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161 lines
6.9 KiB
161 lines
6.9 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 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 px4fmu_internal.h |
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* |
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* PX4FMU 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 <nuttx/config.h> |
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#include <nuttx/compiler.h> |
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#include <stdint.h> |
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__BEGIN_DECLS |
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/* these headers are not C++ safe */ |
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#include <stm32_internal.h> |
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/**************************************************************************************************** |
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* Definitions |
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****************************************************************************************************/ |
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/* Configuration ************************************************************************************/ |
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#ifdef CONFIG_STM32_SPI2 |
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# error "SPI2 is not supported on this board" |
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#endif |
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#if defined(CONFIG_STM32_CAN1) |
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# warning "CAN1 is not supported on this board" |
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#endif |
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/* PX4FMU GPIOs ***********************************************************************************/ |
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/* LEDs */ |
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) |
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) |
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/* External interrupts */ |
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#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) |
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// XXX MPU6000 DRDY? |
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/* SPI chip selects */ |
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#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) |
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#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) |
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#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) |
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#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) |
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/* User GPIOs |
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* |
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* GPIO0-1 are the buffered high-power GPIOs. |
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* GPIO2-5 are the USART2 pins. |
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* GPIO6-7 are the CAN2 pins. |
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*/ |
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#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) |
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#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) |
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#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0) |
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#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1) |
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#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2) |
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#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3) |
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#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13) |
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#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2) |
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#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4) |
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#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5) |
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#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) |
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#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) |
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#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) |
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#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3) |
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#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) |
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#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12) |
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#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) |
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/* USB OTG FS |
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* |
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* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED) |
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*/ |
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#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9) |
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/* PWM |
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* |
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* The PX4FMU has five PWM outputs, of which only the output on |
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* pin PC8 is fixed assigned to this function. The other four possible |
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* pwm sources are the TX, RX, RTS and CTS pins of USART2 |
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* |
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* Alternate function mapping: |
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* PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2 |
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*/ |
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#ifdef CONFIG_PWM |
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# if defined(CONFIG_STM32_TIM3_PWM) |
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# define BUZZER_PWMCHANNEL 3 |
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# define BUZZER_PWMTIMER 3 |
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# elif defined(CONFIG_STM32_TIM8_PWM) |
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# define BUZZER_PWMCHANNEL 3 |
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# define BUZZER_PWMTIMER 8 |
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# endif |
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#endif |
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/**************************************************************************************************** |
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* Public Types |
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****************************************************************************************************/ |
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/**************************************************************************************************** |
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* Public data |
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****************************************************************************************************/ |
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#ifndef __ASSEMBLY__ |
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/**************************************************************************************************** |
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* Public Functions |
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****************************************************************************************************/ |
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/**************************************************************************************************** |
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* Name: stm32_spiinitialize |
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* |
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* Description: |
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* Called to configure SPI chip select GPIO pins for the PX4FMU board. |
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* |
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****************************************************************************************************/ |
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extern void stm32_spiinitialize(void); |
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#endif /* __ASSEMBLY__ */ |
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__END_DECLS
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