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185 lines
7.5 KiB
185 lines
7.5 KiB
/**************************************************************************** |
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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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* Board internal definitions |
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*/ |
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#pragma once |
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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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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ |
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#define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) |
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#define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1) |
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#define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3) |
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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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/* ADC channels */ |
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#define PX4_ADC_GPIO \ |
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/* PA2 */ GPIO_ADC12_INP14, \ |
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/* PA3 */ GPIO_ADC12_INP15, \ |
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/* PA4 */ GPIO_ADC12_INP18, \ |
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/* PC1 */ GPIO_ADC123_INP11 |
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/* Define Channel numbers must match above GPIO pins */ |
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#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */ |
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#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */ |
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#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */ |
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#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */ |
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#define ADC_CHANNELS \ |
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((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ |
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(1 << ADC_BATTERY_CURRENT_CHANNEL) | \ |
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(1 << ADC_SCALED_V5_CHANNEL) | \ |
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(1 << ADC_RC_RSSI_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 BOARD_ADC_OPEN_CIRCUIT_V (5.6f) |
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/* CAN Silence: Silent mode control */ |
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#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) |
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/* PWM */ |
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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_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) |
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#define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ |
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#define BOARD_NUMBER_BRICKS 1 |
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#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4) |
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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) == 0) |
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/* Tone alarm output */ |
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#define TONE_ALARM_TIMER 2 /* timer 2 */ |
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#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */ |
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#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) |
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#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 |
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#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 |
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/* USB OTG FS */ |
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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 3 /* use timer3 for the HRT */ |
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ |
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#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */ |
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#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 |
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/* RC Serial port */ |
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#define RC_SERIAL_PORT "/dev/ttyS3" |
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#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) |
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/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ |
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#define GPIO_SAFETY_SWITCH_IN /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) |
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/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ |
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#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ |
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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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* Board has a separate RC_IN |
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* |
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* GPIO PPM_IN on PB0 T3CH3 |
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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 and can drive GPIO_PPM_IN as an output |
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*/ |
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#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) |
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#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_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(GPIO_PPM_IN_AS_OUT, (_one_true)) |
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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 BOARD_ADC_USB_CONNECTED |
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#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */ |
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#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID)) |
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/* This board provides a DMA pool and APIs */ |
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120 |
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/* This board provides the board_on_reset interface */ |
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#define BOARD_HAS_ON_RESET 1 |
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#define BOARD_HAS_STATIC_MANIFEST 1 |
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#define BOARD_NUM_IO_TIMERS 3 |
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#define BOARD_ENABLE_CONSOLE_BUFFER |
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#define PX4_GPIO_INIT_LIST { \ |
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PX4_ADC_GPIO, \ |
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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_CAN1_SILENT_S0, \ |
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GPIO_nPOWER_IN_A, \ |
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GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ |
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GPIO_TONE_ALARM_IDLE, \ |
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GPIO_SAFETY_SWITCH_IN, \ |
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GPIO_OTGFS_VBUS, \ |
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} |
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__BEGIN_DECLS |
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#ifndef __ASSEMBLY__ |
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extern void stm32_spiinitialize(void); |
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extern void board_peripheral_reset(int ms); |
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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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