mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-15 15:51:36 +08:00
Daniel Agar
7a82df3872
* Draco-R sensor orientation correction * LL40LS sensor is not stable during I2C probing. More trials have been implemented. * px4flow execution has been removed as rc script already running it * GPS LED script repaired * Off ICM20608 due to some bug? * Removed i2c speed adjustment due to SMBUS. * ms5611 test2 does not exist * Baud rate has changed. * Draco-R airframe parameters are updated. * IFO and Draco parameters are updated * Draco-R sensor orientation corrected * Draco-R DSHOT supports
392 lines
17 KiB
C
392 lines
17 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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/**
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* The MPU9250 is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
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*/
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#define GPIO_SPI1_CS_PORTC_PIN2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
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/**
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* The ICM20608G is default. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
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*/
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#define GPIO_SPI1_CS_PORTC_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
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/**
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* Reserved. The wrong driver will fail during start because of an incorrect WHO_AM_I register.
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*/
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#define GPIO_SPI1_CS_PORTE_PIN15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
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/* Define the Data Ready interrupts On SPI 1. */
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#define GPIO_DRDY_PORTD_PIN15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
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#define GPIO_DRDY_PORTC_PIN14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
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#define GPIO_DRDY_PORTE_PIN12 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
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/* Define the Chip Selects for SPI2. */
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#define GPIO_SPI2_CS_MS5611 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
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#define GPIO_SPI2_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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/* Define the Chip Selects for SPI4. */
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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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# define GPIO_SPI4_CS_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) //ESP_RTS_PIN
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#endif /* CONFIG_STM32_SPI4 */
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/**
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* Define the ability to shut off off the sensor signals
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* by changing the signals to inputs.
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*/
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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/* SPI 1 bus off. */
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#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
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#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
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#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
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/* SPI 1 CS's off. */
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#define GPIO_SPI1_CS_OFF_PORTC_PIN2 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2)
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#define GPIO_SPI1_CS_OFF_PORTC_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15)
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#define GPIO_SPI1_CS_OFF_PORTE_PIN15 _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15)
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/* SPI 1 DRDY's off. */
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#define GPIO_DRDY_OFF_PORTD_PIN15 _PIN_OFF(GPIO_DRDY_PORTD_PIN15)
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#define GPIO_DRDY_OFF_PORTC_PIN14 _PIN_OFF(GPIO_DRDY_PORTC_PIN14)
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#define GPIO_DRDY_OFF_PORTE_PIN12 _PIN_OFF(GPIO_DRDY_PORTE_PIN12)
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/* SPI 4 bus off. */
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#ifdef CONFIG_STM32_SPI4
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# define GPIO_SPI4_SCK_OFF _PIN_OFF(GPIO_SPI4_SCK)
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# define GPIO_SPI4_MISO_OFF _PIN_OFF(GPIO_SPI4_MISO)
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# define GPIO_SPI4_MOSI_OFF _PIN_OFF(GPIO_SPI4_MOSI)
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#endif /* CONFIG_STM32_SPI4 */
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/**
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* N.B we do not have control over the SPI 2 buss powered devices
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* so the the ms5611 is not resetable.
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*
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*/
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#define PX4_SPI_BUS_SENSORS 1
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#define PX4_SPI_BUS_RAMTRON 2
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#define PX4_SPI_BUS_BARO PX4_SPI_BUS_RAMTRON
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#ifdef CONFIG_STM32_SPI4
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# define PX4_SPI_BUS_EXTERNAL 4
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/* The mask passes to init the SPI bus pins
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* N.B This works ONLY with buss numbers that are powers of 2
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* Adding SPI3 would break this!
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*/
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# define SPI_BUS_INIT_MASK_EXT PX4_SPI_BUS_EXTERNAL
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#endif /* CONFIG_STM32_SPI4 */
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#define SPI_BUS_INIT_MASK (PX4_SPI_BUS_RAMTRON | PX4_SPI_BUS_SENSORS)
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/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
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#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
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#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
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#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 5)
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#define PX4_SPIDEV_ICM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 6)
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#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 7)
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#define PX4_SPIDEV_BMI PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 8)
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#define PX4_SPIDEV_BMA PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 9)
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#define PX4_SPIDEV_ICM_20608 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 10)
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#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 11)
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#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 12)
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#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 13)
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#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)
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/**
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* Onboard MS5611 and FRAM are both on bus SPI2.
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* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver.
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* PX4_MK_SPI_SEL differentiate by adding in PX4_SPI_DEVICE_ID.
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*/
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO, 3)
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#ifdef CONFIG_STM32_SPI4
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# define PX4_SPIDEV_EXTERNAL PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL, 1)
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#endif /* CONFIG_STM32_SPI4 */
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/* I2C busses. */
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
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/**
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* Devices on the external bus.
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* Note that these are unshifted addresses.
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*/
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#define PX4_I2C_OBDEV_BMP280 0x76
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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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/**
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* User GPIOs:
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* GPIO0-5 are the PWM servo outputs.
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*/
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#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
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#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
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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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#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
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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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* Six PWM outputs are configured.
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*
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* Pins:
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*
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* CH1 : PE14 : TIM1_CH4
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* CH2 : PE13 : TIM1_CH3
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* CH3 : PE11 : TIM1_CH2
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* CH4 : PE9 : TIM1_CH1
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* CH5 : PD13 : TIM4_CH2
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* CH6 : PD14 : TIM4_CH3
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*/
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/**
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* N.B. the added pull down, on the timer being disabled the PD
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* will keep the channel low
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*/
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#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
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#define GPIO_TIM1_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
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#define GPIO_TIM1_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN13)
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#define GPIO_TIM1_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN14)
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#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
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#define DIRECT_PWM_OUTPUT_CHANNELS 6
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#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2
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#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2
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#define GPIO_TIM1_CH3IN GPIO_TIM1_CH3IN_2
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#define GPIO_TIM1_CH4IN GPIO_TIM1_CH4IN_2
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#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2
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#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
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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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* mask - is bus selection
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* 1 - 1 << 0
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* 2 - 1 << 1
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*
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****************************************************************************************************/
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extern void stm32_spiinitialize(int mask);
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void board_spi_reset(int ms);
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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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