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387 lines
15 KiB
387 lines
15 KiB
4 years ago
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/****************************************************************************
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*
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* Copyright (c) 2016, 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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* ModalAI FC v2 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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/* PX4FMU GPIOs ***********************************************************************************/
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/* Trace Clock and D0-D3 are available on the trace connector
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*
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* TRACECLK PE2 - Dedicated - Trace Connector Pin 1
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* TRACED0 PE3 - nLED_RED - Trace Connector Pin 3
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* TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5
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* TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7
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* TRACED3 PC12 - UART5_TX_TELEM2 - Trace Connector Pin 8
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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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#else
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# if defined(CONFIG_STM32H7_UART5) && (GPIO_UART5_TX == GPIO_UART5_TX_3)
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# error Need to disable CONFIG_STM32H7_UART5 for Trace 3 (Retarget to CAN2 if need be)
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# endif
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#endif
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/* SPI */
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#define GPIO_SPI4_MAG_INT /* PD12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN12)
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#define GPIO_SYNC /* PE9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
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/* I2C busses */
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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
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#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
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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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/* N.B. there is no offset mapping needed for ADC3 because */
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#define ADC3_CH(n) (n)
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/* We are only use ADC3 for REV/VER.
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* ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
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* To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
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* respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
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* PA0SO of 0.
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*
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* 0 Analog switch closed (pads are connected through the analog switch)
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*
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* So ADC3_INP0 is GPIO_ADC123_INP12
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* ADC3_INP1 is GPIO_ADC12_INP13
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*/
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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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/* PB1 */ GPIO_ADC12_INP5, \
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/* PC2 */ GPIO_ADC123_INP12, \
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/* PC3 */ GPIO_ADC12_INP13, \
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/* PH3 */ GPIO_ADC3_INP14, \
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/* PH4 */ GPIO_ADC3_INP15
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5)
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#define ADC_ADC3_6V6_CHANNEL /* PC2 */ ADC3_CH(12)
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#define ADC_ADC3_3V3_CHANNEL /* PC3 */ ADC3_CH(13)
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#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14)
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#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15)
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#define ADC_CHANNELS \
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((1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_ADC3_6V6_CHANNEL) | \
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(1 << ADC_ADC3_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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/* 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_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 /* PH4 */ GPIO_ADC3_INP15
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#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
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#define HW_INFO_INIT {'V','2','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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/* PE6 is nARMED --> FCv2 this goes to TP13
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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 /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
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#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
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#define BOARD_INDICATE_ARMED_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
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/* PWM
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*/
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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 GPIO_nVDD_USB_VALID /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) /* Low for USB power, High for DC power */
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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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/* Spare GPIO */
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#define CAN1_SILENT /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
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/* Define True logic Power Control in arch agnostic form */
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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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/* Future Use - IMU FSYNC */
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#define IMU_FYSNC_TIMER 14 /* Timer 14 */
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#define IMU_FYSNC_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */
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#define GPIO_IMU_FYSNC_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
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#define GPIO_IMU_FYSNC_IDLE GPIO_IMU_FYSNC_1
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#define GPIO_IMU_FYSNC 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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/* Input Capture Channels. */
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#define INPUT_CAP1_TIMER 1
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#define INPUT_CAP1_CHANNEL /* T1C2 */ 2
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#define GPIO_INPUT_CAP1 /* PE11 */ GPIO_TIM1_CH2IN
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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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/* 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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* ModalAI FC v2 has NO separate RC_IN
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*
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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
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*/
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#define SPEKTRUM_RX_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
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#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(SPEKTRUM_RX_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(SPEKTRUM_RX_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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/* ModalAI FC v2 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))
|
||
|
|
# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
|
||
|
|
# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
|
||
|
|
#else
|
||
|
|
# error Unsupported BOARD_HAS_LTC44XX_VALIDS value
|
||
|
|
#endif
|
||
|
|
|
||
|
|
|
||
|
|
/* 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 PX4_GPIO_INIT_LIST { \
|
||
|
|
PX4_ADC_GPIO, \
|
||
|
|
GPIO_HW_VER_REV_DRIVE, \
|
||
|
|
GPIO_CAN1_TX, \
|
||
|
|
GPIO_CAN1_RX, \
|
||
|
|
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
|
||
|
|
CAN1_SILENT, \
|
||
|
|
GPIO_SYNC, \
|
||
|
|
GPIO_IMU_FYSNC_IDLE, \
|
||
|
|
GPIO_IMU_FYSNC, \
|
||
|
|
}
|
||
|
|
|
||
|
|
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||
|
|
|
||
|
|
#define BOARD_NUM_IO_TIMERS 5
|
||
|
|
|
||
|
|
__BEGIN_DECLS
|
||
|
|
|
||
|
|
/****************************************************************************************************
|
||
|
|
* Public Types
|
||
|
|
****************************************************************************************************/
|
||
|
|
|
||
|
|
/****************************************************************************************************
|
||
|
|
* Public data
|
||
|
|
****************************************************************************************************/
|
||
|
|
|
||
|
|
#ifndef __ASSEMBLY__
|
||
|
|
|
||
|
|
/****************************************************************************************************
|
||
|
|
* Public Functions
|
||
|
|
****************************************************************************************************/
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Name: stm32_sdio_initialize
|
||
|
|
*
|
||
|
|
* Description:
|
||
|
|
* Initialize SDIO-based MMC/SD card support
|
||
|
|
*
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
int stm32_sdio_initialize(void);
|
||
|
|
|
||
|
|
/****************************************************************************************************
|
||
|
|
* Name: stm32_spiinitialize
|
||
|
|
*
|
||
|
|
* Description:
|
||
|
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||
|
|
*
|
||
|
|
****************************************************************************************************/
|
||
|
|
|
||
|
|
extern void stm32_spiinitialize(void);
|
||
|
|
|
||
|
|
extern void stm32_usbinitialize(void);
|
||
|
|
|
||
|
|
extern void board_peripheral_reset(int ms);
|
||
|
|
|
||
|
|
#include <px4_platform_common/board_common.h>
|
||
|
|
|
||
|
|
#endif /* __ASSEMBLY__ */
|
||
|
|
|
||
|
|
__END_DECLS
|