mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-05 01:41:36 +08:00
188 lines
6.3 KiB
C
188 lines
6.3 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file board_config.h
|
|
*
|
|
* @author David Sidrane <david_s5@nscdg.com>
|
|
* @author Lorenz Meier <lorenz@px4.io>
|
|
*
|
|
* AEROFC_V1 internal definitions
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
/****************************************************************************************************
|
|
* Included Files
|
|
****************************************************************************************************/
|
|
|
|
#include <px4_config.h>
|
|
#include <nuttx/compiler.h>
|
|
#include <stdint.h>
|
|
|
|
/****************************************************************************************************
|
|
* Definitions
|
|
****************************************************************************************************/
|
|
/* Configuration ************************************************************************************/
|
|
|
|
/* PX4FMU GPIOs ***********************************************************************************/
|
|
/* LEDs */
|
|
#define GPIO_LED0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9)
|
|
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10)
|
|
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11)
|
|
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
|
|
|
|
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
|
#define BOARD_OVERLOAD_LED LED_RED
|
|
#define BOARD_ARMED_LED LED_BLUE
|
|
#define BOARD_ARMED_STATE_LED LED_GREEN
|
|
|
|
#define GPIO_VDD_5V_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN13)
|
|
|
|
#define GPIO_FORCE_BOOTLOADER (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN11|GPIO_EXTI)
|
|
|
|
/*
|
|
* I2C busses
|
|
*
|
|
* Peripheral Port
|
|
* I2C1_SDA PB9
|
|
* I2C1_SCL PB8
|
|
*
|
|
* I2C3_SDA PC9
|
|
* I2C3_SCL PA8
|
|
*
|
|
*/
|
|
|
|
#define PX4_I2C_BUS_EXPANSION 1
|
|
#define PX4_I2C_BUS_EXPANSION1 2
|
|
#define PX4_I2C_BUS_ONBOARD 3
|
|
|
|
#define GPIO_SPI_CS_MPU6500 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
|
#define PX4_SPI_BUS_SENSORS 1
|
|
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
|
|
|
|
/*
|
|
* STM32 ADC channels
|
|
*
|
|
* These are the channel numbers of the ADCs of the microcontroller that can
|
|
* be used by the PX4 Firmware in the adc driver
|
|
*/
|
|
#define ADC_CHANNELS 0
|
|
|
|
/*
|
|
* ADC channels: these use the ADC block implemented in the FPGA. There are 5
|
|
* channels in the FPGA, but only 1 is phisically connected, that's dedicated
|
|
* for voltage reading.
|
|
*/
|
|
#define ADC_BATTERY_VOLTAGE_CHANNEL 1
|
|
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
|
|
|
/*
|
|
* Define Battery 1 Voltage Divider, using default for A/V
|
|
*/
|
|
#define BOARD_BATTERY1_V_DIV (9.0f)
|
|
|
|
#define DIRECT_PWM_OUTPUT_CHANNELS 1
|
|
#define BOARD_HAS_PWM 0
|
|
|
|
/*
|
|
* USB OTG FS
|
|
*/
|
|
|
|
/*
|
|
* RC Serial port
|
|
*/
|
|
#define RC_SERIAL_PORT "/dev/ttyS2" /* No HW invert support */
|
|
/*
|
|
* High-resolution timer
|
|
*/
|
|
#define HRT_TIMER 3 /* use timer3 for the HRT */
|
|
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel */
|
|
|
|
#define FLASH_BASED_PARAMS
|
|
#define FLASH_BASED_DATAMAN
|
|
|
|
/*
|
|
* ESCs do not respond
|
|
*/
|
|
#define BOARD_TAP_ESC_MODE 1
|
|
|
|
#define MEMORY_CONSTRAINED_SYSTEM
|
|
|
|
#define BOARD_CRASHDUMP_RESET_ONLY
|
|
|
|
__BEGIN_DECLS
|
|
|
|
/****************************************************************************************************
|
|
* Public Types
|
|
****************************************************************************************************/
|
|
|
|
/****************************************************************************************************
|
|
* Public data
|
|
****************************************************************************************************/
|
|
|
|
#ifndef __ASSEMBLY__
|
|
|
|
/****************************************************************************************************
|
|
* Public Functions
|
|
****************************************************************************************************/
|
|
|
|
/****************************************************************************************************
|
|
* Name: stm32_spiinitialize
|
|
*
|
|
* Description:
|
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
|
*
|
|
****************************************************************************************************/
|
|
|
|
extern void stm32_spiinitialize(void);
|
|
|
|
#define board_spi_reset(ms)
|
|
#define board_peripheral_reset(ms)
|
|
|
|
/************************************************************************************
|
|
* Name: board_sdio_initialize
|
|
*
|
|
* Description:
|
|
* Called to configure SDIO.
|
|
*
|
|
************************************************************************************/
|
|
|
|
extern int board_sdio_initialize(void);
|
|
|
|
#include <drivers/boards/common/board_common.h>
|
|
|
|
#endif /* __ASSEMBLY__ */
|
|
|
|
__END_DECLS
|