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386 lines
17 KiB
C
386 lines
17 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2015 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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* PX4FLOWv2 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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#if STM32_NSPI < 1
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# undef CONFIG_STM32_SPI1
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# undef CONFIG_STM32_SPI2
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#elif STM32_NSPI < 2
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# undef CONFIG_STM32_SPI2
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#endif
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/* High-resolution timer
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*/
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#define HRT_TIMER 8 /* use timer1 for the HRT */
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#define HRT_TIMER_CHANNEL 8 /* use capture/compare channel */
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/* GPIO ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PA[00] PA0/TIM2_CH1/TIM5_CH1/USART2_CTS/UART4_TX 23 TIM5_CH1
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* PA[01] PA1/TIM2_CH2/TIM5_CH2/USART2_RTS/UART4_RX 24 TIM5_CH2 NC.
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* PA[02] PA2/TIM2_CH3/TIM5_CH3/TIM9_CH1/USART2_TX 25 TIM5_CH3_EXPOSURE
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* PA[03] PA3/TIM2_CH4/TIM5_CH4/TIM9_CH2/USART2_RX 26 TIM5_CH4_STANDBY
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* PA[04] PA4/SPI1_NSS/SPI3_NSS/DCMI_HSYNC/LCD_VSYNC 29 DCMI_HSYNC
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* PA[05] PA5/TIM2_CH1/TIM2_ETR/TIM8_CH1N/SPI1_SCK 30 CAM_NRESET
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* PA[06] PA6/TIM3_CH1/SPI1_MISO/TIM13_CH1/DCMI_PIXCLK 31 DCMI_PIXCK
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* PA[07] PA7/TIM1,8_CH1N/TIM3_CH2/SPI1_MOSI/TIM14_CH1 32 SPI1_MOSI---
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* PA[08] PA8/MCO1/TIM1_CH1/I2C3_SCL/USART1_CK/LCD_R6/ 67 MPU_CS
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* PA[09] PA9/TIM1_CH2/USART1_TX/DCMI_D0/OTG_FS_VBUS 68 VBUS
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* PA[10] PA10/TIM1_CH3/USART1_RX/OTG_FS_ID/DCMI_D1 69 OTG_FS_ID
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* PA[11] PA11/TIM1_CH4/USART1_CTS/CAN1_RX/LCD_R4/OTG_FS_DM 70 OTG_FS_N
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* PA[12] PA12/TIM1_ETR/USART1_RTS/CAN1_TX/LCD_R5/OTG_FS_DP 71 OTG_FS_P
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* PA[13] PA13/JTMS-SWDIO 72 JTMS-SWDIO
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* PA[14] PA14/JTCK-SWCLK 76 JTCK-SWCLK
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* PA[15] PA15/JTDI/TIM2_CH1/TIM2_ETR/SPI1_NSS 77 JTDI
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*
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*/
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/*
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* PB[00] PB0/TIM1_CH2N/TIM3_CH3/TIM8_CH2N/OTG_HS_ULPI_D1 35 PRES_DRDY---
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* PB[01] PB1/TIM1,8_CH3N/TIM3_CH4/LCD_R6/OTG_HS_ULPI_D2 36 MAG_DRDY---
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* PB[02] PB2/BOOT1 37 PB2-BOOT1
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* PB[03] PB3/JTDO/TRACESWO/TIM2_CH2/SPI1_SCK/SPI3_SCK 89 JTDO
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* PB[04] PB4/NJTRST/TIM3_CH1/SPI1_MISO/SPI3_MISO 90 JTRST
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* PB[05] PB5/TIM3_CH2/SPI1_MOSI/SPI3_MOSI/CAN2_RX/DCMI_D10 91 PCM1_D10 N.C
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* PB[06] PB6/TIM4_CH1/I2C1_SCL/USART1_TX/CAN2_TX/DCMI_D5 92 PCMI_D5
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* PB[07] PB7/TIM4_CH2/I2C1_SDA/USART1_RX/FMC_NL/DCMI_VSYNC 93 DCMI_VSYNC
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* PB[08] PB8/TIM4_CH3/TIM10_CH1/I2C1_SCL/CAN1_RX/DCMI_D6 95 J2C1_SCL
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* PB[09] PB9/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX/ 96 J2C1_SDA
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* PB[10] PB10/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX 47 J2C2_SCL
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* PB[11] PB11/TIM2_CH4/I2C2_SDA/USART3_RX/OTG_HS_ULPI_D4 48 J2C2_SDA
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* PB[12] PB12/TIM1_BKIN/I2C2_SMBA/SPI2_NSS/CAN2_RX 51 SPI2_NSS
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* PB[13] PB13/TIM1_CH1N/SPI2_SCK/USART3_CTS/CAN2_TX 52 SPI2_SCK
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* PB[14] PB14/TIM1,8_CH2N/SPI2_MISO/USART3_RTS/TIM12_CH1 53 SPI2_MISO
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* PB[15] PB15/TIM1_CH3N/TIM8_CH3N/SPI2_MOSI/TIM12_CH2 54 SPI2_MOSI
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* PC[00] PC0/OTG_HS_ULPI_STP/FMC_SDNWE 15 ADC123_IN10
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* PC[01] PC1/ETH_MDC 16 ADC123_IN11
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* PC[02] PC2/SPI2_MISO/I2S2ext_SD 17 ADC123_IN12
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* PC[03] PC3/SPI2_MOSI/I2S2_SD 18 ADC123_IN13
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* PC[04] PC4/ETH_MII_RXD0/ETH_RMII_RXD0 33 ADC123_IN4
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* PC[05] PC5/ETH_MII_RXD1/ETH_RMII_RXD1 34 ADC123_IN5
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* PC[06] PC6/TIM3_CH1/TIM8_CH1/USART6_TX/SDIO_D6/DCMI_D0 63 DCMI_O0
