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536877cf0a
* X7Pro adds CAN driver * UAVCAN timer selection moved to default.cmake * Modify some details about @CUAVcaijie UAVCAN timer selection moved to default.cmake * Put some timer parameters to micro_hal.h from board_config.h. Fix all h7 boards Co-authored-by: honglang <honglang@cuav.net>
248 lines
11 KiB
C
248 lines
11 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2020 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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#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 */
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#define GPIO_nLED_RED /* PI5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
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#define GPIO_nLED_GREEN /* PI6 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
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#define GPIO_nLED_BLUE /* PI7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
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#define BOARD_HAS_LED_PWM 1
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/* ADC channels */
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#define PX4_ADC_GPIO \
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/* PA0 */ GPIO_ADC1_INP16, \
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/* PA1 */ GPIO_ADC1_INP17, \
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/* PA2 */ GPIO_ADC12_INP14, \
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/* PF11 */ GPIO_ADC1_INP2, \
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/* PC4 */ GPIO_ADC12_INP4, \
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/* PA4 */ GPIO_ADC12_INP18, \
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/* PF12 */ GPIO_ADC1_INP6, \
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/* PC5 */ GPIO_ADC12_INP8, \
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/* PC1 */ GPIO_ADC123_INP11, \
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/* PC2 */ GPIO_ADC123_INP12, \
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/* PC3 */ GPIO_ADC12_INP13
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/* Define Channel numbers must match above GPIO pins */
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#define ADC_BATTERY1_VOLTAGE_CHANNEL 16 /* PA0 */
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#define ADC_BATTERY1_CURRENT_CHANNEL 17 /* PA1 */
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#define ADC_BATTERY2_VOLTAGE_CHANNEL 14 /* PA2 */
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#define ADC_BATTERY2_CURRENT_CHANNEL 2 /* PF11 */
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#define ADC1_6V6_IN_CHANNEL 4 /* PC4 */ // SPARE1_ADC1: ADC6.6
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#define ADC1_3V3_IN_CHANNEL 18 /* PA4 */ // SPARE2_ADC1: ADC3.3
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#define ADC_RSSI_IN_CHANNEL 6 /* PF12 */
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#define ADC_SCALED_V5_CHANNEL 8 /* PC5 */ // VDD_5V_SENS: Motherboard 5V voltage detection
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#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL 11 /* PC1 */ // SCALED_V3V3: Sensor power detection
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#define ADC_HW_VER_SENSE_CHANNEL 12 /* PC2 */
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#define ADC_HW_REV_SENSE_CHANNEL 13 /* PC3 */
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#define ADC_CHANNELS \
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((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
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(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
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(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
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(1 << ADC1_6V6_IN_CHANNEL) | \
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(1 << ADC1_3V3_IN_CHANNEL) | \
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(1 << ADC_RSSI_IN_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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/* 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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#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 */ GPIO_ADC12_INP13
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#define GPIO_HW_VER_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN3)
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#define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12
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/* CAN Silence Silent mode control */
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#define GPIO_CAN1_SILENT_S0 /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
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#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
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/* HEATER */
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#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
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/* PWM */
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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/* Power supply control and monitoring GPIOs */
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#define BOARD_NUMBER_BRICKS 2
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#define GPIO_nPOWER_IN_ADC /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
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#define GPIO_nPOWER_IN_CAN /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
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#define GPIO_nPOWER_IN_C /* PG0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
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#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
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#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen */
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#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB is Chosen */
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#define GPIO_VDD_5V_HIPOWER_EN /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
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#define GPIO_nVDD_5V_PERIPH_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
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#define GPIO_VDD_5V_RC_EN /* PG5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
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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 GPIO_VDD_5V_HIPOWER_OC /* PJ3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
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#define GPIO_nVDD_5V_PERIPH_OC /* PJ4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
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/* Power switch controls ******************************************************/
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#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
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#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true))
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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 SPEKTRUM_POWER(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
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#define READ_SPEKTRUM_POWER() px4_arch_gpioread(GPIO_VDD_5V_RC_EN)
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/* Tone alarm output */
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#define TONE_ALARM_TIMER 15 /* timer 15 */
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#define TONE_ALARM_CHANNEL 1 /* PE5 TIM15_CH1 */
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#define GPIO_TONE_ALARM_IDLE /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5) // ALARM
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#define GPIO_TONE_ALARM GPIO_TIM15_CH1OUT_2
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/* USB
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* OTG FS: PA9 OTG_FS_VBUS VBUS sensing
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* HS USB EN: PH15
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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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#define GPIO_HS_USB_EN /* PH15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN15)
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/* High-resolution timer */
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#define HRT_TIMER 3 /* use timer3 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 /* T3C1 */ 1 /* use capture/compare channel 1 */
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#define GPIO_PPM_IN /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2
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#define RC_SERIAL_PORT "/dev/ttyS5"
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#define RC_SERIAL_SINGLEWIRE
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/**
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* GPIO PPM_IN on PB4 T3C1
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* SPEKTRUM_RX (it's TX or RX in Bind) on UART8 PE0
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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_PORTB|GPIO_PIN4)
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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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/* RSSI_IN */
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#define GPIO_RSSI_IN /* PB0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
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/* Safety Switch is only on FMU */
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#define FMU_LED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN12) // FMU_LED_AMBER
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#define GPIO_BTN_SAFETY /* PE10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN10) // SAFETY_SW
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#define GPIO_LED_SAFETY FMU_LED_AMBER
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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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#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_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
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#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC))
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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_PWM DIRECT_PWM_OUTPUT_CHANNELS
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#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
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#define BOARD_ENABLE_CONSOLE_BUFFER
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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_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_CAN1_SILENT_S0, \
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GPIO_CAN2_SILENT_S1, \
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GPIO_HEATER_OUTPUT, \
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GPIO_nPOWER_IN_CAN, \
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GPIO_nPOWER_IN_ADC, \
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GPIO_nPOWER_IN_C, \
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GPIO_nVDD_5V_PERIPH_EN, \
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GPIO_nVDD_5V_PERIPH_OC, \
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GPIO_VDD_5V_HIPOWER_EN, \
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GPIO_VDD_5V_HIPOWER_OC, \
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GPIO_VDD_5V_RC_EN, \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
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PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
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GPIO_VDD_3V3_SD_CARD_EN, \
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GPIO_TONE_ALARM_IDLE, \
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GPIO_OTGFS_VBUS, \
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PX4_GPIO_PIN_OFF(GPIO_HS_USB_EN), \
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GPIO_RSSI_IN, \
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FMU_LED_AMBER, \
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GPIO_BTN_SAFETY, \
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}
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__BEGIN_DECLS
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#ifndef __ASSEMBLY__
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extern void stm32_spiinitialize(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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