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PX4-Autopilot/boards/px4/fmu-v3/src/board_config.h
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/****************************************************************************
*
* Copyright (c) 2013-2016 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
*
* PX4FMUv2 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/* Run time Hardware detection */
#define BOARD_HAS_SIMPLE_HW_VERSIONING 1
#define HW_VER_PA8 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN8)
#define HW_VER_PB4 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
#define HW_VER_PB12 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN12)
#define HW_VER_PA8_INIT (GPIO_VDD_5V_PERIPH_EN)
#define HW_VER_PB4_INIT (GPIO_SPI1_EXTI_DRDY_PB4)
#define HW_VER_PB12_INIT (GPIO_CAN2_RX | GPIO_PULLUP) /* Assume V2 needing pull up */
#define HW_VER_FMUV2_STATE 0x8 /* PB12:PU:1 PB12:PD:0 PB4:PU:0 PB4PD:0 */
#define HW_VER_FMUV3_STATE 0xE /* PB12:PU:1 PB12:PD:1 PB4:PU:1 PB4PD:0 */
#define HW_VER_FMUV2MINI_STATE 0xA /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:0 */
#define HW_VER_FMUV2X_STATE 0xB /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:1 */
#define HW_VER_TYPE_INIT {'V','2',0, 0}
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* PX4IO connection configuration */
#define BOARD_USES_PX4IO_VERSION 2
#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2
#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR
#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
/* PX4FMU GPIOs ***********************************************************************************/
/* LEDs */
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
#define BOARD_OVERLOAD_LED LED_AMBER
/*
* 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_50MHz))
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
* inclusive of the SPI port and GPIO to help identify pins the
* are part of the sensor Net's controlled by different power
* domains.
*
* Only the GPIO_SPIb_xxx_Ppi will be used in the code to insure this are no
* cross connections.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2: FmuV3 Cube PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC
* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC
* PB4 ACCEL_DRDY NC NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250
* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC
* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY
* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
* The board API provides for mechanism to perform a SPI bus reset.
* To facilitate a SPI bus reset
*
* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs
* with outputs driven low. (OFFIng)
* 2) The power domain of that bus is turned off.
* 3) A usleep it done for ms.
* 4) The power domain of that bus is turned back on.
* 5) The SPIn pins are re-initialized.
* 6) The SPI CS, DRDY pins are re-initialized.
*
* To insure the complete net is de-energized and is not bing back fed, it is important to
* note the all signals in the net list of the parts/bus.
*
* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not
* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3
*
*/
/*----------------------------------------------------------*/
/* FMUv2 SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/* FMUv2 SPI1 chip selects */
/* PC1 Spare ADC IN10 */
#define GPIO_SPI1_CS_PC2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
#define GPIO_SPI1_CS_PC13 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI1_CS_PC15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI1_CS_PD7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
/* FMUv2 SPI2 chip selects */
#define GPIO_SPI2_CS_PD10 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* FMUv2 SPI4 chip selects */
#define GPIO_SPI4_GPIO_PC14 /* !V2M */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SPI4_NSS_PE4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
/* FMUv2 SPI1 chip selects Assignments */
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2
#define GPIO_SPI1_CS_GYRO GPIO_SPI1_CS_PC13
#define GPIO_SPI1_CS_ACCEL_MAG GPIO_SPI1_CS_PC15
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7
/* FMUv2 SPI2 chip selects Assignments */
#define GPIO_SPI2_CS_FRAM GPIO_SPI2_CS_PD10
/* FMUv2 SPI4 chip selects Assignments */
#define GPIO_SPI4_GPIO_EXT GPIO_SPI4_GPIO_PC14
#define GPIO_SPI4_EXT_NSS GPIO_SPI4_NSS_PE4
/* FMUv2 DRDY */
#define GPIO_SPI1_EXTI_DRDY_PB0 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
#define GPIO_SPI1_EXTI_DRDY_PB1 /*!V3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
#define GPIO_SPI1_EXTI_DRDY_PB4 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
#define GPIO_SPI1_EXTI_DRDY_PD15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* FMUv2 DRDY Assignments */
#define GPIO_SPI1_EXTI_GYRO_DRDY GPIO_SPI1_EXTI_DRDY_PB0
#define GPIO_SPI1_EXTI_MAG_DRDY GPIO_SPI1_EXTI_DRDY_PB1
#define GPIO_SPI1_EXTI_ACCEL_DRDY GPIO_SPI1_EXTI_DRDY_PB4
#define GPIO_SPI1_EXTI_MPU_DRDY GPIO_SPI1_EXTI_DRDY_PD15
/*----------------------------------------------------------*/
/* End FMUv2 SPI chip selects and DRDY */
/*----------------------------------------------------------*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_EXT 4
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS
/* Use these to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
/* FMUv3 SPI on external bus */
#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 1)
#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 2)
#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 3)
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 4)
#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 5)
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD
/*----------------------------------------------------------*/
/* FMUv3 Cube SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
* inclusive of the SPI port and GPIO to help identify pins the
* are part of the sensor Net's controlled by different power
* domains.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv3 Cube: FmuV2 PixhawkMini
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC
* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC
* PC2 nMPU_CS @MPU6000 @MPU9250
* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC
* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY
* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU9250
* PE2 SPI_EXT_SCK NC
* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC
* PE5 SPI_EXT_MISO NC