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* PC[07] PC7/TIM3_CH2/TIM8_CH2/USART6_RX/SDIO_D7/DCMI_D1 64 DCMI_O1
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* PC[08] PC8/TIM3_CH3/TIM8_CH3/USART6_CK/SDIO_D0/DCMI_D2 65 TIM8_CH3_MASTERCLOCK
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* PC[09] PC9/MCO2/TIM3_CH3/TIM8_CH4/SDIO_D1/DCMI_D3 66 TIM8_CH4_LED_OUT
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* PC[10] PC10/SPI3_SCK/USART3_TX/UART4_TX/SDIO_D2/DCMI_D8 78 DCMI_D8
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* PC[11] PC11/SPI3_MISO/USART3_RX/UART4_RX/SDIO_D3DCMI_D4 78 UART4_RX
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* PC[12] PC12/SPI3_MOSI/USART3_CK/UART5_TX/SDIO_CK/DCMI_D9 80 DCMI_09
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* PC[13] PC13 7 ADDR0 NC
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* PC[14] PC14 8 ADDR1 NC
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* PC[15] PC15 9 ADDR2 NC
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* PD[00] PD0/CAN1_RX/FMC_D2 81 CAN1_RX
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* PD[01] PD1/CAN1_TX/FMC_D3 82 CAN1_TX
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* PD[02] PD2/TIM3_ETR/UARTS_RX/SDIO_CMD/DCMI_D11 83 DCMI_D11_UARTS_RX NC
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* PD[03] PD3/SPI2_SCK/USART2_CTS/FMC_CLK/DCMI_D5/LCD_G7 84 UART5_CTS
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* PD[04] PD4/USART2_RTS/FMC_NOE 85 USART2_RTS
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* PD[05] PD5/USART2_TX/FMC_NWE 86 USART2_TX
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* PD[06] PD6/SPI3_MOSI/SAI1_SD_A/USART2_RX/DCMI_D10/LCD_B2 87 USART2_RX
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* PD[07] PD7/USART2_CK/FMC_NE1/FMC_NCE2 88 USART2_CK NC
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* PD[08] PD8/USART3_TX/FMC_D13 55 USART3_TX
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* PD[09] PD9/USART3_RX/FMC_D14 56 USART3_RX
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* PD[10] PD10/USART3_CK/FMC_D15/LCD_B3 57 USART3_CK
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* PD[11] PD11/USART3_CTS/FMC_A16 58 USART3_CTS
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* PD[12] PD12/TIM4_CH1/USART3_RTS/FMC_A17 59 USART3_RTS
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* PD[13] PD13/TIM4_CH2/FMC_A18 60 PWM
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* PD[14] PD14/TIM4_CH3/FMC_D0 61 POWER
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* PD[15] PD15/TIM4_CH4/FMC_D1 62 PWM_EN
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* PE[00] PE0/TIM4_ETR/UART8_RX/FMC_NBL0/DCMI_D2 97 DCMI_D2
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* PE[01] PE1/UART8_Tx/FMC_NBL1/DCMI_D3 98 DCMI_D3
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* PE[02] PE2/TRACECLK/SPI4_SCK/SAI1_MCLK_A/FMC_A23 1 LED_AMBER
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* PE[03] PE3/TRACED0/SAI1_SD_B/FMC_A19 2 LED_BLUE
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* PE[04] PE4/TRACED1/SPI4_NSS/SAI1_FS_A/DCMI_D4/LCD_B0 3 DCMI_D4
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* PE[05] PE5/TRACED2/TIM9_CH1/SPI4_MISO/DCMI_D6/LCD_G0 4 DCMI_D6
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* PE[06] PE6/TRACED3/TIM9_CH2/SPI4_MOSI/DCMI_D7/LCD_G1 5 DCMI_D7
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* PE[07] PE7/TIM1_ETR/UART7_Rx/FMC_D4 38 LED RED
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* PE[08] PE8/TIM1_CH1N/UART7_Tx/FMC_D5 39 US_FN1
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* PE[09] PE9/TIM1_CH1/FMC_D6 40 RED_LED
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* PE[10] PE10/TIM1_CH2N/FMC_D7 41 US_EN2
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* PE[11] PE11/TIM1_CH2/8PI4_NSS/FMC_D8/LCD_G3 42 GREEN_LED
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* PE[12] PE12/TIM1_CH3N/SPI4_SCK/FMC_D9/LCD_B4 43 UDD_3U3
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* PE[13] PE13/TIM1_CH3/SPI4_MISO/FMC_D10/LCD_DE 44 BLUE_LED
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* PE[14] PE14/TIM1_CH4/SPI4_MOSI/FMC_D11/LCD_CLK 45 GND
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* PE[15] PE15/TIM1_BKIN/FMC_D12/LCD_R7 46 GND
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*/
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/* GPIO ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PB0
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*/
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/* GPIO ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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* PC0
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*/
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/* CAN ************************************************************************ *
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ------------------------
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*
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* PD[00] PD0/TIM4_CH3/I2C1_SCL/CAN1_RX 81 CAN1_RX
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* PD[01] PD1/TIM4_CH4/I2C1_SDA/CAN1_TX 82 CAN1_TX
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*
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*/
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/* GPIO ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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*
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*/
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#define GPIO_WAIT_GETNODEINFO (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN13)
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/* LEDs ***********************************************************************
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*
