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229 lines
10 KiB
C
229 lines
10 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2016 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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* PX4FMUv4Pro 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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/* PX4IO connection configuration */
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#define BOARD_USES_PX4IO_VERSION 2
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
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#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
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#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
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#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
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#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX
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#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX
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#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR
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#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN
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#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
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#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
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/* Configuration ************************************************************************************/
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//{GPIO_RSSI_IN, 0, 0}, - pio Analog used as PWM
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//{0, GPIO_LED_SAFETY, 0}, pio replacement
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//{GPIO_SAFETY_SWITCH_IN, 0, 0}, pio replacement
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//{0, GPIO_PERIPH_3V3_EN, 0}, Owned by the 8266 driver
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//{0, GPIO_SBUS_INV, 0}, https://github.com/PX4/Firmware/blob/master/src/modules/px4iofirmware/sbus.c
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//{GPIO_8266_GPIO0, 0, 0}, Owned by the 8266 driver
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//{0, GPIO_SPEKTRUM_PWR_EN, 0}, Owned Spektum driver input to auto pilot
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//{0, GPIO_8266_PD, 0}, Owned by the 8266 driver
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//{0, GPIO_8266_RST, 0}, Owned by the 8266 driver
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/* PX4FMU 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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/* SPI */
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#define GPIO_SPI_CS_TEMPCAL_EEPROM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|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 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 ADC_BATTERY1_VOLTAGE_CHANNEL 2 // PA2
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#define ADC_BATTERY1_CURRENT_CHANNEL 3 // PA3
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#define ADC_5V_RAIL_SENSE 4 // PA4
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#define ADC_BATTERY2_VOLTAGE_CHANNEL 11 // PC1
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#define ADC_BATTERY2_CURRENT_CHANNEL 13 // PC3
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#define ADC_CHANNELS (1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | (1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
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(1 << ADC_5V_RAIL_SENSE) | \
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(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | (1 << ADC_BATTERY2_CURRENT_CHANNEL)
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/* Define LTC4417 UV set by resistors on the board that are different than FMUv2 3.7V */
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#define BOARD_VALID_UV (4.01f)
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/* Power supply control and monitoring GPIOs */
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#define GPIO_nVDD_BRICK1_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_nVDD_BRICK2_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN5)
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#define BOARD_NUMBER_BRICKS 2
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#define GPIO_nVDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
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#define GPIO_VDD_3V3_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
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#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN10)
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#define GPIO_VDD_5V_HIPOWER_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN4)
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#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTG|GPIO_PIN4)
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#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTF|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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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 6
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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 (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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/* 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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/* N.B. By the virtue of not being named GPIO_BTN_SAFETY, this pin is
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* initialized but not used (compiled for) in the FMU module
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*/
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#define GPIO_BTN_SAFETY_FMU (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4)
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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 GPIO_8266_GPIO0 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
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//TODO: fo not see on schematic #define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
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#define GPIO_8266_PD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
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#define GPIO_8266_RST (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
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/* No Power switch controls or binding control *********************************************
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* V4 Pro does not have control to bind SPEKTRUM - there is only 5V VCC on
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* the connector interface and Spektrum requires VDD 3v3 to be controllable
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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_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_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
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#define BOARD_ADC_SERVO_VALID (1)
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#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
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#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))
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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_HAS_STATIC_MANIFEST 1
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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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