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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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1851665fab
Chip-select and SPI initialization uses the new config, whereas the drivers still use the existing defines. The configuration in board_config.h can be removed after all drivers are updated.
631 lines
25 KiB
C
631 lines
25 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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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* PX4IO connection configuration */
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#define BOARD_USES_PX4IO_VERSION 2
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS5"
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#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
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#define PX4IO_SERIAL_BASE STM32_USART6_BASE
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#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
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#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX
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#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX
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#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR
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#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN
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#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
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#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
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/* Configuration ************************************************************************************/
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#define BOARD_HAS_LTC44XX_VALIDS 2 // N Bricks
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#define BOARD_HAS_USB_VALID 1 // LTC Has USB valid
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#define BOARD_HAS_NBAT_V 2d // 2 Digital Voltage
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#define BOARD_HAS_NBAT_I 2d // 2 Digital Current
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/* PX4FMU GPIOs ***********************************************************************************/
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/* Trace Clock and D0-D3 are available on the debug connector and adjacent pads
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*
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* TRACECLK PE2 - Dedicated - Debug Connector Pin 7
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* TRACED0 PE3 - nLED_RED - Debug Connector Pin 8
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* TRACED1 PE4 - nLED_GREEN - Test Point next to Debug Connector
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* TRACED2 PE5 - nLED_BLUE - Test Point next to Debug Connector
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* TRACED3 PC12 - nARMED - Test Point next to Debug Connector
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*/
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#undef TRACE_PINS
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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
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#if !defined(TRACE_PINS)
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# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
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# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
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# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
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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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#endif
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/* SPI
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*
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* SPI1 is sensors1
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* ICM-20602
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* CS PI9
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* DRDY PF2
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*
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* SPI2 is sensors2
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* ISM330
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* CS PH5
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* DRDY PH12
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*
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* SPI3 is sensors3
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* BMI088
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* CS ACCL PI4
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* CS GYRO PI8
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* DRDY ACCL PI6
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* DRDY GYRO PI7
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*
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* SPI5 is FRAM
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* FM25V02A
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* CS PG7
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*
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* SPI6 is EXTERNAL1
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*
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* CS1 PI10
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* CS2 PA15
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* DRDY1 PD11
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* DRDY2 PD12
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*
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*/
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#define PX4_SPI_BUS_SENSORS1 1
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#define PX4_SPI_BUS_SENSORS2 2
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#define PX4_SPI_BUS_SENSORS3 3
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#define PX4_SPI_BUS_SENSORS4 4
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#define PX4_SPI_BUS_MAG PX4_SPI_BUS_SENSORS4
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#define PX4_SPI_BUS_MEMORY 5
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#define PX4_SPI_BUS_EXTERNAL1 6
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/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
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/* SPI 1 CS */
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#define GPIO_SPI1_nCS1_ICM20602 /* PI9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN9)
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/* Define the SPI1 Data Ready interrupts */
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#define GPIO_SPI1_DRDY1_ICM20602 /* PF2 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTF|GPIO_PIN2)
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/* SPI1 off */
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#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