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* GPIO Function MPU Board
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* Pin # Name
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* -- ----- -------------------------------- ----------------------
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* PE[09] PE9/TIM1_CH1/FMC_D6 40 RED_LED
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* PE[11] PE11/TIM1_CH2/8PI4_NSS/FMC_D8/LCD_G3 42 GREEN_LED
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* PE[13] PE13/TIM1_CH3/SPI4_MISO/FMC_D10/LCD_DE 44 BLUE_LED
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*
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*/
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#define GPIO_LED1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | \
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GPIO_PORTE | GPIO_PIN9 | GPIO_OUTPUT_SET)
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#define GPIO_LED2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | \
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GPIO_PORTE | GPIO_PIN11 | GPIO_OUTPUT_SET)
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#define GPIO_LED3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | \
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GPIO_PORTE | GPIO_PIN13 | GPIO_OUTPUT_SET)
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#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2 /* Red */
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#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2 /* Green */
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#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2 /* Blue */
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#define MIS_WIRED_V20
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/* todo:remove this */
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#if defined(MIS_WIRED_V20)
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#pragma message "Built with MIS_WIRED_V20 set Fix this when New HW comes out"
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/* The first proto (PCB) had red and Blow swapped */
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# define GPIO_LED_RED GPIO_LED3
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# define GPIO_LED_GREEN GPIO_LED2
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# define GPIO_LED_BLUE GPIO_LED1
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#else
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/* This is the corrected wiring */
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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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#endif
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#define BOARD_NAME "PX4FLOW_V2"
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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.
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*
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************************************************************************************/
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#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
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defined(CONFIG_STM32_SPI3)
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void weak_function board_spiinitialize(void);
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#endif
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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 setup USB-related GPIO pins.
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*
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************************************************************************************/
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void stm32_usbinitialize(void);
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/************************************************************************************
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* Name: stm32_usb_set_pwr_callback()
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*
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* Description:
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* Called to setup set a call back for USB power state changes.
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*
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* Inputs:
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* pwr_changed_handler: An interrupt handler that will be called on VBUS power
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* state changes.
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*
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************************************************************************************/
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void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
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/****************************************************************************
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* Name: stm32_led_initialize
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*
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* Description:
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* This functions is called very early in initialization to perform board-
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* specific initialization of LED-related resources. This includes such
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* things as, for example, configure GPIO pins to drive the LEDs and also
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* putting the LEDs in their correct initial state.
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*
