You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
186 lines
7.5 KiB
186 lines
7.5 KiB
4 years ago
|
/****************************************************************************
|
||
|
|
*
|
||
|
|
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||
|
|
*
|
||
|
|
* Redistribution and use in source and binary forms, with or without
|
||
|
|
* modification, are permitted provided that the following conditions
|
||
|
|
* are met:
|
||
|
|
*
|
||
|
|
* 1. Redistributions of source code must retain the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer.
|
||
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer in
|
||
|
|
* the documentation and/or other materials provided with the
|
||
|
|
* distribution.
|
||
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||
|
|
* used to endorse or promote products derived from this software
|
||
|
|
* without specific prior written permission.
|
||
|
|
*
|
||
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
*
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @file board_config.h
|
||
|
|
*
|
||
|
|
* Board internal definitions
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <px4_platform_common/px4_config.h>
|
||
|
|
#include <nuttx/compiler.h>
|
||
|
|
#include <stdint.h>
|
||
|
|
#include <stm32_gpio.h>
|
||
|
|
|
||
|
|
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
||
|
|
#define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
|
||
|
|
#define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
|
||
|
|
#define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
|
||
|
|
|
||
|
|
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
|
||
|
|
#define BOARD_OVERLOAD_LED LED_RED
|
||
|
|
#define BOARD_ARMED_STATE_LED LED_BLUE
|
||
|
|
|
||
|
|
/* ADC channels */
|
||
|
|
#define PX4_ADC_GPIO \
|
||
|
|
/* PA2 */ GPIO_ADC12_INP14, \
|
||
|
|
/* PA3 */ GPIO_ADC12_INP15, \
|
||
|
|
/* PA4 */ GPIO_ADC12_INP18, \
|
||
|
|
/* PC1 */ GPIO_ADC123_INP11
|
||
|
|
|
||
|
|
/* Define Channel numbers must match above GPIO pins */
|
||
|
|
#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */
|
||
|
|
#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */
|
||
|
|
#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */
|
||
|
|
#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */
|
||
|
|
|
||
|
|
#define ADC_CHANNELS \
|
||
|
|
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
|
||
|
|
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
|
||
|
|
(1 << ADC_SCALED_V5_CHANNEL) | \
|
||
|
|
(1 << ADC_RC_RSSI_CHANNEL))
|
||
|
|
|
||
|
|
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
|
||
|
|
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
|
||
|
|
|
||
|
|
/* CAN Silence: Silent mode control */
|
||
|
|
#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
|
||
|
|
|
||
|
|
/* PWM */
|
||
|
|
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||
|
|
|
||
|
|
/* Power supply control and monitoring GPIOs */
|
||
|
|
#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
|
||
|
|
|
||
|
|
#define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
|
||
|
|
#define BOARD_NUMBER_BRICKS 1
|
||
|
|
|
||
|
|
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
|
||
|
|
|
||
|
|
/* Define True logic Power Control in arch agnostic form */
|
||
|
|
#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
|
||
|
|
#define READ_VDD_3V3_SPEKTRUM_POWER_EN() (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
|
||
|
|
|
||
|
|
/* Tone alarm output */
|
||
|
|
#define TONE_ALARM_TIMER 2 /* timer 2 */
|
||
|
|
#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */
|
||
|
|
|
||
|
|
#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||
|
|
|
||
|
|
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
|
||
|
|
#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
|
||
|
|
|
||
|
|
/* USB OTG FS */
|
||
|
|
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
|
||
|
|
|
||
|
|
/* High-resolution timer */
|
||
|
|
#define HRT_TIMER 3 /* use timer3 for the HRT */
|
||
|
|
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||
|
|
|
||
|
|
#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */
|
||
|
|
#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
|
||
|
|
|
||
|
|
/* RC Serial port */
|
||
|
|
#define RC_SERIAL_PORT "/dev/ttyS3"
|
||
|
|
|
||
|
|
#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
|
||
|
|
|
||
|
|
/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
|
||
|
|
#define GPIO_SAFETY_SWITCH_IN /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
|
||
|
|
/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
|
||
|
|
#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
|
||
|
|
|
||
|
|
/* Power switch controls ******************************************************/
|
||
|
|
#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
|
||
|
|
|
||
|
|
/*
|
||
|
|
* Board has a separate RC_IN
|
||
|
|
*
|
||
|
|
* GPIO PPM_IN on PB0 T3CH3
|
||
|
|
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
|
||
|
|
* Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
|
||
|
|
*/
|
||
|
|
#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
|
||
|
|
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
|
||
|
|
#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
|
||
|
|
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
|
||
|
|
|
||
|
|
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||
|
|
* this board support the ADC system_power interface, and therefore
|
||
|
|
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||
|
|
*/
|
||
|
|
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||
|
|
#define BOARD_ADC_USB_VALID BOARD_ADC_USB_CONNECTED
|
||
|
|
#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */
|
||
|
|
#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
|
||
|
|
|
||
|
|
/* This board provides a DMA pool and APIs */
|
||
|
|
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||
|
|
|
||
|
|
/* This board provides the board_on_reset interface */
|
||
|
|
#define BOARD_HAS_ON_RESET 1
|
||
|
|
|
||
|
|
#define BOARD_HAS_STATIC_MANIFEST 1
|
||
|
|
|
||
|
|
|
||
|
|
#define BOARD_NUM_IO_TIMERS 3
|
||
|
|
|
||
|
|
|
||
|
|
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||
|
|
|
||
|
|
#define PX4_GPIO_INIT_LIST { \
|
||
|
|
PX4_ADC_GPIO, \
|
||
|
|
GPIO_CAN1_TX, \
|
||
|
|
GPIO_CAN1_RX, \
|
||
|
|
GPIO_CAN2_TX, \
|
||
|
|
GPIO_CAN2_RX, \
|
||
|
|
GPIO_CAN1_SILENT_S0, \
|
||
|
|
GPIO_nPOWER_IN_A, \
|
||
|
|
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
|
||
|
|
GPIO_TONE_ALARM_IDLE, \
|
||
|
|
GPIO_SAFETY_SWITCH_IN, \
|
||
|
|
GPIO_OTGFS_VBUS, \
|
||
|
|
}
|
||
|
|
|
||
|
|
__BEGIN_DECLS
|
||
|
|
#ifndef __ASSEMBLY__
|
||
|
|
|
||
|
|
extern void stm32_spiinitialize(void);
|
||
|
|
extern void board_peripheral_reset(int ms);
|
||
|
|
|
||
|
|
#include <px4_platform_common/board_common.h>
|
||
|
|
#endif /* __ASSEMBLY__ */
|
||
|
|
__END_DECLS
|