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px4_autopilot/boards/px4/io-v2/src/board_config.h

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XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
/****************************************************************************
*
Removed bogus 50 MHz setting, only relevant for outputs
11 years ago
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
*
* 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.
*
****************************************************************************/
/**
Board config sweep / cleanup. No further functionality-relevant points found
11 years ago
* @file board_config.h
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
*
* PX4IOV2 internal definitions
*/
#pragma once
/******************************************************************************
* Included Files
******************************************************************************/
src/platforms: move all headers to platforms/common/include/px4_platform_common and remove the px4_ prefix, except for px4_config.h. command to update includes: for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done Transitional headers for submodules are added (px4_{defines,log,time}.h)
5 years ago
#include <px4_platform_common/px4_config.h>
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
#include <nuttx/compiler.h>
#include <stdint.h>
board_common.h: move under platforms/common Also move board_determine_hw_info and board_gpio_init under platforms/nuttx
5 years ago
#include <px4_platform_common/board_common.h>
NuttX upgrade cmake wrapper (#7873) * NuttX cmake * px4_macros:Pass the stringified predicate as second arg to static assert CC_ASSERT mapes to the c++ static_assert or provides the same funtionality for c via the other macros. The c++ static assert takes 2 argumants the prdicate and a message. This fixes the lacking second argument. * Updated nuttx and apps submodule to upstream nuttx 7.21+==master This is the latest uptake of upstream nuttx and apps. * ROMFS generate with xxd instead of objcopy * delete nuttx-patches * NuttX update submodules to latest px4_nuttx-master * fix nuttx apps and board dependency * docker_run update to latest container 2017-08-29 * cmake ROMFS portable sed usage * NuttX update submodules to latest px4_nuttx-master
8 years ago
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
/******************************************************************************
* Definitions
******************************************************************************/
/* Configuration **************************************************************/
More implementation for the serial side on IO; fix a couple of bugs on the FMU side. Still needs serial init and some more testing/config on the FMU side, but closer to being ready to test.
12 years ago
/******************************************************************************
* Serial
******************************************************************************/
Rework the FMU<->IO connection to use a simple fixed-size DMA packet; this should let us reduce overall latency and bump the bitrate up. Will still require some tuning.
12 years ago
#define PX4FMU_SERIAL_BASE STM32_USART2_BASE
iov2 pin definition cleanup sweep
12 years ago
#define PX4FMU_SERIAL_VECTOR STM32_IRQ_USART2
Rework the FMU<->IO connection to use a simple fixed-size DMA packet; this should let us reduce overall latency and bump the bitrate up. Will still require some tuning.
12 years ago
#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX
#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX
#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX
#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX
#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY
#define PX4FMU_SERIAL_BITRATE 1500000
More implementation for the serial side on IO; fix a couple of bugs on the FMU side. Still needs serial init and some more testing/config on the FMU side, but closer to being ready to test.
12 years ago
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
/******************************************************************************
* GPIOS
******************************************************************************/
/* LEDS **********************************************************************/
Configuring PX4IOv2 led pins
11 years ago
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
Configure led ring and enable heartbeat on it
10 years ago
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
px4io:Detect Running on Cube and set GPIO for heater Addresses #11832 - configure the mixed use GPIO that can be the a BLue LED or a Heater as PUSH PULL on Cube as to not let the heater input float.
6 years ago
#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
/* PixHawk 1:
* PC14 Floating
* PC15 Floating
*
* PixHawk 2:
* PC14 3.3v
* PC15 GND
*/
#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
# define SENSE_PH1 0b10 /* Floating pulled as set */
# define SENSE_PH2 0b01 /* Driven as tied */
IOv2: Generalize board config
9 years ago
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
Update IOv2 config
9 years ago
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
/* Safety switch button *******************************************************/
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
/* Power switch controls ******************************************************/
px4io-v2 Remove GPIO_RC_OUT and vetted RC_IN wiring Removed the legacy FMUv4 define that was activating a nonexistent pull up and on some HW driving the PPM_IN aka RC_IN aka SPEKTRUM_RX to VDD. Also detailed the connections of this pins for the board. The simplest connection is RC_IN to a timer capture pin and a UART. In this case the UART_RX pin and just be left as is. While the pin can be configured as the PPM_IN (Timer capture) or as SPEKTRUM_RX_AS_GPIO_OUTPUT to use it as and GPIO to Renamed the macros and defines to be more explicit as to what Is being done and the sense of the parameters
8 years ago
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true))
IOv2: Add DSM controls
9 years ago
px4io-v2 Remove GPIO_RC_OUT and vetted RC_IN wiring Removed the legacy FMUv4 define that was activating a nonexistent pull up and on some HW driving the PPM_IN aka RC_IN aka SPEKTRUM_RX to VDD. Also detailed the connections of this pins for the board. The simplest connection is RC_IN to a timer capture pin and a UART. In this case the UART_RX pin and just be left as is. While the pin can be configured as the PPM_IN (Timer capture) or as SPEKTRUM_RX_AS_GPIO_OUTPUT to use it as and GPIO to Renamed the macros and defines to be more explicit as to what Is being done and the sense of the parameters
8 years ago
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
IOv2: Add DSM controls
9 years ago
iov2 pin definition cleanup sweep
12 years ago
#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
/* Analog inputs **************************************************************/
#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
iov2 pin definition cleanup sweep
12 years ago
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
/* the same rssi signal goes to both an adc and a timer input */
#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12)
/* PWM pins **************************************************************/
#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8)
IO: Initialize PWM pins to low state
9 years ago
#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
io-v2: use hw description methods for timer configuration
5 years ago
#define DIRECT_PWM_OUTPUT_CHANNELS 8
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
/* SBUS pins *************************************************************/
iov2 pin definition cleanup sweep
12 years ago
/* XXX these should be UART pins */
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11)
#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
S.BUS output disable cleanup
11 years ago
#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
12 years ago
trivial code style cleanup round 2
10 years ago
/*
Restructure things so that the PX4 configs move out of the NuttX tree, and most of the PX4-specific board configuration data moves out of the config and into the board driver. Rename some directories that got left behind in the great board renaming.
12 years ago
* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
px4io-v2:Fixed GPIO_PPM_IN definition
8 years ago
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 PA8 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
Restructure things so that the PX4 configs move out of the NuttX tree, and most of the PX4-specific board configuration data moves out of the config and into the board driver. Rename some directories that got left behind in the great board renaming.
12 years ago
/* LED definitions ******************************************************************/
/* PX4 has two LEDs that we will encode as: */
#define LED_STARTED 0 /* LED? */
#define LED_HEAPALLOCATE 1 /* LED? */
#define LED_IRQSENABLED 2 /* LED? + LED? */
#define LED_STACKCREATED 3 /* LED? */
#define LED_INIRQ 4 /* LED? + LED? */
#define LED_SIGNAL 5 /* LED? + LED? */
#define LED_ASSERTION 6 /* LED? + LED? + LED? */
#define LED_PANIC 7 /* N/C + N/C + N/C + LED? */
dshot: reduce static buffer size And handle failures of up_dshot_init(). On Omnibus: reduces memory usage if dshot is enabled by ~1.0KB. The buffer is roughly 1KB in size.
6 years ago
#define BOARD_NUM_IO_TIMERS 3
boards: add new spi+i2c config 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.
5 years ago
#define BOARD_DISABLE_I2C_SPI