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523 lines
25 KiB
523 lines
25 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2013-2016 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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* PX4FMUv2 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_config.h> |
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#include <nuttx/compiler.h> |
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#include <stdint.h> |
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/* Run time Hardware detection */ |
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#define BOARD_HAS_SIMPLE_HW_VERSIONING 1 |
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#define HW_VER_PA8 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN8) |
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#define HW_VER_PB4 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4) |
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#define HW_VER_PB12 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN12) |
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#define HW_VER_PA8_INIT (GPIO_VDD_5V_PERIPH_EN) |
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#define HW_VER_PB4_INIT (GPIO_SPI1_EXTI_DRDY_PB4) |
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#define HW_VER_PB12_INIT (GPIO_CAN2_RX | GPIO_PULLUP) /* Assume V2 needing pull up */ |
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#define HW_VER_FMUV2_STATE 0x8 /* PB12:PU:1 PB12:PD:0 PB4:PU:0 PB4PD:0 */ |
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#define HW_VER_FMUV3_STATE 0xE /* PB12:PU:1 PB12:PD:1 PB4:PU:1 PB4PD:0 */ |
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#define HW_VER_FMUV2MINI_STATE 0xA /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:0 */ |
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#define HW_VER_FMUV2X_STATE 0xB /* PB12:PU:1 PB12:PD:0 PB4:PU:1 PB4PD:1 */ |
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#define HW_VER_TYPE_INIT {'V','2',0, 0} |
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/**************************************************************************************************** |
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* Definitions |
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****************************************************************************************************/ |
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/* Configuration ************************************************************************************/ |
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/* PX4IO connection configuration */ |
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#define BOARD_USES_PX4IO_VERSION 2 |
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS4" |
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#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX |
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#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX |
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#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */ |
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#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6 |
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#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2 |
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#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2 |
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#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR |
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#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN |
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#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY |
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#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */ |
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/* PX4FMU GPIOs ***********************************************************************************/ |
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/* LEDs */ |
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12) |
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#define BOARD_OVERLOAD_LED LED_AMBER |
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/* |
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* Define the ability to shut off off the sensor signals |
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* by changing the signals to inputs |
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*/ |
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#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_50MHz)) |
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/* Due to inconsistent use of chip select and dry signal on |
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* different board that use this build. We are defining the GPIO |
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* inclusive of the SPI port and GPIO to help identify pins the |
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* are part of the sensor Net's controlled by different power |
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* domains. |
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* |
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* Only the GPIO_SPIb_xxx_Ppi will be used in the code to insure this are no |
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* cross connections. |
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* |
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* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities --------- |
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* FMUv2: FmuV3 Cube PixhawkMini |
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* Power Domain: VDD_3V3_SENSORS_EN nVDD_5V_PERIPH_EN V3V:SPI1&SPI4 V3V:SPI1 No SPI4 |
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* PA5 SPI_INT_SCK |
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* PA6 SPI_INT_MISO |
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* PA7 SPI_INT_MOSI |
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* PB0 GYRO_DRDY SPI4:EXTERN_DRDY NC |
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* PB1 MAG_DRDY +SPI4:nEXTERN_CS NC |
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* PB4 ACCEL_DRDY NC NC |
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* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS |
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* PC2 nMPU_CS @MPU6000|MPU9250 @MPU9250 |
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* PC13 nGYRO_CS SPI4:nGYRO_EXT_CS NC |
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* PC14 GPIO_EXT_1 nBARO_EXT_CS -20608_DRDY |
