mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 02:03:34 +08:00
Jacob Dahl
43aa8de22b
* boards: cuav/x25-super: add multi-instance heater support Restore heater support removed in #26621 using the generic multi-instance heater driver from #26325. Defines HEATER_NUM 2 for the two IMU heater outputs (PB10, PE6). * boards: cuav/x25-super: fix heater IMU IDs and temp from hw test Update defaults per @cuav-chen2 hardware testing: - HEATER1_IMU_ID: 2818066 (SCH16T) - HEATER2_IMU_ID: 3014698 (IIM42653) - HEATER2_TEMP: 65°C * Update boards/cuav/x25-super/init/rc.board_defaults
507 lines
21 KiB
C
507 lines
21 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2016-2026 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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* CUAV X25-SUPER 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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#undef TRACE_PINS
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/* Configuration ************************************************************************************/
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#define BOARD_HAS_LTC44XX_VALIDS 2 // N Bricks
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#define BOARD_HAS_USB_VALID 1 // LTC Has USB valid
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#define BOARD_HAS_NBAT_V 2d // 2 Digital Voltage
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#define BOARD_HAS_NBAT_I 2d // 2 Digital Current
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/* PX4FMU GPIOs ***********************************************************************************/
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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
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# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
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# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
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# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
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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_STATE_LED LED_BLUE
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/* CAN Silence Silent mode control */
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#define GPIO_CAN1_SILENT_S0 /* PE2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN2)
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#define GPIO_CAN2_SILENT_S1 /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN8)
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/* SPI */
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#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
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/* I2C busses */
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/* Devices on the onboard buses.
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*
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* Note that these are unshifted addresses.
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*/
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#define BOARD_MTD_NUM_EEPROM 1 /* MTD: imu_eeprom*/
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#define GPIO_I2C4_DRDY1_ICP20100 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
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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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/* N.B. there is no offset mapping needed for ADC3 because */
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#define ADC3_CH(n) (n)
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/* We are only use ADC3 for REV/VER.
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* ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
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* To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
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* respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
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* PA0SO of 0.
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*
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* 0 Analog switch closed (pads are connected through the analog switch)
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*
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* So ADC3_INP0 is GPIO_ADC123_INP12
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* ADC3_INP1 is GPIO_ADC12_INP13
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*/
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/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
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#define PX4_ADC_GPIO \
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/* PA0 */ GPIO_ADC1_INP16, \
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/* PA4 */ GPIO_ADC12_INP18, \
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/* PB1 */ GPIO_ADC12_INP5, \
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/* PC0 */ GPIO_ADC123_INP10, \
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/* PC3 */ GPIO_ADC12_INP13, \
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/* PF12 */ GPIO_ADC1_INP6, \
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/* PH3 */ GPIO_ADC3_INP14, \
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/* PH4 */ GPIO_ADC3_INP15
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// TODO: PF3 ADC3 6V6
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* PA0 */ ADC1_CH(16)
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#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL /* PA4 */ ADC1_CH(18)
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#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5)
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#define ADC_RSSI_IN_CHANNEL /* PC0 */ ADC1_CH(10)
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#define ADC_ADC3_3V3_CHANNEL /* PC3 */ ADC3_CH(13)
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#define ADC_SERVO_VDD_SENSORS_CHANNEL /* PF12 */ ADC1_CH(6)
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#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14)
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#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15)
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#define ADC_CHANNELS \
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((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
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(1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_RSSI_IN_CHANNEL) | \
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(1 << ADC_ADC3_3V3_CHANNEL) | \
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(1 << ADC_SERVO_VDD_SENSORS_CHANNEL))
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
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#define SYSTEM_ADC_BASE STM32_ADC1_BASE
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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#define BOARD_ADC_BRICK_VALID 1
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/* HW Version and Revision drive signals Default to 1 to detect */
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// #define BOARD_HAS_HW_SPLIT_VERSIONING
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#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
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#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
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#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
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/* HEATER */
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#define GPIO_HEATER_OUTPUT
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#define HEATER_NUM 2
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#define GPIO_HEATER1_OUTPUT /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
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#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
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#define GPIO_HEATER2_OUTPUT /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
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#define HEATER2_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER2_OUTPUT, (on_true))
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/* PE7 is nARMED
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* The GPIO will be set as input while not armed HW will have external HW Pull UP.