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#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
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#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
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#define GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602 _PIN_OFF(GPIO_SPI1_DRDY1_ICM20602)
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/* SPI 2 CS */
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#define GPIO_SPI2_nCS1_ISM330 /* PH5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
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/* Define the SPI2 Data Ready interrupts */
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#define GPIO_SPI2_DRDY1_ISM330 /* PH12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTH|GPIO_PIN12)
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/* SPI2 off */
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#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
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#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
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#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
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#define GPIO_DRDY_OFF_SPI2_DRDY1_ISM330 _PIN_OFF(GPIO_SPI2_DRDY1_ISM330)
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/* SPI 3 CS */
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#define GPIO_SPI3_nCS1_BMI088_ACCEL /* PI4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN4)
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#define GPIO_SPI3_nCS2_BMI088_GYRO /* PI8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN8)
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/* Define the SPI3 Data Ready interrupts */
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#define GPIO_SYNC /* PH10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)
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#define GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL /* PI6 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN6)
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#define GPIO_SPI3_DRDY2_BMI088_INT3_GYRO /* PI7 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTI|GPIO_PIN7)
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/* SPI3 off */
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#define GPIO_SPI3_SCK_OFF _PIN_OFF(GPIO_SPI3_SCK)
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#define GPIO_SPI3_MISO_OFF _PIN_OFF(GPIO_SPI3_MISO)
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#define GPIO_SPI3_MOSI_OFF _PIN_OFF(GPIO_SPI3_MOSI)
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#define GPIO_DRDY_OFF_SPI3_DRDY1_BMI088 _PIN_OFF(GPIO_SPI3_DRDY1_BMI088_INT1_ACCEL)
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#define GPIO_DRDY_OFF_SPI3_DRDY2_BMI088 _PIN_OFF(GPIO_SPI3_DRDY2_BMI088_INT3_GYRO)
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/* SPI 5 CS */
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#define GPIO_SPI5_nCS1_FRAM /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN7)
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/* SPI 6 */
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#define GPIO_SPI6_nCS1_EXTERNAL1 /* PI10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN10)
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#define GPIO_SPI6_nCS2_EXTERNAL1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
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/* Define the SPI6 Data Ready interrupts */
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#define GPIO_SPI6_DRDY1_EXTERNAL1 /* PD11 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN11)
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#define GPIO_SPI6_DRDY2_EXTERNAL1 /* PD12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN12)
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#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
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/* SPI6 off */
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#define GPIO_SPI6_SCK_OFF _PIN_OFF(GPIO_SPI6_SCK)
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#define GPIO_SPI6_MISO_OFF _PIN_OFF(GPIO_SPI6_MISO)
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#define GPIO_SPI6_MOSI_OFF _PIN_OFF(GPIO_SPI6_MOSI)
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#define GPIO_DRDY_OFF_SPI6_DRDY1 _PIN_OFF(GPIO_SPI6_DRDY1_EXTERNAL1)
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#define GPIO_DRDY_OFF_SPI6_DRDY2 _PIN_OFF(GPIO_SPI6_DRDY2_EXTERNAL1)
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/*
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* Define the ability to shut off off the sensor signals
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* by changing the signals to inputs
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*/
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
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#define PX4_SPI_BUS_RAMTRON PX4_SPI_BUS_MEMORY
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#include <drivers/drv_sensor.h>
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#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
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#define PX4_SENSORS1_BUS_CS_GPIO {GPIO_SPI1_nCS1_ICM20602}
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#define PX4_SPIDEV_ISM330 PX4_MK_SPI_SEL(0,DRV_DEVTYPE_ST_ISM330DLC)
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#define PX4_SENSORS2_BUS_CS_GPIO {GPIO_SPI2_nCS1_ISM330}
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#define PX4_SPIDEV_BMI088_GYR PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
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#define PX4_SPIDEV_BMI088_ACC PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
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#define PX4_SENSORS3_BUS_CS_GPIO {GPIO_SPI3_nCS2_BMI088_GYRO, GPIO_SPI3_nCS1_BMI088_ACCEL}
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#define PX4_SPIDEV_MEMORY SPIDEV_FLASH(0)
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#define PX4_MEMORY_BUS_CS_GPIO {GPIO_SPI5_nCS1_FRAM}
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#define PX4_SPIDEV_EXTERNAL1_1 PX4_MK_SPI_SEL(0,0)
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#define PX4_SPIDEV_EXTERNAL1_2 PX4_MK_SPI_SEL(0,1)
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#define PX4_EXTERNAL1_BUS_CS_GPIO {GPIO_SPI6_nCS1_EXTERNAL1, GPIO_SPI6_nCS2_EXTERNAL1}
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/* I2C busses */
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#define PX4_I2C_BUS_EXPANSION 1
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#define PX4_I2C_BUS_EXPANSION1 2
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#define PX4_I2C_BUS_EXPANSION2 3
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#define PX4_I2C_BUS_ONBOARD 4
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#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
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/* Devices on the onboard buses.
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*
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* Note that these are unshifted addresses.
