mirror of
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.
294 lines
12 KiB
C
294 lines
12 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2016-2022 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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* board 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/board_ctrl.h>
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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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/* PX4IO connection configuration */
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#define BOARD_USES_PX4IO_VERSION 2
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS5"
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#define PX4IO_SERIAL_TX_GPIO GPIO_UART8_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_UART8_RX
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#define PX4IO_SERIAL_BASE STM32_UART8_BASE
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#define PX4IO_SERIAL_VECTOR STM32_IRQ_UART8
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#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_UART8_TX
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#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_UART8_RX
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#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB1ENR
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#define PX4IO_SERIAL_RCC_EN RCC_APB1ENR_UART8EN
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#define PX4IO_SERIAL_CLOCK STM32_PCLK1_FREQUENCY
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#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
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/* Configuration ************************************************************************************/
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#define BOARD_HAS_STATIC_MANIFEST 1
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#define BOARD_HAS_LTC44XX_VALIDS 0 // No LTC or N Bricks
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#define BOARD_HAS_USB_VALID 0 // LTC Has No USB valid
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#define BOARD_HAS_NBAT_V 1 // Only one Vbat to ADC
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#define BOARD_HAS_NBAT_I 0 // No Ibat ADC
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/* LEDs */
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN14)
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
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#define GPIO_LED3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_25MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
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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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#define BOARD_HAS_CONTROL_STATUS_LEDS 1
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#define BOARD_OVERLOAD_LED LED_RED
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#define BOARD_ARMED_LED LED_BLUE
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#define BOARD_ARMED_STATE_LED LED_GREEN
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/* Safety Switch is HW version dependent on having an PX4IO
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* So we init to a benign state with the _INIT definition
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* and provide the the non _INIT one for the driver to make a run time
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* decision to use it.
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*/
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#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PB0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTB|GPIO_PIN0)
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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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/* PA4 */ ADC1_GPIO(4), \
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/* PA5 */ ADC1_GPIO(5), \
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/* PC0 */ ADC1_GPIO(10), \
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/* PC2 */ ADC1_GPIO(12), \
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/* PC3 */ ADC1_GPIO(13)
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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 /* PA5 */ ADC1_CH(5)
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#define ADC_SCALED_V5_CHANNEL /* PC0 */ ADC1_CH(10)
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#define ADC_ADC1_6V6_CHANNEL /* PC2 */ ADC1_CH(12)
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#define ADC_ADC1_3V3_CHANNEL1 /* PC3 */ ADC1_CH(13)
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#define ADC_ADC1_3V3_CHANNEL2 /* PA4 */ ADC1_CH(4)
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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_ADC1_3V3_CHANNEL2) | \
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(1 << ADC_ADC1_6V6_CHANNEL) | \
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(1 << ADC_ADC1_3V3_CHANNEL1))
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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 SYSTEM_ADC_BASE STM32_ADC1_BASE
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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//#define UAVCAN_NUM_IFACES_RUNTIME 1
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define GPIO_VDD_5V_PERIPH_nEN /* PC4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN4)
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#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
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#define GPIO_VDD_5V_HIPOWER_nEN /* PD13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN13)
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#define GPIO_VDD_5V_HIPOWER_nOC /* PE10 */ (GPIO_INPUT |GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
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#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
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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_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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#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 9 /* Timer 14 */
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#define TONE_ALARM_CHANNEL 1 /* PE5 GPIO_TIM14_CH1OUT_2 */
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#define GPIO_BUZZER_1 /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5)
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
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#define GPIO_TONE_ALARM GPIO_TIM9_CH1OUT_2
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#define HRT_TIMER 5 /* use timer5 for the HRT */
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#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
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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_nVDD_USB_VALID /* PB2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PORTB|GPIO_PIN2)
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
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#define PWMIN_TIMER 2
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#define PWMIN_TIMER_CHANNEL /* T2C1 */ 1
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#define GPIO_PWM_IN /* PA15 */ GPIO_TIM2_CH1IN_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_nVDD_USB_VALID))
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#define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED
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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_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_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_VDD_3V3_SPEKTRUM_POWER_EN, \
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GPIO_TONE_ALARM_IDLE, \
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GPIO_nVDD_USB_VALID, \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL), \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
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PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
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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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/****************************************************************************************************
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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 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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