mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-03 05:51:35 +08:00
294 lines
10 KiB
C
294 lines
10 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
|
|
*
|
|
* PX4-CRAZYFLIE internal definitions
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
/****************************************************************************************************
|
|
* Included Files
|
|
****************************************************************************************************/
|
|
|
|
#include <px4_config.h>
|
|
#include <nuttx/compiler.h>
|
|
#include <stdint.h>
|
|
|
|
/****************************************************************************************************
|
|
* Definitions
|
|
****************************************************************************************************/
|
|
/* Configuration ************************************************************************************/
|
|
|
|
/* Crazyflie GPIOs **********************************************************************************/
|
|
/* LEDs */
|
|
|
|
|
|
/* Radio TX indicator */
|
|
#define GPIO_LED_RED_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
|
|
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
|
|
/* Radio RX indicator */
|
|
#define GPIO_LED_GREEN_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
|
|
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
|
|
#define GPIO_LED_GREEN_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
|
|
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
|
|
#define GPIO_LED_RED_R (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
|
|
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
|
|
|
|
/* PX4: armed state indicator ; Stock FW: Blinking while charging */
|
|
#define GPIO_LED_BLUE_L (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN2)
|
|
|
|
#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 LED_TX 4
|
|
#define LED_RX 5
|
|
|
|
#define GPIO_FSYNC_MPU9250 (GPIO_OUTPUT|GPIO_PORTC|GPIO_PIN14) // Needs to be set low
|
|
#define GPIO_DRDY_MPU9250 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
|
|
|
|
|
|
#define GPIO_NRF_TXEN (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4)
|
|
|
|
|
|
/*
|
|
* I2C busses
|
|
*/
|
|
#define PX4_I2C_BUS_ONBOARD 3
|
|
#define PX4_I2C_BUS_EXPANSION 1
|
|
|
|
#define PX4_I2C_BUS_ONBOARD_HZ 400000
|
|
#define PX4_I2C_BUS_EXPANSION_HZ 400000
|
|
|
|
#define PX4_I2C_BUS_MTD PX4_I2C_BUS_EXPANSION
|
|
|
|
#define BOARD_NUMBER_I2C_BUSES 3
|
|
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ}
|
|
|
|
|
|
/*
|
|
* Define the ability to shut off off the sensor signals
|
|
* by changing the signals to inputs
|
|
*/
|
|
|
|
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
|
|
|
|
|
/* SPI Busses */
|
|
|
|
/* SPI1 Bus */
|
|
#define PX4_SPI_BUS_EXPANSION 1
|
|
|
|
/* SPI1 CS */
|
|
#define GPIO_SPI1_CS0_EXT /* PC12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN12)
|
|
#define GPIO_SPI1_CS1_EXT /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
|
|
#define GPIO_SPI1_CS2_EXT /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
|
|
|
|
#define PX4_FLOW_BUS_CS_GPIO { GPIO_SPI1_CS0_EXT, GPIO_SPI1_CS1_EXT, GPIO_SPI1_CS2_EXT }
|
|
|
|
/* SPI1 Devices */
|
|
#define PX4_SPIDEV_EXPANSION_1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXPANSION, 0) // SD CARD BREAKOUT
|
|
#define PX4_SPIDEV_EXPANSION_2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXPANSION, 1) // OPTICAL FLOW BREAKOUT
|
|
#define PX4_SPIDEV_EXPANSION_3 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXPANSION, 2)
|
|
|
|
#define PX4_FLOW_BUS_FIRST_CS PX4_SPIDEV_EXPANSION_1
|
|
#define PX4_FLOW_BUS_LAST_CS PX4_SPIDEV_EXPANSION_3
|
|
|
|
/* SPI1 off */
|
|
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
|
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
|
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
|
|
|
|
|
/* Devices on the onboard bus.
|
|
*
|
|
* Note that these are unshifted addresses.
|
|
*/
|
|
#define PX4_I2C_OBDEV_MPU9250 0x69
|
|
|
|
/* USB OTG FS
|
|
*
|
|
* PA9 OTG_FS_VBUS VBUS sensing
|
|
*/
|
|
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
|
|
|
/*
|
|
* 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 defines to be used in sensors.cpp to read from a particular channel
|
|
// Crazyflie 2 performs battery sensing via the NRF module
|
|
#define ADC_BATTERY_VOLTAGE_CHANNEL ((uint8_t)(-1))
|
|
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
|
#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
|
|
|
|
/* Tone alarm output : These are only applicable when the buzzer deck is attached */
|
|
#define TONE_ALARM_TIMER 5 /* timer 5 */
|
|
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
|
|
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
|
|
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
|
|
#define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
|
|
|
|
/* PWM
|
|
*
|
|
* Four PWM motor outputs are configured.
