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238 lines
7.9 KiB
C
238 lines
7.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2016 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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* PX4-CRAZYFLIE 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_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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/* Crazyflie GPIOs **********************************************************************************/
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/* LEDs */
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/* Radio TX indicator */
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#define GPIO_LED_RED_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
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/* Radio RX indicator */
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#define GPIO_LED_GREEN_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
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#define GPIO_LED_GREEN_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
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#define GPIO_LED_RED_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
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/* PX4: armed state indicator ; Stock FW: Blinking while charging */
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#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN2)
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#define LED_TX 4
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#define LED_RX 5
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#define GPIO_FSYNC_MPU9250 (GPIO_OUTPUT|GPIO_PORTC|GPIO_PIN14) // Needs to be set low
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#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
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#define GPIO_NRF_TXEN (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4)
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/*
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* I2C busses
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*/
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#define PX4_I2C_BUS_ONBOARD 3
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_I2C_BUS_ONBOARD_HZ 400000
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#define PX4_I2C_BUS_EXPANSION_HZ 400000
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#define PX4_I2C_BUS_MTD PX4_I2C_BUS_EXPANSION
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/* Devices on the onboard bus.
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*
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* Note that these are unshifted addresses.
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*/
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#define PX4_I2C_OBDEV_MPU9250 0x69
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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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/*
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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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#define ADC_CHANNELS 0
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// ADC defines to be used in sensors.cpp to read from a particular channel
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// Crazyflie 2 performs battery sensing via the NRF module
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#define ADC_BATTERY_VOLTAGE_CHANNEL ((uint8_t)(-1))
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#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
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#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
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/* Tone alarm output : These are only applicable when the buzzer deck is attached */
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#define TONE_ALARM_TIMER 5 /* timer 5 */
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#define TONE_ALARM_CHANNEL 3 /* channel 3 */
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#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
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#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
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#define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
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/* PWM
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*
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* Four PWM motor outputs are configured.
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*
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* Pins:
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*
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* CH1 : PA1 : TIM2_CH2
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* CH2 : PB11 : TIM2_CH4
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* CH3 : PA15 : TIM2_CH1
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* CH4 : PB9 : TIM4_CH4
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*/
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#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
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#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_2
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#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_2
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#define GPIO_TIM4_CH4OUT GPIO_TIM4_CH4OUT_1
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#define DIRECT_PWM_OUTPUT_CHANNELS 4
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#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_1
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#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_2
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#define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_2
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#define GPIO_TIM4_CH4IN GPIO_TIM4_CH4IN_1
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/* This board overrides the defaults by providing
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* PX4_PWM_ALTERNATE_RANGES and a replacement set of
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* constants
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*/
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/* PWM directly wired to transistor. Duty cycle directly corresponds to power
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* So we need to override the defaults
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*/
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#define PX4_PWM_ALTERNATE_RANGES
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#define PWM_LOWEST_MIN 0
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#define PWM_MOTOR_OFF 0
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#define PWM_DEFAULT_MIN 0
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#define PWM_HIGHEST_MIN 0
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#define PWM_HIGHEST_MAX 255
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#define PWM_DEFAULT_MAX 255
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#define PWM_LOWEST_MAX 255
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#define PWM_DEFAULT_TRIM 1500
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/* High-resolution timer */
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
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#define BOARD_NAME "CRAZYFLIE"
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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#define BOARD_FMU_GPIO_TAB { {0, 0, 0}, }
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#define BOARD_NAME "CRAZYFLIE"
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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: board_spi_reset board_peripheral_reset
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*
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* Description:
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* Called to reset SPI and the perferal bus
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*
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****************************************************************************************************/
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#define board_spi_reset(ms)
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#define board_peripheral_reset(ms)
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/****************************************************************************************************
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* Name: stm32_usbinitialize
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*
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* Description:
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* Called to configure USB IO.
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*
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****************************************************************************************************/
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extern void stm32_usbinitialize(void);
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/****************************************************************************
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* Name: board_i2c_initialize
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*
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* Description:
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* Called to set I2C bus frequencies.
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*
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****************************************************************************/
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int board_i2c_initialize(void);
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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