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* While armed it shall be configured at a GPIO OUT set LOW
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*/
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#if !defined(TRACE_PINS)
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#define GPIO_nARMED_INIT /* PE7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN7)
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#define GPIO_nARMED /* PE7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN7)
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#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
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#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
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#endif
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 16
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/* PWM Power */
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#define GPIO_PWM_VOLT_SEL /* PG8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
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#define PWM_5V_VOLT_SEL(on_true) px4_arch_gpiowrite(GPIO_PWM_VOLT_SEL, (on_true))
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/* Power supply control and monitoring GPIOs */
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#define GPIO_nPOWER_IN_A /* PJ1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN1)
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#define GPIO_nPOWER_IN_B /* PJ2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN2)
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#define GPIO_nPOWER_IN_C /* PJ3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN3)
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#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
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#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */
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#define BOARD_NUMBER_BRICKS 2
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#define BOARD_NUMBER_DIGITAL_BRICKS 2
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#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */
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#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
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#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
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#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTF|GPIO_PIN13)
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#define GPIO_VDD_5V_PERIPH_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN4)
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#define GPIO_VDD_5V_HIPOWER_EN /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN10)
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#define GPIO_VDD_PWM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
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#define GPIO_VDD_3V3_SENSORS1_EN /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN4)
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#define GPIO_VDD_3V3_SENSORS3_EN /* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN4)
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#define GPIO_VDD_5V_RC_EN /* PJ5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTJ|GPIO_PIN5)
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/* Spare GPIO */
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#define GPIO_PA10 /* PA10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
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#define GPIO_PA15 /* PA15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
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#define BATT_VOLTAGE_SENS /* PB0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
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#define SPI3_MOSI /* PB2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
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#define BATT_CURRENT_SENS /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
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#define SPI3_SCK /* PC10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN10)
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#define SPI3_MISO /* PC11 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN11)
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#define GPIO_ADC_6V6 /* PF3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTF|GPIO_PIN3)
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#define GPIO_PG2 /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
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#define GPIO_PI9 /* PI9 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN9)
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#define GPIO_PI12 /* PI12 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN12)
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#define GPIO_PI13 /* PI13 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN13)
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#define GPIO_PI14 /* PI14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN14)
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#define GPIO_PI15 /* PI15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN15)
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#define GPIO_PJ7 /* PJ7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN7)
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#define GPIO_PJ8 /* PJ8 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN8)
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#define GPIO_PJ10 /* PJ10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN10)
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#define GPIO_PJ13 /* PJ13 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN13)
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#define GPIO_PJ14 /* PJ14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN14)
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#define GPIO_PJ15 /* PJ15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN15)
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#define GPIO_PK0 /* PK0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN0)
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#define GPIO_PK1 /* PK1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN1)
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#define GPIO_PK2 /* PK2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN2)
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#define GPIO_PK3 /* PK3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN3)
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#define GPIO_PK4 /* PK4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN4)
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#define GPIO_PK5 /* PK5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN5)
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#define GPIO_PK6 /* PK6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN6)
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#define GPIO_PK7 /* PK7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTK|GPIO_PIN7)
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/* ETHERNET GPIO */
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#define GPIO_ETH_POWER_EN /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15)
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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_VDD_5V_PERIPH_EN, (on_true))
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#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true))
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#define VDD_PWM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_PWM_POWER_EN, (on_true))
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#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
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#define VDD_3V3_ETH_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
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#define VDD_3V3_SENSORS1_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS1_EN, (on_true))
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#define VDD_3V3_SENSORS3_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS3_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 14 /* Timer 14 */
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#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */
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#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
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#define GPIO_TONE_ALARM GPIO_TIM14_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 3 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 3 */
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#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */
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#define GPIO_PPM_IN /* PC6 T8C1 */ GPIO_TIM3_CH1IN_3
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS5"
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#define RC_SERIAL_SINGLEWIRE
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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 /* T4C2 */ 2
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#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
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/* Safety Switch is HW version dependent on having an PX4IO
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* So we init to a benign state with the _INIT definition
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* and provide the the non _INIT one for the driver to make a run time
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* decision to use it.