|
|
*
|
|
* Pins:
|
|
*
|
|
* CH1 : PA1 : TIM2_CH2
|
|
* CH2 : PB11 : TIM2_CH4
|
|
* CH3 : PA15 : TIM2_CH1
|
|
* CH4 : PB9 : TIM4_CH4
|
|
*/
|
|
|
|
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
|
|
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_2
|
|
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_2
|
|
#define GPIO_TIM4_CH4OUT GPIO_TIM4_CH4OUT_1
|
|
#define DIRECT_PWM_OUTPUT_CHANNELS 4
|
|
|
|
#define GPIO_TIM2_CH2IN GPIO_TIM2_CH2IN_1
|
|
#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_2
|
|
#define GPIO_TIM2_CH1IN GPIO_TIM2_CH1IN_2
|
|
#define GPIO_TIM4_CH4IN GPIO_TIM4_CH4IN_1
|
|
|
|
|
|
/* This board overrides the defaults by providing
|
|
* PX4_PWM_ALTERNATE_RANGES and a replacement set of
|
|
* constants
|
|
*/
|
|
|
|
|
|
/* PWM directly wired to transistor. Duty cycle directly corresponds to power
|
|
* So we need to override the defaults
|
|
*/
|
|
|
|
#define PX4_PWM_ALTERNATE_RANGES
|
|
#define PWM_LOWEST_MIN 0
|
|
#define PWM_MOTOR_OFF 0
|
|
#define PWM_DEFAULT_MIN 20
|
|
#define PWM_HIGHEST_MIN 0
|
|
#define PWM_HIGHEST_MAX 255
|
|
#define PWM_DEFAULT_MAX 255
|
|
#define PWM_LOWEST_MAX 255
|
|
#define PWM_DEFAULT_TRIM 1500
|
|
|
|
|
|
/* High-resolution timer */
|
|
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
|
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
|
|
|
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
|
|
|
__BEGIN_DECLS
|
|
|
|
/****************************************************************************************************
|
|
* Public Types
|
|
****************************************************************************************************/
|
|
|
|
/****************************************************************************************************
|
|
* Public data
|
|
****************************************************************************************************/
|
|
|
|
#ifndef __ASSEMBLY__
|
|
|
|
/****************************************************************************************************
|
|
* Public Functions
|
|
****************************************************************************************************/
|
|
|
|
/****************************************************************************************************
|
|
* Name: board_peripheral_reset
|
|
*
|
|
* Description:
|
|
* Called to reset the periferal bus
|
|
*
|
|
****************************************************************************************************/
|
|
|
|
#define board_peripheral_reset(ms)
|
|
|
|
/****************************************************************************************************
|
|
* Name: stm32_usbinitialize
|
|
*
|
|
* Description:
|
|
* Called to configure USB IO.
|
|
*
|
|
****************************************************************************************************/
|
|
|
|
extern void stm32_usbinitialize(void);
|
|
|
|
/****************************************************************************
|
|
* Name: board_i2c_initialize
|
|
*
|
|
* Description:
|
|
* Called to set I2C bus frequencies.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int board_i2c_initialize(void);
|
|
|
|
/****************************************************************************************************
|
|
* Name: stm32_spiinitialize
|
|
*
|
|
* Description:
|
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
|
*
|
|
****************************************************************************************************/
|
|
|
|
extern void stm32_spiinitialize(void);
|
|
|
|
/************************************************************************************
|
|
* Name: stm32_spi_bus_initialize
|
|
*
|
|
* Description:
|
|
* Called to configure SPI Buses.
|
|
*
|
|
************************************************************************************/
|
|
|
|
extern int stm32_spi_bus_initialize(void);
|
|
|
|
void board_spi_reset(int ms);
|
|
|
|
|
|
#include <drivers/boards/common/board_common.h>
|
|
|
|
#endif /* __ASSEMBLY__ */
|
|
|
|
__END_DECLS
|