mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 03:23:34 +08:00
Beat Küng
b54e5a1c23
This avoids the need for recalibration, and also cleans up other driver ID's (merge separate accel/gyro). The SPI address was previously set to a board-specific (arbitrary) value, and is now set to 0. This will allow extending for multiple sensors of the same type on the same bus.
308 lines
13 KiB
C
308 lines
13 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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* mro_ctrl-zero-f7 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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#include <stm32_gpio.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* GPIOs ***********************************************************************************/
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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
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#define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
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#define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
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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_STATE_LED LED_BLUE
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#define PX4_SPI_BUS_1 1
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#define PX4_SPI_BUS_2 2
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#define PX4_SPI_BUS_5 5
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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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/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
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/* SPI 1 CS */
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#define GPIO_SPI1_CS1_ICM20602 /* PC2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
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#define GPIO_SPI1_CS2_ICM20948 /* PE15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
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/* Define the SPI1 Data Ready interrupts */
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#define GPIO_SPI1_DRDY1_ICM20602 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
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#define GPIO_SPI1_DRDY2_ICM20948 /* PE12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
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/* SPI 2 CS */
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#define GPIO_SPI2_CS1_FRAM /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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#define GPIO_SPI2_CS2_BARO /* PD7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
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/* SPI 5 CS */
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#define GPIO_SPI5_CS1_BMI088_ACCEL /* PF6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN6)
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#define GPIO_SPI5_CS2_BMI088_GYRO /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
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/* SPI 5 BMI088 Data Ready interrupts */
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#define GPIO_DRDY_BMI088_INT1_ACCEL /* PF1 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN1)
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#define GPIO_DRDY_BMI088_INT2_ACCEL /* PF2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
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#define GPIO_DRDY_BMI088_INT3_GYRO /* PF3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN3)
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#define GPIO_DRDY_BMI088_INT4_GYRO /* PF4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
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/* v BEGIN Legacy SPI defines TODO: fix this with enumeration */
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#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_2
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/* ^ END Legacy SPI defines TODO: fix this with enumeration */
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#include <drivers/drv_sensor.h>
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#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
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#define PX4_SPIDEV_ICM_20948 PX4_MK_SPI_SEL(0,DRV_DEVTYPE_UNUSED)
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#define PX4_SPI_BUS_1_CS_GPIO {GPIO_SPI1_CS1_ICM20602, GPIO_SPI1_CS2_ICM20948}
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#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_DPS310)
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#define PX4_SPI_BUS_2_CS_GPIO {GPIO_SPI2_CS1_FRAM, GPIO_SPI2_CS2_BARO}
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#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
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#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
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#define PX4_SPI_BUS_5_CS_GPIO {GPIO_SPI5_CS1_BMI088_ACCEL, GPIO_SPI5_CS2_BMI088_GYRO}
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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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#define BOARD_NUMBER_I2C_BUSES 1
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#define BOARD_I2C_BUS_CLOCK_INIT {100000}
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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
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* 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 ADC1_CH(n) (n)
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#define ADC1_GPIO(n) GPIO_ADC1_IN##n
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/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
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#define PX4_ADC_GPIO \
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/* PA2 */ ADC1_GPIO(2), \
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/* PA3 */ ADC1_GPIO(3), \
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/* PA4 */ ADC1_GPIO(4), \
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/* PC1 */ ADC1_GPIO(11)
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_BATTERY_VOLTAGE_CHANNEL /* PA2 */ ADC1_CH(2)
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#define ADC_BATTERY_CURRENT_CHANNEL /* PA3 */ ADC1_CH(3)
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#define ADC_SCALED_V5_CHANNEL /* PA4 */ ADC1_CH(4)
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#define ADC_RSSI_IN_CHANNEL /* PC1 */ ADC1_CH(11)
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_RSSI_IN_CHANNEL))
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/* Define Battery 1 Voltage Divider and A per V */
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#define BOARD_BATTERY_V_DIV (18.1f) /* measured with the provided PM board */
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#define BOARD_BATTERY_A_PER_V (36.367515152f)
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* CAN Silence: Silent mode control \ ESC Mux select */
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#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
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/* PWM
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*
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define DIRECT_INPUT_TIMER_CHANNELS 8
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/* Power supply control and monitoring GPIOs */
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#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
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#define BOARD_NUMBER_BRICKS 1
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#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
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/* Define True logic Power Control in arch agnostic form */
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#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
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#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
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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 /* PA15 TIM2_CH1 */
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#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
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#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
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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 /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer */
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#define HRT_TIMER 3 /* use timer3 for the HRT */
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#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
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#define HRT_PPM_CHANNEL /* T3C2 */ 2 /* use capture/compare channel 1 */
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#define GPIO_PPM_IN /* PC7 T3C2 */ GPIO_TIM3_CH2IN_3
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS3"
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#define RC_SERIAL_SINGLEWIRE
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#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
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/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
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#define GPIO_SAFETY_SWITCH_IN /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
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/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
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#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
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/* Power switch controls ******************************************************/
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#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
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/*
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* FMUv5 has a separate RC_IN
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*
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* GPIO PPM_IN on PC7 T3CH2
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* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
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* In version is possible in the UART
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* and 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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#define SDIO_SLOTNO 0 /* Only one slot */
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#define SDIO_MINOR 0
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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_USB_VALID BOARD_ADC_USB_CONNECTED
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#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */
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#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
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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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/* This board provides the board_on_reset interface */
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#define BOARD_HAS_ON_RESET 1
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#define PX4_GPIO_INIT_LIST { \
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PX4_ADC_GPIO, \
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GPIO_CAN1_TX, \
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GPIO_CAN1_RX, \
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GPIO_CAN1_SILENT_S0, \
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GPIO_nPOWER_IN_A, \
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GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
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GPIO_TONE_ALARM_IDLE, \
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GPIO_SAFETY_SWITCH_IN, \
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}
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_NUM_IO_TIMERS 3
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__BEGIN_DECLS
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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_sdio_initialize
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*
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* Description:
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* Initialize SDIO-based MMC/SD card support
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*
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****************************************************************************/
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int stm32_sdio_initialize(void);
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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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