mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-13 05:21:35 +08:00
Igor MišićandDavid Sidrane
4b503c310e
- 4096 of 3 hex digits each for rev and ver is enough.
#defines used in SPI versions do not be long format, use use the macro
- Board provides a prefix and the formatting is sized and built in
- No need for funky board_get_base_eeprom_mtd_manifest interface
Original mft is used where the abstraction is done with the MFT interface
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
228 lines
8.4 KiB
C
228 lines
8.4 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2016 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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* PX4FMU-v5 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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#include <stm32_gpio.h>
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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
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#define GPIO_nLED_RED /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_nLED_GREEN /* PC6 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
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#define GPIO_nLED_BLUE /* PC7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
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#define BOARD_HAS_CONTROL_STATUS_LEDS 1
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#define BOARD_OVERLOAD_LED LED_RED
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#define BOARD_ARMED_STATE_LED LED_BLUE
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#define FLASH_BASED_PARAMS
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#define RAM_BASED_MISSIONS
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// Hacks for MAVLink RC button input
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#define ATL_MANTIS_RC_INPUT_HACKS
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// Hacks for MAVLink RC button input
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#define ATL_MANTIS_RC_INPUT_HACKS
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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
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* can be used by the Px4 Firmware in the adc driver
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*/
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/* ADC defines to be used in sensors.cpp to read from a particular channel */
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#define ADC1_CH(n) (n)
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#define ADC1_GPIO(n) GPIO_ADC1_IN##n
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/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
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#define PX4_ADC_GPIO \
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/* PA0 */ ADC1_GPIO(0), \
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/* PC0 */ ADC1_GPIO(10), \
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/* PC1 */ ADC1_GPIO(11), \
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/* PC2 */ ADC1_GPIO(12), \
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/* PC3 */ ADC1_GPIO(13), \
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/* PC4 */ ADC1_GPIO(14)
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_BATTERY_VOLTAGE_CHANNEL /* PA0 */ ADC1_CH(0)
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#define ADC_BATTERY_CURRENT_CHANNEL 0
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#define ADC_SCALED_V5_CHANNEL /* PC0 */ ADC1_CH(10)
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#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC1 */ ADC1_CH(11)
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#define ADC_HW_VER_SENSE_CHANNEL /* PC2 */ ADC1_CH(12)
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#define ADC_HW_REV_SENSE_CHANNEL /* PC3 */ ADC1_CH(13)
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#define ADC1_SPARE_1_CHANNEL /* PC4 */ ADC1_CH(14) // POWER_AD
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
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(1 << ADC_HW_VER_SENSE_CHANNEL) | \
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(1 << ADC_HW_REV_SENSE_CHANNEL) | \
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(1 << ADC1_SPARE_1_CHANNEL))
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* HW Version and Revision drive signals Default to 1 to detect */
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#define BOARD_HAS_HW_VERSIONING
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#define GPIO_HW_REV_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
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#define GPIO_HW_REV_SENSE /* PC3 */ ADC1_GPIO(13)
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#define GPIO_HW_VER_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
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#define GPIO_HW_VER_SENSE /* PC2 */ ADC1_GPIO(12)
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#define HW_INFO_INIT_PREFIX "VAM"
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#define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
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// #define BOARD_USE_ESC_CURRENT_REPORT
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// LED mapping
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#define BOARD_FRONT_LED_MASK (1 << 0) | (1 << 3)
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#define BOARD_REAR_LED_MASK (1 << 1) | (1 << 2)
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/* HEATER */
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#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
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#define BOARD_HAS_LED_PWM 1
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#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
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#define BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW 1
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#define BOARD_ADC_BRICK_VALID 1
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#define BOARD_NUMBER_BRICKS 1
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#define GPIO_VDD_3V3_SD_CARD_EN /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
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#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
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/* USB OTG FS */
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#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer */
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS5"
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#define RC_SERIAL_SINGLEWIRE
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/* power on/off */
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#define MS_PWR_BUTTON_DOWN 750
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#define KEY_AD_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
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#define POWER_ON_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
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#define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
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#define POWER_CHECK_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN0)
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#define SDIO_SLOTNO 0 /* Only one slot */
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#define SDIO_MINOR 0
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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_OTGFS_VBUS))
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#define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED
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/* FMUv5 never powers odd the Servo rail */
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#define BOARD_ADC_SERVO_VALID (1)
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#define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
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#define BOARD_ADC_BRICK2_VALID (0)
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120
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/* This board provides the board_on_reset interface */
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#define BOARD_HAS_ON_RESET 1
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#define BOARD_HAS_POWER_CONTROL 1
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#define GPIO_CAM_PWR_ON_H /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_CAM_PWR_ON_L /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
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#define PX4_GPIO_INIT_LIST { \
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PX4_ADC_GPIO, \
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GPIO_HW_REV_DRIVE, \
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GPIO_HW_VER_DRIVE, \
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GPIO_HEATER_OUTPUT, \
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GPIO_VDD_3V3_SD_CARD_EN, \
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GPIO_OTGFS_VBUS \
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}
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_NUM_IO_TIMERS 1
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__BEGIN_DECLS
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#ifndef __ASSEMBLY__
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int stm32_sdio_initialize(void);
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extern void stm32_spiinitialize(void);
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extern void stm32_usbinitialize(void);
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extern void board_peripheral_reset(int ms);
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/************************************************************************************
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* Name: board_pwr_init()
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*
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* Description:
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* Called to configure power control for the tap-v2 board.
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*
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* Input Parameters:
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* stage- 0 for boot, 1 for board init
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*
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************************************************************************************/
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void board_pwr_init(int stage);
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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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