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* PC15 nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS 20608_CS |
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* PD7 nBARO_CS |
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* PD15 nMPU_DRDY @MPU6000|MPU9250 @MPU9250 |
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* PE2 SPI_EXT_SCK NC |
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* PE4 nSPI_EXT_NSS SPI4:nMPU_EXT_CS NC |
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* PE5 SPI_EXT_MISO NC |
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* PE6 SPI_EXT_MOSI NC |
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* |
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* Notes: Prefixed with @ Does not effect board control |
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* Prefixed with + Input used as Output |
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* Prefixed with - Output used as Input |
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* Prefixed with SPIn: Bus changed |
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* |
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* The board API provides for mechanism to perform a SPI bus reset. |
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* To facilitate a SPI bus reset |
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* |
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* 1) All the pins: SPIn, CD, DRDY associated with the SPI bus are turned to inputs |
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* with outputs driven low. (OFFIng) |
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* 2) The power domain of that bus is turned off. |
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* 3) A usleep it done for ms. |
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* 4) The power domain of that bus is turned back on. |
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* 5) The SPIn pins are re-initialized. |
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* 6) The SPI CS, DRDY pins are re-initialized. |
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* |
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* To insure the complete net is de-energized and is not bing back fed, it is important to |
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* note the all signals in the net list of the parts/bus. |
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* |
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* I.E. Not OFFIng PC1 on V3 would leave that pin back feeding the HMC part. As would not |
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* OFFIng PE4, not associated with SPI1 on V2, but would back feed an MPUxxxx on V3 |
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* |
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*/ |
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/*----------------------------------------------------------*/ |
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/* FMUv2 SPI chip selects and DRDY */ |
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/*----------------------------------------------------------*/ |
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/* FMUv2 SPI1 chip selects */ |
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/* PC1 Spare ADC IN10 */ |
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#define GPIO_SPI1_CS_PC2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) |
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#define GPIO_SPI1_CS_PC13 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) |
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#define GPIO_SPI1_CS_PC15 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) |
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#define GPIO_SPI1_CS_PD7 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) |
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/* FMUv2 SPI2 chip selects */ |
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#define GPIO_SPI2_CS_PD10 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) |
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/* FMUv2 SPI4 chip selects */ |
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#define GPIO_SPI4_GPIO_PC14 /* !V2M */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) |
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#define GPIO_SPI4_NSS_PE4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) |
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/* FMUv2 SPI1 chip selects Assignments */ |
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#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 |
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#define GPIO_SPI1_CS_GYRO GPIO_SPI1_CS_PC13 |
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#define GPIO_SPI1_CS_ACCEL_MAG GPIO_SPI1_CS_PC15 |
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#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 |
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/* FMUv2 SPI2 chip selects Assignments */ |
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#define GPIO_SPI2_CS_FRAM GPIO_SPI2_CS_PD10 |
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/* FMUv2 SPI4 chip selects Assignments */ |
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#define GPIO_SPI4_GPIO_EXT GPIO_SPI4_GPIO_PC14 |
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#define GPIO_SPI4_EXT_NSS GPIO_SPI4_NSS_PE4 |
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/* FMUv2 DRDY */ |
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#define GPIO_SPI1_EXTI_DRDY_PB0 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0) |
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#define GPIO_SPI1_EXTI_DRDY_PB1 /*!V3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) |
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#define GPIO_SPI1_EXTI_DRDY_PB4 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4) |
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#define GPIO_SPI1_EXTI_DRDY_PD15 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15) |
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/* FMUv2 DRDY Assignments */ |
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#define GPIO_SPI1_EXTI_GYRO_DRDY GPIO_SPI1_EXTI_DRDY_PB0 |
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#define GPIO_SPI1_EXTI_MAG_DRDY GPIO_SPI1_EXTI_DRDY_PB1 |
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#define GPIO_SPI1_EXTI_ACCEL_DRDY GPIO_SPI1_EXTI_DRDY_PB4 |
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#define GPIO_SPI1_EXTI_MPU_DRDY GPIO_SPI1_EXTI_DRDY_PD15 |
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/*----------------------------------------------------------*/ |