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*/
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#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
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#define GPIO_nSAFETY_SWITCH_LED_OUT /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
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#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
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#define GPIO_SAFETY_SWITCH_IN /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5)
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/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
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#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
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/* Power switch controls ******************************************************/
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// #define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
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/*
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* FMUv6X has a separate RC_IN
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*
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* GPIO PPM_IN on PI5 T8CH1
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* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
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* Inversion is possible in the UART and 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_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() /* 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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// /* RSSI_IN */
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#define GPIO_RSSI_IN /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
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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_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_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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|
|
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/* FMUv6X never powers off the Servo rail */
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|
|
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#define BOARD_ADC_SERVO_VALID (1)
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|
|
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#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
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# define BOARD_ADC_BRICK1_VALID (1)
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# define BOARD_ADC_BRICK2_VALID (0)
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#elif BOARD_HAS_LTC44XX_VALIDS == 1
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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 (0)
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#elif BOARD_HAS_LTC44XX_VALIDS == 2
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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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#elif BOARD_HAS_LTC44XX_VALIDS == 3
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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_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
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#elif BOARD_HAS_LTC44XX_VALIDS == 4
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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_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
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# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
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#else
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# error Unsupported BOARD_HAS_LTC44XX_VALIDS value
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#endif
|
|
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|
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
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|
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
|
|
|
|
|
|
/* 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
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|
|
|
#define PX4_GPIO_INIT_LIST { \
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|
PX4_ADC_GPIO, \
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|
GPIO_HW_VER_REV_DRIVE, \
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|
GPIO_CAN1_TX, \
|
|
GPIO_CAN1_RX, \
|
|
GPIO_CAN2_TX, \
|
|
GPIO_CAN2_RX, \
|
|
GPIO_CAN1_SILENT_S0, \
|
|
GPIO_CAN2_SILENT_S1, \
|
|
GPIO_HEATER1_OUTPUT, \
|
|
GPIO_HEATER2_OUTPUT, \
|
|
GPIO_nPOWER_IN_A, \
|
|
GPIO_nPOWER_IN_B, \
|
|
GPIO_nPOWER_IN_C, \
|
|
GPIO_VDD_5V_PERIPH_EN, \
|
|
GPIO_VDD_5V_PERIPH_nOC, \
|
|
GPIO_VDD_5V_HIPOWER_EN, \
|
|
GPIO_VDD_5V_HIPOWER_nOC, \
|
|
GPIO_VDD_PWM_POWER_EN, \
|
|
GPIO_VDD_3V3_SD_CARD_EN, \
|
|
GPIO_VDD_3V3_SENSORS3_EN, \
|
|
GPIO_VDD_3V3_SENSORS1_EN, \
|
|
GPIO_VDD_5V_RC_EN, \
|
|
GPIO_ETH_POWER_EN, \
|
|
GPIO_TONE_ALARM_IDLE, \
|
|
GPIO_nSAFETY_SWITCH_LED_OUT, \
|
|
GPIO_SAFETY_SWITCH_IN, \
|
|
GPIO_nARMED_INIT, \
|
|
GPIO_PWM_VOLT_SEL, \
|
|
GPIO_PA10, \
|
|
GPIO_PA15, \
|
|
BATT_VOLTAGE_SENS, \
|
|
SPI3_MOSI, \
|
|
BATT_CURRENT_SENS, \
|
|
SPI3_SCK, \
|
|
SPI3_MISO, \
|
|
GPIO_ADC_6V6, \
|
|
GPIO_PG2, \
|
|
GPIO_PI9, \
|
|
GPIO_PI12, \
|
|
GPIO_PI13, \
|
|
GPIO_PI14, \
|
|
GPIO_PI15, \
|
|
GPIO_PJ7, \
|
|
GPIO_PJ8, \
|
|
GPIO_PJ10, \
|
|
GPIO_PJ13, \
|
|
GPIO_PJ14, \
|
|
GPIO_PJ15, \
|
|
GPIO_PK0, \
|
|
GPIO_PK1, \
|
|
GPIO_PK2, \
|
|
GPIO_PK3, \
|
|
GPIO_PK4, \
|
|
GPIO_PK5, \
|
|
GPIO_PK6, \
|
|
GPIO_PK7, \
|
|
}
|
|
|
|
#define BOARD_ENABLE_CONSOLE_BUFFER
|
|
|
|
#define PX4_I2C_BUS_MTD 4
|
|
|
|
|
|
#define BOARD_NUM_IO_TIMERS 5
|
|
#define BOARD_SPI_BUS_MAX_BUS_ITEMS 5
|
|
|
|
__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);
|
|
|
|
extern void stm32_usbinitialize(void);
|
|
|
|
extern void board_peripheral_reset(int ms);
|
|
|
|
#include <px4_platform_common/board_common.h>
|
|
|
|
#endif /* __ASSEMBLY__ */
|
|
|
|
__END_DECLS
|