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168 lines
7.8 KiB
168 lines
7.8 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2013, 2014 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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* PX4IOV2 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 <px4_platform_common/board_common.h> |
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/****************************************************************************** |
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* Definitions |
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******************************************************************************/ |
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/* Configuration **************************************************************/ |
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/****************************************************************************** |
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* Serial |
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******************************************************************************/ |
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#define PX4FMU_SERIAL_BASE STM32_USART2_BASE |
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#define PX4FMU_SERIAL_VECTOR STM32_IRQ_USART2 |
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#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX |
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#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX |
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#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX |
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#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX |
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#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY |
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#define PX4FMU_SERIAL_BITRATE 1500000 |
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/****************************************************************************** |
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* GPIOS |
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******************************************************************************/ |
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/* LEDS **********************************************************************/ |
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) |
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15) |
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#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13) |
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#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11) |
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#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14) |
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#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14) |
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#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15) |
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/* PixHawk 1: |
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* PC14 Floating |
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* PC15 Floating |
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* |
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* PixHawk 2: |
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* PC14 3.3v |
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* PC15 GND |
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*/ |
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#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14) |
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#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15) |
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# define SENSE_PH1 0b10 /* Floating pulled as set */ |
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# define SENSE_PH2 0b01 /* Driven as tied */ |
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#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10) |
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/* Safety switch button *******************************************************/ |
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#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5) |
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/* Power switch controls ******************************************************/ |
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#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) |
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#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true)) |
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#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true)) |
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#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX) |
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#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM) |
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#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15) |
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/* Analog inputs **************************************************************/ |
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#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4) |
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/* the same rssi signal goes to both an adc and a timer input */ |
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#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5) |
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#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12) |
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/* PWM pins **************************************************************/ |
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#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8) |
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#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) |
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#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) |
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#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) |
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#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9) |
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#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6) |
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#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7) |
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#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) |
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#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) |
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#define DIRECT_PWM_OUTPUT_CHANNELS 8 |
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/* SBUS pins *************************************************************/ |
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/* XXX these should be UART pins */ |
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#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11) |
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#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) |
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#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4) |
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/* |
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* High-resolution timer |
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*/ |
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#define HRT_TIMER 1 /* use timer1 for the HRT */ |
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#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */ |
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#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 PA8 */ |
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#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8) |
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/* LED definitions ******************************************************************/ |
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/* PX4 has two LEDs that we will encode as: */ |
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#define LED_STARTED 0 /* LED? */ |
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#define LED_HEAPALLOCATE 1 /* LED? */ |
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#define LED_IRQSENABLED 2 /* LED? + LED? */ |
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#define LED_STACKCREATED 3 /* LED? */ |
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#define LED_INIRQ 4 /* LED? + LED? */ |
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#define LED_SIGNAL 5 /* LED? + LED? */ |
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#define LED_ASSERTION 6 /* LED? + LED? + LED? */ |
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#define LED_PANIC 7 /* N/C + N/C + N/C + LED? */ |
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#define BOARD_NUM_IO_TIMERS 3 |
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#define BOARD_DISABLE_I2C_SPI
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