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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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David Sidrane
a5ec920756
This add the ability to override the defaults ADC values by defining values in board_config.h
191 lines
7.4 KiB
C
191 lines
7.4 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2016 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david_s5@nscdg.com>
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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_common.h
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*
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* Provide the the common board interfaces
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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 <errno.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* SPI bus defining tools
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* For new boards we use a board_config.h to define all the SPI functionality
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* A board provides SPI bus definitions and a set of buses that should be
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* enumerated as well as chip selects that will be interatorable
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*
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* We will use these in macros place of the spi_dev_e enumeration to select a
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* specific SPI device on given SPI1 bus.
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*
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* These macros will define BUS:DEV For clarity and indexing
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*
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* The board config then defines:
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* 1) PX4_SPI_BUS_xxx Ids -the buses as a 1 based PX4_SPI_BUS_xxx as n+1 aping to SPI n
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* where n is {1-highest SPI supported by SoC}
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* 2) PX4_SPIDEV_yyyy handles - PX4_SPIDEV_xxxxx handles using the macros below.
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* 3) PX4_xxxx_BUS_CS_GPIO - a set of chip selects that are indexed by the handles. and of set to 0 are
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* ignored.
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* 4) PX4_xxxx_BUS_FIRST_CS and PX4_xxxxx_BUS_LAST_CS as PX4_SPIDEV_lll for the first CS and
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* PX4_SPIDEV_hhhh as the last CS
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*
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* Example:
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*
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* The PX4_SPI_BUS_xxx
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* #define PX4_SPI_BUS_SENSORS 1
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* #define PX4_SPI_BUS_MEMORY 2
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*
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* the PX4_SPIDEV_yyyy
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* #define PX4_SPIDEV_ICM_20689 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
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* #define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
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* #define PX4_SPIDEV_BMI055_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
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*
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* The PX4_xxxx_BUS_CS_GPIO
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* #define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_ICM20689, GPIO_SPI_CS_ICM20602, GPIO_SPI_CS_BMI055_GYR,...
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*
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* The PX4_xxxx_BUS_FIRST_CS and PX4_xxxxx_BUS_LAST_CS
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* #define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_ICM_20689
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* #define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMI055_ACCEL
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*
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*
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*/
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#define PX4_MK_SPI_SEL(b,d) ((((b) & 0xf) << 4) + ((d) & 0xf))
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#define PX4_SPI_BUS_ID(bd) (((bd) >> 4) & 0xf)
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#define PX4_SPI_DEV_ID(bd) ((bd) & 0xf)
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/* ADC defining tools
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* We want to normalize the V5 Sensing to V = (adc_dn) * ADC_V5_V_FULL_SCALE/(2 ^ ADC_BITS) * ADC_V5_SCALE)
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*/
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/* Provide overrideable defaults ADC Full scale ranges and Divider ratios
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* If the board has a different ratio or full scale range for any voltage sensing
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* the board_congig.h file should define the constants that differ from these
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* defaults
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*/
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#if !defined(ADC_V5_V_FULL_SCALE)
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#define ADC_V5_V_FULL_SCALE (6.6f) // 5 volt Rail full scale voltage
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#endif
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#if !defined(ADC_V5_SCALE)
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#define ADC_V5_SCALE (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
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#endif
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#if !defined(ADC_3V3_V_FULL_SCALE)
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#define ADC_3V3_V_FULL_SCALE (3.6f) // 3.3V volt Rail full scale voltage
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#endif
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#if !defined(ADC_3V3_SCALE)
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#define ADC_3V3_SCALE (2.0f) // The scale factor defined by HW's resistive divider (Rt+Rb)/ Rb
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#endif
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/* Choose the source for ADC_SCALED_V5_SENSE */
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#if defined(ADC_5V_RAIL_SENSE)
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#define ADC_SCALED_V5_SENSE ADC_5V_RAIL_SENSE
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#else
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# if defined(ADC_SCALED_V5)
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# define ADC_SCALED_V5_SENSE ADC_SCALED_V5
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# endif
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#endif
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/* Provide an overridable default nop
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* for BOARD_EEPROM_WP_CTRL
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*/
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#if !defined(BOARD_EEPROM_WP_CTRL)
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# define BOARD_EEPROM_WP_CTRL(on_true)
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#endif
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: board_dma_alloc_init
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*
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* Description:
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* All boards may optionally provide this API to instantiate a pool of
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* memory for uses with FAST FS DMA operations.
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*
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* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
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*
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*
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************************************************************************************/
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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__EXPORT int board_dma_alloc_init(void);
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#else
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#define board_dma_alloc_init() (-EPERM)
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#endif
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/************************************************************************************
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* Name: board_get_dma_usage
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*
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* Description:
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* All boards may optionally provide this API to supply instrumentation for a pool of
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* memory used for DMA operations.
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*
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* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
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*
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*
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************************************************************************************/
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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__EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peak_used);
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#else
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#define board_get_dma_usage(dma_total,dma_used, dma_peak_used) (-ENOMEM)
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#endif
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/************************************************************************************
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* Name: board_rc_input
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*
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* Description:
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* All boards my optionally provide this API to invert the Serial RC input.
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* This is needed on SoCs that support the notion RXINV or TXINV as apposed to
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* and external XOR controlled by a GPIO
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*
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************************************************************************************/
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#if defined(INVERT_RC_INPUT)
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# if !defined(GPIO_SBUS_INV)
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__EXPORT void board_rc_input(bool invert_on);
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# endif
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#endif
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