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137 lines
4.7 KiB
C
137 lines
4.7 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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/**
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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_common/px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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/* LEDs */
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// LED1 - GPIO 25 - Green
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#define GPIO_LED1 PX4_MAKE_GPIO_OUTPUT_CLEAR(25) // Take a look at rpi_common micro_hal.h
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#define GPIO_LED_BLUE GPIO_LED1
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#define BOARD_OVERLOAD_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 can be used by the Px4 Firmware in the adc driver
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*/
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#define ADC_CHANNELS (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) // Change this later based on the adc channels actually used
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#define ADC_BATTERY_VOLTAGE_CHANNEL 1 // Corresponding GPIO 27. Used in init.c for disabling GPIO_IE
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#define ADC_BATTERY_CURRENT_CHANNEL 2 // Corresponding GPIO 28. Used in init.c for disabling GPIO_IE
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#define ADC_RC_RSSI_CHANNEL 0
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/* High-resolution timer */
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#define HRT_TIMER 1
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#define HRT_TIMER_CHANNEL 1
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#define HRT_PPM_CHANNEL 1 // Number really doesn't matter for this board
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#define GPIO_PPM_IN (16 | GPIO_FUN(RP2040_GPIO_FUNC_SIO))
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#define RC_SERIAL_PORT "/dev/ttyS3"
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#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
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/* This board provides a DMA pool and APIs */ // Needs to be figured out
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#define BOARD_DMA_ALLOC_POOL_SIZE 2048
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
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/* USB
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*
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* VBUS detection is on 29 ADC_DPM0 and PTE8
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*/
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#define GPIO_USB_VBUS_VALID (24 | GPIO_FUN(RP2040_GPIO_FUNC_SIO)) // Used in usb.c
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/* PWM
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*
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* Alternatively CH3/CH4 could be assigned to UART6_TX/RX
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 4
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// Has pwm outputs
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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/*
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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_USB_VBUS_VALID))
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__BEGIN_DECLS
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#ifndef __ASSEMBLY__
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/****************************************************************************************************
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* Name: rp2040_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 rp2040_spiinitialize(void);
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/****************************************************************************************************
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* Name: rp2040_usbinitialize
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*
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* Description:
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* Called to configure USB IO.
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*
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****************************************************************************************************/
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extern void rp2040_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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