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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
ba5b96edbe
* fix(fmu-v6c): correct GPIO_VDD_3V3_SENSORS_EN macro name VDD_3V3_SENSORS_EN() referenced GPIO_VDD_3V3_SENSORS4_EN which does not exist. The correct macro is GPIO_VDD_3V3_SENSORS_EN. Fixes #26454 * fix(boards): rename VDD_3V3_SENSORS4_EN to VDD_3V3_SENSORS_EN These boards have a single sensor power rail that was incorrectly named SENSORS4_EN (copy-paste from boards with 4 rails). Rename to SENSORS_EN to match the actual hardware. Boards with legitimately numbered rails (fmu-v6xrt, x25-evo, x25-super) are not changed.
328 lines
13 KiB
C
328 lines
13 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2022 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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* PX4FMU-v6c 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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#undef TRACE_PINS
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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
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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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/* PX4FMU GPIOs ***********************************************************************************/
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/* LEDs are driven with push pull Anodes to 3.3V */
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#define GPIO_nLED_RED /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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#define GPIO_nLED_BLUE /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
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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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/*
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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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/* N.B. there is no offset mapping needed for ADC3 because */
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#define ADC3_CH(n) (n)
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/* We are only use ADC3 for REV/VER. */
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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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/* PC4 */ GPIO_ADC12_INP4, \
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/* PB1 */ GPIO_ADC12_INP5, \
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/* PC5 */ GPIO_ADC12_INP8, \
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/* PC0 */ GPIO_ADC123_INP10, \
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/* PC1 */ GPIO_ADC123_INP11, \
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/* PA2 */ GPIO_ADC12_INP14, \
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/* PA4 */ GPIO_ADC12_INP18 \
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_BATTERY1_CURRENT_CHANNEL /* PC4 */ ADC1_CH(4)
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#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PB1 */ ADC1_CH(5)
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#define ADC_BATTERY1_VOLTAGE_CHANNEL /* PC5 */ ADC1_CH(8)
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#define ADC_HW_REV_SENSE_CHANNEL /* PC0 */ ADC3_CH(10)
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#define ADC_HW_VER_SENSE_CHANNEL /* PC1 */ ADC3_CH(11)
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#define ADC_BATTERY2_CURRENT_CHANNEL /* PA2 */ ADC1_CH(14)
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#define ADC_SCALED_V5_CHANNEL /* PA4 */ ADC1_CH(18)
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
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(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL ))
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#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
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#define SYSTEM_ADC_BASE STM32_ADC1_BASE
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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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/* HW Version and Revision drive signals Default to 1 to detect */
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#define BOARD_HAS_HW_VERSIONING
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#define GPIO_HW_VER_REV_DRIVE /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
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#define GPIO_HW_REV_SENSE /* PC0 */ GPIO_ADC123_INP10
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#define GPIO_HW_VER_SENSE /* PC1 */ GPIO_ADC123_INP11
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#define HW_INFO_INIT_PREFIX "V6C"
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#define BOARD_NUM_SPI_CFG_HW_VERSIONS 5 // Rev 0, 10 and Mini Sensor sets
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// Base/FMUM
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#define V6C00 HW_VER_REV(0x0,0x0) // FMUV6C, Rev 0 I2C4 External but with Internal devices
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#define V6C01 HW_VER_REV(0x0,0x1) // FMUV6C, Rev 1 I2C4 Internal I2C2 External
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#define V6C02 HW_VER_REV(0x0,0x2) // FMUV6C, Rev 2 I2C4 Internal I2C2 External,BMI088+ICM-42688P
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#define V6C10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 I2C4 External but with Internal devices
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#define V6C11 HW_VER_REV(0x1,0x1) // NO PX4IO, Rev 1 I2C4 Internal I2C2 External
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#define V6C21 HW_VER_REV(0x2,0x1) // FMUV6CMini, Rev 1 I2C4 Internal I2C2 External
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#define V6C22 HW_VER_REV(0x2,0x2) // FMUV6CMini, Rev 2 I2C4 Internal I2C2 External,BMI088+ICM-42688P
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/* HEATER
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* PWM in future
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*/
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#define GPIO_HEATER_OUTPUT
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#define HEATER_NUM 1
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#define GPIO_HEATER1_OUTPUT /* PB9 T17CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
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#define HEATER1_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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/* Power supply control and monitoring GPIOs */
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#define GPIO_nPOWER_IN_A /* PA15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
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#define GPIO_nPOWER_IN_B /* PB12 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN12)
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#define GPIO_nPOWER_IN_C /* PE15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
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#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
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#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */
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#define BOARD_NUMBER_BRICKS 2
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#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */
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#define GPIO_VDD_5V_PERIPH_nEN /* PE2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
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#define GPIO_VDD_5V_PERIPH_nOC /* PE3 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
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#define GPIO_VDD_5V_HIPOWER_nEN /* PC10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN10)
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#define GPIO_VDD_5V_HIPOWER_nOC /* PC11 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTC|GPIO_PIN11)
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#define GPIO_VDD_3V3_SENSORS_EN /* PB2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
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/* Define True logic Power Control in arch agnostic form */
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#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
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#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
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#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
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/* Tone alarm output */
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#define TONE_ALARM_TIMER 3 /* Timer 3 */
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#define TONE_ALARM_CHANNEL 3 /* PB0 GPIO_TIM3_CH3OUT_1 */
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#define GPIO_BUZZER_1 /* PPB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
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#define GPIO_TONE_ALARM GPIO_TIM3_CH3OUT_1
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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 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 3 */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL /* T4C3 */ 3
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#define GPIO_PWM_IN /* PD14 */ GPIO_TIM4_CH3IN_2
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#define SDIO_SLOTNO 0 /* Only one slot */
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#define SDIO_MINOR 0
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/* SD card bringup does not work if performed on the IDLE thread because it
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* will cause waiting. Use either:
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*
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* CONFIG_BOARDCTL=y, OR
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* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
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*/
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#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
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!defined(CONFIG_BOARD_INITTHREAD)
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# warning SDIO initialization cannot be perfomed on the IDLE thread
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#endif
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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 (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
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/* FMUv6C never powers off the Servo rail */
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#define BOARD_ADC_SERVO_VALID (1)
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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_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
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#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
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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_HW_VER_REV_DRIVE, \
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GPIO_CAN1_TX, \
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GPIO_CAN1_RX, \
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GPIO_CAN2_TX, \
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GPIO_CAN2_RX, \
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GPIO_HEATER1_OUTPUT, \
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GPIO_nPOWER_IN_A, \
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GPIO_nPOWER_IN_B, \
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GPIO_nPOWER_IN_C, \
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GPIO_VDD_5V_PERIPH_nEN, \
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GPIO_VDD_5V_PERIPH_nOC, \
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GPIO_VDD_5V_HIPOWER_nEN, \
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GPIO_VDD_5V_HIPOWER_nOC, \
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GPIO_VDD_3V3_SENSORS_EN, \
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GPIO_TONE_ALARM_IDLE, \
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}
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define PX4_I2C_BUS_MTD 4,5
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#define BOARD_OVERRIDE_I2C_DEVICE_EXTERNAL
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#define BOARD_NUM_IO_TIMERS 5
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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_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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