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*/
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#define PX4_I2C_OBDEV_BMP388 0x76 // On IMU
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#define PX4_I2C_OBDEV1_BMP388 0x77 // On FMUM
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#define PX4_I2C_OBDEV_A71CH 0x49
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#define BOARD_NUMBER_I2C_BUSES 4
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#define BOARD_I2C_BUS_CLOCK_INIT {100000, 100000, 100000, 100000}
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#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
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#define GPIO_SE050_nRST /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN6)
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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 ADC3_CH(n) (n)
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#define ADC3_GPIO(n) GPIO_ADC3_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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/* PA4 */ ADC1_GPIO(4), \
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/* PB0 */ ADC1_GPIO(8), \
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/* PB1 */ ADC1_GPIO(9), \
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/* PC0 */ ADC1_GPIO(10), \
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/* PC2 */ ADC1_GPIO(12), \
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/* PC3 */ ADC1_GPIO(13), \
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/* PF4 */ ADC3_GPIO(14), \
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/* PF5 */ ADC3_GPIO(15)
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL /* PA0 */ ADC1_CH(0)
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#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL /* PA4 */ ADC1_CH(4)
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#define ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL /* PB0 */ ADC1_CH(8)
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#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(9)
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#define ADC_ADC1_6V6_CHANNEL /* PC0 */ ADC1_CH(10)
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#define ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL /* PC2 */ ADC1_CH(12)
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#define ADC_ADC1_3V3_CHANNEL /* PC3 */ ADC1_CH(13)
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#define ADC_HW_VER_SENSE_CHANNEL /* PF4 */ ADC3_CH(14)
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#define ADC_HW_REV_SENSE_CHANNEL /* PF5 */ ADC3_CH(15)
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#define ADC_CHANNELS \
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((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
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(1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \
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(1 << ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL) | \
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(1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_ADC1_6V6_CHANNEL) | \
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(1 << ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL) | \
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(1 << ADC_ADC1_3V3_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 HW_REV_VER_ADC_BASE STM32_ADC3_BASE
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#define SYSTEM_ADC_BASE STM32_ADC1_BASE
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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_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
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#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
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#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
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#define HW_INFO_INIT {'V','5','X','x', 'x',0}
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#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
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#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
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/* HEATER
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* PWM in future
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*/
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#define GPIO_HEATER_OUTPUT /* PB10 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
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/* PWM Capture
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*
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* 1 PWM Capture inputs are configured.
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*
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* Pins:
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*
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* FMU_CAP1 : PI0 : TIM5_CH4
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*/
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#define GPIO_TIM5_CH4IN /* PI0 T5C4 FMU_CAP1 */ GPIO_TIM5_CH4IN_2
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#define GPIO_TIM5_CH4OUT /* PI0 T5C4 FMU_CAP1 */ GPIO_TIM5_CH4OUT_2
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#define DIRECT_PWM_CAPTURE_CHANNELS 1
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/* PC12 is nARMED
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* The GPIO will be set as input while not armed HW will have external HW Pull UP.
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* While armed it shall be configured at a GPIO OUT set LOW
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*/
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#define GPIO_nARMED_INIT /* PC12 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN12)
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#define GPIO_nARMED /* PC12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN12)
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#if !defined(TRACE_PINS)
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# define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
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#endif
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define DIRECT_INPUT_TIMER_CHANNELS 8
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
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/* Power supply control and monitoring GPIOs */
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#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
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#define GPIO_nPOWER_IN_B /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
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#define GPIO_nPOWER_IN_C /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
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#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
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#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */
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#define BOARD_NUMBER_BRICKS 2
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#define BOARD_NUMBER_DIGITAL_BRICKS 2
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#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */
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#define GPIO_VDD_5V_PERIPH_nEN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
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#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
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#define GPIO_VDD_5V_HIPOWER_nEN /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
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#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
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#define GPIO_VDD_3V3_SENSORS4_EN /* PG8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
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#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
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#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
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/* Spare GPIO */
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#define GPIO_PH11 /* PH11 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTH|GPIO_PIN1)
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/* ETHERNET GPIO */
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#define GPIO_ETH_POWER_EN /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15)
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/* NFC GPIO */
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#define GPIO_NFC_GPIO /* PH3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTH|GPIO_PIN3)
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/* Define True logic Power Control in arch agnostic form */
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#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
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#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
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#define VDD_3V3_SENSORS4_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
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#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
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#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
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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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#define VDD_3V3_ETH_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
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#define SE050_RESET(reset_true) px4_arch_gpiowrite(GPIO_SE050_nRST, !(reset_true))
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/* Tone alarm output */
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#define TONE_ALARM_TIMER 14 /* Timer 14 */
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#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */
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#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
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#define GPIO_TONE_ALARM GPIO_TIM14_CH1OUT_2
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/* USB OTG FS
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*
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* PA9 OTG_FS_VBUS VBUS sensing
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*/
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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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#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */
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#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
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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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/* Input Capture Channels. */
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#define INPUT_CAP1_TIMER 5
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#define INPUT_CAP1_CHANNEL /* T5C4 */ 4
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#define GPIO_INPUT_CAP1 /* PI0 */ GPIO_TIM5_CH4_IN
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
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#define PWMIN_TIMER 4
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#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
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#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
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/* Safety Switch is HW version dependent on having an PX4IO
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* So we init to a benign state with the _INIT definition
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* and provide the the non _INIT one for the driver to make a run time
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* decision to use it.
