/**************************************************************************** * * Copyright (c) 2016, 2020 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 * * ModalAI FC v2 internal definitions */ #pragma once /**************************************************************************************************** * Included Files ****************************************************************************************************/ #include #include #include #include /**************************************************************************************************** * Definitions ****************************************************************************************************/ /* PX4IO connection configuration */ #define BOARD_USES_PX4IO_VERSION 2 #define PX4IO_SERIAL_DEVICE "/dev/ttyS5" #define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX #define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX #define PX4IO_SERIAL_BASE STM32_USART6_BASE #define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6 #define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX #define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX #define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR #define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN #define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY #define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ /* Configuration ************************************************************************************/ /* PX4FMU GPIOs ***********************************************************************************/ /* Trace Clock and D0-D3 are available on the trace connector * * TRACECLK PE2 - Dedicated - Trace Connector Pin 1 * TRACED0 PE3 - nLED_RED - Trace Connector Pin 3 * TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5 * TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7 * TRACED3 PC12 - UART5_TX_TELEM2 - Trace Connector Pin 8 */ #undef TRACE_PINS /* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */ #if !defined(TRACE_PINS) # define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) # define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) # define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5) # define BOARD_HAS_CONTROL_STATUS_LEDS 1 # define BOARD_OVERLOAD_LED LED_RED # define BOARD_ARMED_STATE_LED LED_BLUE #else # if defined(CONFIG_STM32H7_UART5) && (GPIO_UART5_TX == GPIO_UART5_TX_3) # error Need to disable CONFIG_STM32H7_UART5 for Trace 3 (Retarget to CAN2 if need be) # endif #endif /* SPI */ #define GPIO_SPI4_MAG_INT /* PD12 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN12) #define GPIO_SYNC /* PE9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) /* I2C busses */ /* Devices on the onboard buses. * * Note that these are unshifted addresses. */ #define PX4_I2C_OBDEV_BMP388 0x76 #define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5) /* * ADC channels * * These are the channel numbers of the ADCs of the microcontroller that * can be used by the Px4 Firmware in the adc driver */ /* ADC defines to be used in sensors.cpp to read from a particular channel */ #define ADC1_CH(n) (n) /* N.B. there is no offset mapping needed for ADC3 because */ #define ADC3_CH(n) (n) /* We are only use ADC3 for REV/VER. * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1 * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3 * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO * PA0SO of 0. * * 0 Analog switch closed (pads are connected through the analog switch) * * So ADC3_INP0 is GPIO_ADC123_INP12 * ADC3_INP1 is GPIO_ADC12_INP13 */ /* Define GPIO pins used as ADC N.B. Channel numbers must match below */ #define PX4_ADC_GPIO \ /* PB1 */ GPIO_ADC12_INP5, \ /* PC2 */ GPIO_ADC123_INP12, \ /* PC3 */ GPIO_ADC12_INP13, \ /* PH3 */ GPIO_ADC3_INP14, \ /* PH4 */ GPIO_ADC3_INP15 /* Define Channel numbers must match above GPIO pin IN(n)*/ #define ADC_SCALED_V5_CHANNEL /* PB1 */ ADC1_CH(5) #define ADC_ADC3_6V6_CHANNEL /* PC2 */ ADC3_CH(12) #define ADC_ADC3_3V3_CHANNEL /* PC3 */ ADC3_CH(13) #define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14) #define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15) #define ADC_CHANNELS \ ((1 << ADC_SCALED_V5_CHANNEL) | \ (1 << ADC_ADC3_6V6_CHANNEL) | \ (1 << ADC_ADC3_3V3_CHANNEL)) /* HW has to large of R termination on ADC todo:change when HW value is chosen */ #define HW_REV_VER_ADC_BASE STM32_ADC3_BASE #define SYSTEM_ADC_BASE STM32_ADC1_BASE /* HW has to large of R termination on ADC todo:change when HW value is chosen */ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) /* HW Version and Revision drive signals Default to 1 to detect */ #define BOARD_HAS_HW_VERSIONING #define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15 #define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14 #define HW_INFO_INIT {'V','2','x', 'x',0} #define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */ #define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */ /* PE6 is nARMED --> FCv2 this goes to TP13 * The GPIO will be set as input while not armed HW will have external HW Pull UP. * While armed it shall be configured at a GPIO OUT set LOW */ #define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6) #define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6) #define BOARD_INDICATE_ARMED_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT) /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 /* Power supply control and monitoring GPIOs */ #define GPIO_nVDD_USB_VALID /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) /* Low for USB power, High for DC power */ #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2) /* Spare GPIO */ #define CAN1_SILENT /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15) /* 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) /* Future Use - IMU FSYNC */ #define IMU_FYSNC_TIMER 14 /* Timer 14 */ #define IMU_FYSNC_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */ #define GPIO_IMU_FYSNC_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9) #define GPIO_IMU_FYSNC_IDLE GPIO_IMU_FYSNC_1 #define GPIO_IMU_FYSNC GPIO_TIM14_CH1OUT_2 /* USB OTG FS * * PA9 OTG_FS_VBUS VBUS sensing */ #define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 8 /* use timer8 for the HRT */ #define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */ //#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */ //#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2 /* RC Serial port */ #define RC_SERIAL_PORT "/dev/ttyS5" /* Input Capture Channels. */ #define INPUT_CAP1_TIMER 1 #define INPUT_CAP1_CHANNEL /* T1C2 */ 2 #define GPIO_INPUT_CAP1 /* PE11 */ GPIO_TIM1_CH2IN /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ #define PWMIN_TIMER 4 #define PWMIN_TIMER_CHANNEL /* T4C2 */ 2 #define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2 /* Power switch controls ******************************************************/ #define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) /* * ModalAI FC v2 has NO separate RC_IN * * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 * Inversion is possible in the UART */ #define SPEKTRUM_RX_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7) #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(SPEKTRUM_RX_AS_OUT) #define SPEKTRUM_RX_AS_UART() /* Can be left as uart */ #define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(SPEKTRUM_RX_AS_OUT, (_one_true)) #define SDIO_SLOTNO 0 /* Only one slot */ #define SDIO_MINOR 0 /* SD card bringup does not work if performed on the IDLE thread because it * will cause waiting. Use either: * * CONFIG_LIB_BOARDCTL=y, OR * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y */ #if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \ !defined(CONFIG_BOARD_INITTHREAD) # warning SDIO initialization cannot be perfomed on the IDLE thread #endif /* 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 (!px4_arch_gpioread(GPIO_nVDD_USB_VALID)) /* ModalAI FC v2 never powers off the Servo rail */ #define BOARD_ADC_SERVO_VALID (1) #if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0 # define BOARD_ADC_BRICK1_VALID (1) # define BOARD_ADC_BRICK2_VALID (0) #elif BOARD_HAS_LTC44XX_VALIDS == 1 # define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) # define BOARD_ADC_BRICK2_VALID (0) #elif BOARD_HAS_LTC44XX_VALIDS == 2 # define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) # define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) #elif BOARD_HAS_LTC44XX_VALIDS == 3 # define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) # define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID)) # define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID)) #elif BOARD_HAS_LTC44XX_VALIDS == 4 # define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID)) # 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 #endif /* __ASSEMBLY__ */ __END_DECLS