* PE6 SPI_EXT_MOSI NC
*
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
/* FMUv3 Cube SPI1 chip selects */
/* Was a spare ACD IN10 on V2 */
#define GPIO_SPI1_CS_PC1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
#define GPIO_SPI4_CS_PB1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_SPI4_CS_PC13 GPIO_SPI1_CS_PC13
#define GPIO_SPI4_CS_PC14 GPIO_SPI4_GPIO_PC14
#define GPIO_SPI4_CS_PC15 GPIO_SPI1_CS_PC15
/* FMUv3 Cube chip selects Assignments */
/* Cube 2.0 V2.1 */
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU600 MPU9250 */
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 MS5611 */
#define GPIO_SPI1_CS_HMC GPIO_SPI1_CS_PC1 /* HMC5983 Removed */
/* N.B. bus moves from SPI1 to SPI4 */
#define GPIO_SPI4_GYRO_EXT_CS GPIO_SPI4_CS_PC13
#define GPIO_SPI4_BARO_EXT_CS GPIO_SPI4_CS_PC14
#define GPIO_SPI4_ACCEL_MAG_EXT_CS GPIO_SPI4_CS_PC15
/* No move */
#define GPIO_SPI4_MPU_EXT_CS GPIO_SPI4_NSS_PE4
/* FMUv3 DRDY Assignments */
#define GPIO_SPI4_EXTI_DRDY_PB0 GPIO_SPI1_EXTI_DRDY_PB0
#define GPIO_SPI4_EXTI_EXTERN_DRDY GPIO_SPI4_EXTI_DRDY_PB0
#define GPIO_SPI4_EXTERN_CS GPIO_SPI4_CS_PB1
/* PB1 is an External CS on V3 */
#define PX4_SPIDEV_HMC 5
/*----------------------------------------------------------*/
/* End FMUv3 Cube SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/*----------------------------------------------------------*/
/* Due to inconsistent use of chip select and dry signal on
* different board that use this build. We are defining the GPIO
* inclusive of the SPI port and GPIO to help identify pins the
* are part of the sensor Net's controlled by different power
* domains.
*
* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities ---------
* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube
* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4
* PA5 SPI_INT_SCK
* PA6 SPI_INT_MISO
* PA7 SPI_INT_MOSI
* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY
* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS
* PB4 NC SPI1:ACCEL_DRDY NC
* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS
* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250
* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS
* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS
* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS
* PD7 nBARO_CS
* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250
* PE2 NC SPI_EXT_SCK SPI_EXT_SCK
* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS
* PE5 NC SPI_EXT_MISO SPI_EXT_MISO
* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI
*
* Notes: Prefixed with @ Does not effect board control
* Prefixed with + Input used as Output
* Prefixed with - Output used as Input
* Prefixed with SPIn: Bus changed
*
*/
/*----------------------------------------------------------*/
/* FMUv2 PixhawkMini SPI chip selects and DRDY */
/*----------------------------------------------------------*/
/* FMUv2 PixhawkMini SPI1 chip selects */
/* FMUv3 Cube chip selects Assignments */
#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU9250 */
#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 */
#define GPIO_SPI1_CS_20608 GPIO_SPI1_CS_PC15 /* ICM20608 */
/* FMUv3 DRDY Assignments */
/* Pixhawk mini has reused the PC14 GPIO_SPI_CS_EXT1 signal that was associated
* with SPI4.
*/
#define GPIO_SPI1_EXTI_20608_DRDY_PC14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
#define PX4_SPIDEV_ICM_20608 6 /* ICM_20608 on PC15 */
/*
* 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 (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15)
// ADC defines to be used in sensors.cpp to read from a particular channel
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 4
#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15
/* Define Battery 1 Voltage Divider and A per V
*/
#define BOARD_BATTERY1_V_DIV (10.177939394f)
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
/* User GPIOs
*
* GPIO0-5 are the PWM servo outputs.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
/* Power supply control and monitoring GPIOs */
#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
/* Tone alarm output */
#define TONE_ALARM_TIMER 2 /* timer 2 */
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
/* PWM
*
* Six PWM outputs are configured.
*
* Pins:
*
* CH1 : PE14 : TIM1_CH4
* CH2 : PE13 : TIM1_CH3
* CH3 : PE11 : TIM1_CH2
* CH4 : PE9 : TIM1_CH1
* CH5 : PD13 : TIM4_CH2
* CH6 : PD14 : TIM4_CH3
*/
#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
#define GPIO_TIM1_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
#define GPIO_TIM1_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
#define GPIO_TIM1_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
#define DIRECT_PWM_OUTPUT_CHANNELS 6
#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2
#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2
#define GPIO_TIM1_CH3IN GPIO_TIM1_CH3IN_2
#define GPIO_TIM1_CH4IN GPIO_TIM1_CH4IN_2
#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2
#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2
#define DIRECT_INPUT_TIMER_CHANNELS 6
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL 2
#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
* this board support the ADC system_power interface, and therefore
* provides the true logic GPIO BOARD_ADC_xxxx macros.
*/
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
#define BOARD_ADC_BRICK_VALID (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
#define BOARD_ADC_SERVO_VALID (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID))
#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_VDD_USB_VALID))
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
#define BOARD_HAS_ON_RESET 1
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
__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);
/****************************************************************************************************
* Name: board_spi_reset board_peripheral_reset
*
* Description:
* Called to reset SPI and the perferal bus
*
****************************************************************************************************/
void board_spi_reset(int ms);
extern void board_peripheral_reset(int ms);
/****************************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to configure USB IO.
*
****************************************************************************************************/
extern void stm32_usbinitialize(void);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS
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