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171 lines
6.6 KiB
C
171 lines
6.6 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* PX4FMUv4 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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// todo:NCP5623 datasheet says 0x38 driver says 0x39 - needs testing
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/* GPIO *************************************************************************** */
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/* LEDs are driven with push open drain to support Anode to 3.3V */
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#define GPIO_MCU_NLED_RED /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_MCU_NLED_BLUE /* PB2 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
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#define GPIO_MCU_NLED_GREEN /* PB10 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
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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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/*
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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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#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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/* PA1 */ ADC1_GPIO(1)
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_HW_VER_SENSE_CHANNEL /* PA0 */ ADC1_CH(0)
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#define ADC_HW_REV_SENSE_CHANNEL /* PA1 */ ADC1_CH(1)
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#define ADC_CHANNELS \
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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 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 /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5)
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#define GPIO_HW_REV_SENSE /* PA0 */ ADC1_GPIO(0)
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#define GPIO_HW_VER_SENSE /* PA1 */ ADC1_GPIO(1)
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#define HW_INFO_INIT {'C','A','N','G','P','S','x', 'x',0}
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#define HW_INFO_INIT_VER 6
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#define HW_INFO_INIT_REV 7
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#define FLASH_BASED_PARAMS
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/* CAN Silence
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*
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* Silent mode control
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*/
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#define GPIO_MCU_CAN1_SILENT /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_MCU_CAN2_SILENT /* PA4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN4)
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// Spi pinning is in spi.ccp
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// GPIO_MCU_SPI1_DRDY /* PA8 */
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// GPIO_MCU_SPI1_NCS_GYRO /* PB14 */
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// GPIO_MCU_SPI1_NCS_ACC /* PB15 */
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#define GPIO_SENSOR_3V3_EN /* PC15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
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#define GPIO_I2C1_SCL_RESET /* PB6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
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#define GPIO_I2C1_SDA_RESET /* PB7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
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#define GPIO_USB_SWITCH_DET /* PC14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN14)
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#define GPIO_NOPT_WAIT_FOR_GETNODEINFO /* PC13 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN13)
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#define GPIO_GPS_PPS_IN /* PB4 */ GPIO_TIM3_CH1_2
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/* High-resolution timer */
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#define HRT_TIMER 3 /* use timer 3 for the HRT */
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#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
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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_SENSOR_3V3_EN, \
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GPIO_I2C1_SCL_RESET, \
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GPIO_I2C1_SDA_RESET, \
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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_MCU_CAN1_SILENT, \
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GPIO_MCU_CAN2_SILENT, \
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GPIO_USB_SWITCH_DET, \
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GPIO_NOPT_WAIT_FOR_GETNODEINFO, \
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GPIO_GPS_PPS_IN /* todo:needs driver */ \
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}
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__BEGIN_DECLS
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#ifndef __ASSEMBLY__
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/****************************************************************************************************
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* Public Functions
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****************************************************************************************************/
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/****************************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4FMU board.
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*
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****************************************************************************************************/
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extern void stm32_spiinitialize(void);
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extern void stm32_usbinitialize(void);
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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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