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/* End FMUv2 SPI chip selects and DRDY */ |
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/*----------------------------------------------------------*/ |
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#define PX4_SPI_BUS_SENSORS 1 |
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#define PX4_SPI_BUS_RAMTRON 2 |
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#define PX4_SPI_BUS_EXT 4 |
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#define PX4_SPI_BUS_BARO PX4_SPI_BUS_SENSORS |
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/* Use these to select a specific SPI device on SPI1 */ |
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#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) |
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#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) |
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#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) |
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#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4) |
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/* FMUv3 SPI on external bus */ |
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#define PX4_SPIDEV_EXT_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 1) |
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#define PX4_SPIDEV_EXT_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 2) |
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#define PX4_SPIDEV_EXT_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 3) |
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#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 4) |
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#define PX4_SPIDEV_EXT_BMI PX4_MK_SPI_SEL(PX4_SPI_BUS_EXT, 5) |
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/* I2C busses */ |
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#define PX4_I2C_BUS_EXPANSION 1 |
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#define PX4_I2C_BUS_ONBOARD 2 |
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#define PX4_I2C_BUS_LED PX4_I2C_BUS_ONBOARD |
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/*----------------------------------------------------------*/ |
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/* FMUv3 Cube SPI chip selects and DRDY */ |
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/*----------------------------------------------------------*/ |
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/* Due to inconsistent use of chip select and dry signal on |
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* different board that use this build. We are defining the GPIO |
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* inclusive of the SPI port and GPIO to help identify pins the |
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* are part of the sensor Net's controlled by different power |
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* domains. |
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* |
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* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities --------- |
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* FMUv3 Cube: FmuV2 PixhawkMini |
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* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1 No SPI4 |
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* PA5 SPI_INT_SCK |
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* PA6 SPI_INT_MISO |
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* PA7 SPI_INT_MOSI |
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* PB0 EXTERN_DRDY SPI1:GYRO_DRDY NC |
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* PB1 MAG_DRDY nEXTERN_CS -SPI1:MAG_DRDY NC |
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* PB4 NC SPI1:ACCEL_DRDY NC |
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* PC1 SPI_INT_MAG_!CS -ADC1_IN11 NC |
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* PC2 nMPU_CS @MPU6000 @MPU9250 |
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* PC13 nGYRO_EXT_CS SPI1:nGYRO_CS NC |
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* PC14 nBARO_EXT_CS GPIO_EXT_1 -20608_DRDY |
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* PC15 nACCEL_MAG_EXT_CS SPI1:nACCEL_MAG_CS 20608_CS |
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* PD7 nBARO_CS |
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* PD15 nMPU_DRDY @MPU6000 @MPU9250 |
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* PE2 SPI_EXT_SCK NC |
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* PE4 MPU_EXT_CS SPI4:nSPI_EXT_NSS NC |
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* PE5 SPI_EXT_MISO NC |
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* PE6 SPI_EXT_MOSI NC |
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* |
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* |
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* Notes: Prefixed with @ Does not effect board control |
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* Prefixed with + Input used as Output |
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* Prefixed with - Output used as Input |
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* Prefixed with SPIn: Bus changed |
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* |
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*/ |
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/* FMUv3 Cube SPI1 chip selects */ |
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/* Was a spare ACD IN10 on V2 */ |
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#define GPIO_SPI1_CS_PC1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1) |
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#define GPIO_SPI4_CS_PB1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1) |
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#define GPIO_SPI4_CS_PC13 GPIO_SPI1_CS_PC13 |
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#define GPIO_SPI4_CS_PC14 GPIO_SPI4_GPIO_PC14 |
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#define GPIO_SPI4_CS_PC15 GPIO_SPI1_CS_PC15 |
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/* FMUv3 Cube chip selects Assignments */ |
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/* Cube 2.0 V2.1 */ |
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#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU600 MPU9250 */ |
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#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 MS5611 */ |
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#define GPIO_SPI1_CS_HMC GPIO_SPI1_CS_PC1 /* HMC5983 Removed */ |
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/* N.B. bus moves from SPI1 to SPI4 */ |
