mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-31 04:31:36 +08:00
197 lines
6.5 KiB
C
197 lines
6.5 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2018 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
|
|
*
|
|
* av_x-v1 internal definitions
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
/****************************************************************************************************
|
|
* Included Files
|
|
****************************************************************************************************/
|
|
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <nuttx/compiler.h>
|
|
#include <stdint.h>
|
|
|
|
#include <stm32_gpio.h>
|
|
|
|
/* Configuration ************************************************************************************/
|
|
|
|
#define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC
|
|
#define BOARD_HAS_NBAT_I 0 // No Ibat ADC
|
|
|
|
/*
|
|
* 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)
|
|
#define ADC1_GPIO(n) GPIO_ADC1_IN##n
|
|
|
|
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
|
|
|
|
#define PX4_ADC_GPIO \
|
|
/* PA0 */ ADC1_GPIO(0), \
|
|
/* PA1 */ ADC1_GPIO(1), \
|
|
/* PA2 */ ADC1_GPIO(2), \
|
|
/* PA3 */ ADC1_GPIO(3), \
|
|
/* PA4 */ ADC1_GPIO(4), \
|
|
/* PB8 */ ADC1_GPIO(8), \
|
|
/* PC0 */ ADC1_GPIO(10), \
|
|
/* PC1 */ ADC1_GPIO(11), \
|
|
/* PC2 */ ADC1_GPIO(12), \
|
|
/* PC3 */ ADC1_GPIO(13), \
|
|
/* PC4 */ ADC1_GPIO(14)
|
|
|
|
/* Define Channel numbers must match above GPIO pin IN(n)*/
|
|
|
|
#define ADC_BATTERY1_VOLTAGE_CHANNEL /* PA0 */ ADC1_CH(0)
|
|
|
|
#define ADC_CHANNELS \
|
|
((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))
|
|
|
|
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
|
|
|
|
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
|
|
|
|
/* PWM
|
|
*/
|
|
#define DIRECT_PWM_OUTPUT_CHANNELS 9
|
|
|
|
#define BOARD_CAPTURE_GPIO /* PD14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)
|
|
|
|
/* High-resolution timer */
|
|
#define HRT_TIMER 5 /* use timer5 for the HRT */
|
|
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */
|
|
|
|
/* RC Serial port */
|
|
|
|
#define RC_SERIAL_PORT "/dev/ttyS4"
|
|
|
|
/* Power switch controls ******************************************************/
|
|
|
|
#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
|
|
|
|
/* AV-X_V1 never powers off the Servo rail */
|
|
|
|
#define BOARD_ADC_SERVO_VALID (1)
|
|
|
|
#define ADC_BATTERY_VOLTAGE_CHANNEL 0
|
|
#define ADC_BATTERY_CURRENT_CHANNEL 1 // TODO: review
|
|
|
|
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
|
|
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
|
|
|
|
|
|
/* This board provides a DMA pool and APIs */
|
|
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
|
|
|
/* This board provides the board_on_reset interface */
|
|
|
|
#define BOARD_HAS_ON_RESET 1
|
|
|
|
#define PX4_GPIO_INIT_LIST { \
|
|
PX4_ADC_GPIO, \
|
|
GPIO_CAN1_RX, \
|
|
GPIO_CAN1_TX, \
|
|
}
|
|
|
|
#define BOARD_ENABLE_CONSOLE_BUFFER
|
|
|
|
#define BOARD_NUM_IO_TIMERS 6
|
|
|
|
__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);
|
|
|
|
#define board_peripheral_reset(ms)
|
|
|
|
|
|
#include <px4_platform_common/board_common.h>
|
|
|
|
#endif /* __ASSEMBLY__ */
|
|
|
|
__END_DECLS
|