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130 lines
4.4 KiB
C
130 lines
4.4 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2021 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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#ifndef __ARCH_BOARD_BOARD_H
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#define __ARCH_BOARD_BOARD_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#ifndef __ASSEMBLY__
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# include <stdint.h>
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#endif
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/* Clocking *****************************************************************/
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#define MHZ 1000000
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#define BOARD_XOSC_FREQ (12 * MHZ)
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#define BOARD_PLL_SYS_FREQ (125 * MHZ)
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#define BOARD_PLL_USB_FREQ (48 * MHZ)
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#define BOARD_REF_FREQ (12 * MHZ)
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#define BOARD_SYS_FREQ (125 * MHZ)
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#define BOARD_PERI_FREQ (125 * MHZ)
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#define BOARD_USB_FREQ (48 * MHZ)
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#define BOARD_ADC_FREQ (48 * MHZ)
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#define BOARD_RTC_FREQ 46875
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#define BOARD_UART_BASEFREQ BOARD_PERI_FREQ
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#define BOARD_TICK_CLOCK (1 * MHZ)
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/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
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* omnibusf4sd. The following definitions describe how NuttX controls the LEDs:
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*/
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// #define LED_STARTED 0 /* LED1 */
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// #define LED_HEAPALLOCATE 1 /* LED2 */
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// #define LED_IRQSENABLED 2 /* LED1 */
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// #define LED_STACKCREATED 3 /* LED1 + LED2 */
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// #define LED_INIRQ 4 /* LED1 */
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// #define LED_SIGNAL 5 /* LED2 */
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// #define LED_ASSERTION 6 /* LED1 + LED2 */
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// #define LED_PANIC 7 /* LED1 + LED2 */
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/* Alternate function pin selections ************************************************/
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/*
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* UARTs.
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* UART0TX: GPIO0
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* UART0RX: GPIO1
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* UART1TX: GPIO8
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* UART1RX: GPIO9
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*/
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#define CONFIG_RP2040_UART0_GPIO 0 /* TELEM */
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#define CONFIG_RP2040_UART1_GPIO 8 /* GPS */
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/*
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* I2C (external)
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*
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* I2C1SCL: GPIO7
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* I2C1SDA: GPIO6
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*
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* TODO:
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* The optional _GPIO configurations allow the I2C driver to manually
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* reset the bus to clear stuck slaves. They match the pin configuration,
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* but are normally-high GPIOs.
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*/
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#define CONFIG_RP2040_I2C1_GPIO 6
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/* SPI0:
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* SPIDEV_FLASH (probably micro sd card)
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* CS: GPIO5 -- should be configured in sec/spi.cpp (probably)
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* CLK: GPIO2
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* MISO: GPIO4
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* MOSI: GPIO3
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*/
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#define GPIO_SPI0_SCLK ( 2 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#define GPIO_SPI0_MISO ( 4 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#define GPIO_SPI0_MOSI ( 3 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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/* SPI1:
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* MPU9250 and BMP280
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* CS: GPIO13 for MPU9250, GPIO14 for BMP280 -- should be configured in sec/spi.cpp (probably)
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* CLK: GPIO10
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* MISO: GPIO12
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* MOSI: GPIO11
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*/
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#define GPIO_SPI1_SCLK ( 10 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#define GPIO_SPI1_MISO ( 12 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#define GPIO_SPI1_MOSI ( 11 | GPIO_FUN(RP2040_GPIO_FUNC_SPI) )
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#endif /* __ARCH_BOARD_BOARD_H */
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