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*/
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#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
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#define GPIO_nSAFETY_SWITCH_LED_OUT /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
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#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
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#define GPIO_SAFETY_SWITCH_IN /* PH4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN4)
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/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
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#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
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/* Power switch controls ******************************************************/
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#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
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/*
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* FMUv5X has a separate RC_IN
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*
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* GPIO PPM_IN on PI5 T8CH1
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* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
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* Inversion is possible in the UART and can drive GPIO PPM_IN as an output
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*/
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#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
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#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
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#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
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#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
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#define SDIO_SLOTNO 0 /* Only one slot */
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#define SDIO_MINOR 0
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/* SD card bringup does not work if performed on the IDLE thread because it
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* will cause waiting. Use either:
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*
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* CONFIG_LIB_BOARDCTL=y, OR
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* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
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*/
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#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
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!defined(CONFIG_BOARD_INITTHREAD)
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# warning SDIO initialization cannot be perfomed on the IDLE thread
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#endif
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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 (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
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/* FMUv5X never powers off the Servo rail */
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#define BOARD_ADC_SERVO_VALID (1)
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#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
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# define BOARD_ADC_BRICK1_VALID (1)
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# define BOARD_ADC_BRICK2_VALID (0)
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#elif BOARD_HAS_LTC44XX_VALIDS == 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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#elif BOARD_HAS_LTC44XX_VALIDS == 2
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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 (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
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#elif BOARD_HAS_LTC44XX_VALIDS == 3
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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 (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
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# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
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#elif BOARD_HAS_LTC44XX_VALIDS == 4
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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 (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
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# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
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# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
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#else
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# error Unsupported BOARD_HAS_LTC44XX_VALIDS value
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#endif
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#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
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#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120+4096
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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 PX4_GPIO_INIT_LIST { \
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PX4_ADC_GPIO, \
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GPIO_HW_VER_REV_DRIVE, \
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GPIO_CAN1_TX, \
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GPIO_CAN1_RX, \
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GPIO_CAN2_TX, \
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GPIO_CAN2_RX, \
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GPIO_HEATER_OUTPUT, \
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GPIO_nPOWER_IN_A, \
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GPIO_nPOWER_IN_B, \
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GPIO_nPOWER_IN_C, \
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GPIO_VDD_5V_PERIPH_nEN, \
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GPIO_VDD_5V_PERIPH_nOC, \
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GPIO_VDD_5V_HIPOWER_nEN, \
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GPIO_VDD_5V_HIPOWER_nOC, \
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GPIO_VDD_3V3_SENSORS4_EN, \
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GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
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GPIO_VDD_3V3_SD_CARD_EN, \
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GPIO_PH11, \
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GPIO_SYNC, \
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SPI6_nRESET_EXTERNAL1, \
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GPIO_ETH_POWER_EN, \
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GPIO_NFC_GPIO, \
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GPIO_TONE_ALARM_IDLE, \
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GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
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GPIO_SAFETY_SWITCH_IN, \
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GPIO_SE050_nRST, \
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GPIO_nARMED_INIT \
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}
|
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|
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#define BOARD_ENABLE_CONSOLE_BUFFER
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|
|
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#define BOARD_NUM_IO_TIMERS 5
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__BEGIN_DECLS
|
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|
|
/****************************************************************************************************
|
|
* Public Types
|
|
****************************************************************************************************/
|
|
|
|
/****************************************************************************************************
|
|
* Public data
|
|
****************************************************************************************************/
|
|
|
|
#ifndef __ASSEMBLY__
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|
|
/****************************************************************************************************
|
|
* Public Functions
|
|
****************************************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: stm32_sdio_initialize
|
|
*
|
|
* Description:
|
|
* Initialize SDIO-based MMC/SD card support
|
|
*
|
|
****************************************************************************/
|
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|
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int stm32_sdio_initialize(void);
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|
|
/****************************************************************************************************
|
|
* Name: stm32_spiinitialize
|
|
*
|
|
* Description:
|
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
|
*
|
|
****************************************************************************************************/
|
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extern void stm32_spiinitialize(void);
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extern void stm32_usbinitialize(void);
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|
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extern void board_peripheral_reset(int ms);
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|
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#include <px4_platform_common/board_common.h>
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|
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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