#define PX4_I2C_BUS_SONAR 2
#define PX4_I2C_BUS_EXPANSION 3
#define PX4_I2C_OBDEV_HMC5883 0x1e
/*
* Devices on the onboard bus.
*
* Note that these are unshifted addresses (not includinf R/W).
*/
/* todo:
* Cannot tell from the schematic if there is one or 2 MPU6050
* The slave address of the MPU-60X0 is b110100X which is 7 bits long.
* The LSB bit of the 7 bit address is determined by the logic level
* on pin AD0. This allows two MPU-60X0s to be connected to the same I2C bus.
* When used in this configuration, the address of the one of the devices
* should be b1101000 (pin AD0 is logic low) and the address of the other
* should be b1101001 (pin AD0 is logic high).
*/
#define PX4_I2C_ON_BOARD_MPU6050_ADDRS {0x68,0x69}
/*
* 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
* PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105
*
*/
#define ADC_CHANNELS (1 << 10)
/* todo:Revisit - cannnot tell from schematic - some could be ADC */
// ADC defines to be used in sensors.cpp to read from a particular channel
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
/* User GPIOs
*
* TIM3_CH1 PA6 LED_R JP2-23,24
* TIM3_CH2 PA7 LED_G JP2-25,26
* TIM3_CH3 PB0 LED_B JP2-27,28
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
*
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
*
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN6)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN7)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN10)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN11)
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
/*
* Tone alarm output
*/
/* todo:Revisit - cannnot tell from schematic - one could be tone alarm*/
#define TONE_ALARM_TIMER 8 /* timer 8 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
/*
* PWM
*
* Four PWM outputs can be configured on pins
*
*
* Peripheral Port Signal Name CONN
* TIM3_CH1 PA6 LED_R JP2-23,24
* TIM3_CH2 PA7 LED_G JP2-25,26
* TIM3_CH3 PB0 LED_B JP2-27,28
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
*
*/
#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_1
#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_1
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1
#define DIRECT_PWM_OUTPUT_CHANNELS 4
#define BOARD_HAS_LED_PWM
#define LED_TIM3_CH1OUT GPIO_TIM3_CH1OUT
#define LED_TIM3_CH2OUT GPIO_TIM3_CH2OUT
#define LED_TIM3_CH3OUT GPIO_TIM3_CH3OUT
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
#define BOARD_NAME "TAP_V1"
/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
* system_power interface, and herefore provides the true logic
* GPIO BOARD_ADC_xxxx macros.
*/
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
#define BOARD_ADC_BRICK_VALID (1)
#define BOARD_ADC_SERVO_VALID (1)
#define BOARD_ADC_PERIPH_5V_OC (0)
#define BOARD_ADC_HIPOWER_5V_OC (0)
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_FMU_GPIO_TAB { \
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, }
#define MS_PWR_BUTTON_DOWN 750
#define KEY_AD_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN1)
#define POWER_ON_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
#define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN4)
#define GPIO_S0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
#define GPIO_S1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
#define GPIO_S2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
#define GPIO_PCON_RADIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
#define RF_RADIO_POWER_CONTROL(_on_true) px4_arch_gpiowrite(GPIO_PCON_RADIO, !(_on_true))
#define GPIO_TEMP_CONT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
#define TEMP_CONTROL(_on_true) px4_arch_gpiowrite(GPIO_TEMP_CONT, (_on_true))
#define FLASH_BASED_PARAMS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
#define board_spi_reset(ms)
#define board_peripheral_reset(ms)
extern void stm32_usbinitialize(void);
/************************************************************************************
* Name: board_sdio_initialize
*
* Description:
* Called to configure SDIO.
*
************************************************************************************/
extern int board_sdio_initialize(void);
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization for NSH.
*
* CONFIG_NSH_ARCHINIT=y :
* Called from the NSH library
*
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
* CONFIG_NSH_ARCHINIT=n :
* Called from board_initialize().
*
****************************************************************************/
#ifdef CONFIG_NSH_LIBRARY
int nsh_archinitialize(void);
#endif
/************************************************************************************
* Name: board_pwr_init()
*
* Description:
* Called to configure power control for the tap-v1 board.
*
* Input Parameters:
* stage- 0 for boot, 1 for board init
*
************************************************************************************/
void board_pwr_init(int stage);
/****************************************************************************
* Name: board_pwr_button_down
*
* Description:
* Called to Read the logical state of the power button
****************************************************************************/
bool board_pwr_button_down(void);
/****************************************************************************
* Name: board_pwr
*
* Description:
* Called to turn on or off the TAP
*
****************************************************************************/
void board_pwr(bool on_not_off);
#endif /* __ASSEMBLY__ */
__END_DECLS
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