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* NOTE: In most architectures, LED initialization() is called from
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* board-specific initialization and should, therefore, have the name
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* <arch>_led_intialize(). But there are a few architectures where the
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* LED initialization function is still called from common chip
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* architecture logic. This interface is not, however, a common board
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* interface in any event and the name board_autoled_initialization is
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* deprecated.
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*
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* Input Parameters:
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* None
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#ifdef CONFIG_ARCH_LEDS
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void board_autoled_initialize(void);
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#endif
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/************************************************************************************
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* Name: stm32_can_initialize
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*
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* Description:
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* Called at application startup time to initialize the CAN functionality.
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*
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************************************************************************************/
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#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
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int board_can_initialize(void);
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#endif
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/************************************************************************************
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* Name: board_button_initialize
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*
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* Description:
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* Called at application startup time to initialize the Buttons functionality.
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*
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************************************************************************************/
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#if defined(CONFIG_ARCH_BUTTONS)
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void board_button_initialize(void);
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#endif
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/****************************************************************************
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* Name: usbmsc_archinitialize
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*
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* Description:
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* Called from the application system/usbmc or the boards_nsh if the
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* application is not included.
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* Perform architecture specific initialization. This function must
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* configure the block device to export via USB. This function must be
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* provided by architecture-specific logic in order to use this add-on.
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*
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****************************************************************************/
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#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
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int usbmsc_archinitialize(void);
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#endif
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/****************************************************************************
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* Name: composite_archinitialize
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*
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* Description:
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* Called from the application system/composite or the boards_nsh if the
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* application is not included.
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* Perform architecture specific initialization. This function must
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* configure the block device to export via USB. This function must be
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* provided by architecture-specific logic in order to use this add-on.
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*
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****************************************************************************/
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#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
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extern int composite_archinitialize(void);
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#endif
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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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