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#define GPIO_SPI4_GYRO_EXT_CS GPIO_SPI4_CS_PC13 |
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#define GPIO_SPI4_BARO_EXT_CS GPIO_SPI4_CS_PC14 |
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#define GPIO_SPI4_ACCEL_MAG_EXT_CS GPIO_SPI4_CS_PC15 |
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/* No move */ |
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#define GPIO_SPI4_MPU_EXT_CS GPIO_SPI4_NSS_PE4 |
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/* FMUv3 DRDY Assignments */ |
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#define GPIO_SPI4_EXTI_DRDY_PB0 GPIO_SPI1_EXTI_DRDY_PB0 |
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#define GPIO_SPI4_EXTI_EXTERN_DRDY GPIO_SPI4_EXTI_DRDY_PB0 |
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#define GPIO_SPI4_EXTERN_CS GPIO_SPI4_CS_PB1 |
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/* PB1 is an External CS on V3 */ |
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#define PX4_SPIDEV_HMC 5 |
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/*----------------------------------------------------------*/ |
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/* End FMUv3 Cube SPI chip selects and DRDY */ |
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/*----------------------------------------------------------*/ |
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/*----------------------------------------------------------*/ |
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/* Due to inconsistent use of chip select and dry signal on |
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* different board that use this build. We are defining the GPIO |
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* inclusive of the SPI port and GPIO to help identify pins the |
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* are part of the sensor Net's controlled by different power |
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* domains. |
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* |
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* --------------- SPI1 -------------------- SPI4 -------------- Incompatibilities --------- |
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* FMUv2 Pixhawk Mini FmuV2 FmuV3 Cube |
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* Power Domain: VDD_3V3_SENSORS_EN NA V3V:SPI V5:SPI4 V3V:SPI1&SPI4 |
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* PA5 SPI_INT_SCK |
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* PA6 SPI_INT_MISO |
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* PA7 SPI_INT_MOSI |
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* PB0 NC SPI1:GYRO_DRDY SPI4:EXTERN_DRDY |
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* PB1 NC -SPI1:MAG_DRDY +SPI4:nEXTERN_CS |
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* PB4 NC SPI1:ACCEL_DRDY NC |
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* PC1 Spare ADC ( NC ) +SPI1:SPI_INT_MAG_!CS |
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* PC2 nMPU_CS @MPU6000 @MPU6000|MPU9250 |
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* PC13 NC SPI1:nGYRO_CS SPI4:nGYRO_EXT_CS |
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* PC14 20608_DRDY +GPIO_EXT_1 nBARO_EXT_CS |
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* PC15 20608_CS nACCEL_MAG_CS SPI4:nACCEL_MAG_EXT_CS |
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* PD7 nBARO_CS |
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* PD15 nMPU_DRDY @MPU6000 @MPU6000|MPU9250 |
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* PE2 NC SPI_EXT_SCK SPI_EXT_SCK |
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* PE4 NC SPI4:nSPI_EXT_NSS SPI4:nMPU_EXT_CS |
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* PE5 NC SPI_EXT_MISO SPI_EXT_MISO |
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* PE6 NC SPI_EXT_MOSI SPI_EXT_MOSI |
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* |
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* Notes: Prefixed with @ Does not effect board control |
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* Prefixed with + Input used as Output |
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* Prefixed with - Output used as Input |
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* Prefixed with SPIn: Bus changed |
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* |
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*/ |
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/*----------------------------------------------------------*/ |
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/* FMUv2 PixhawkMini SPI chip selects and DRDY */ |
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/*----------------------------------------------------------*/ |
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/* FMUv2 PixhawkMini SPI1 chip selects */ |
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/* FMUv3 Cube chip selects Assignments */ |
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#define GPIO_SPI1_CS_MPU GPIO_SPI1_CS_PC2 /* MPU9250 */ |
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#define GPIO_SPI1_CS_BARO GPIO_SPI1_CS_PD7 /* MS5611 */ |
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#define GPIO_SPI1_CS_20608 GPIO_SPI1_CS_PC15 /* ICM20608 */ |
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/* FMUv3 DRDY Assignments */ |
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/* Pixhawk mini has reused the PC14 GPIO_SPI_CS_EXT1 signal that was associated |
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* with SPI4. |
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*/ |
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#define GPIO_SPI1_EXTI_20608_DRDY_PC14 (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14) |
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#define PX4_SPIDEV_ICM_20608 6 /* ICM_20608 on PC15 */ |
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/* |
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* ADC channels |
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* |
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* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver |
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*/ |
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#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14) | (1 << 15) |
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// ADC defines to be used in sensors.cpp to read from a particular channel |
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#define ADC_BATTERY_VOLTAGE_CHANNEL 2 |
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#define ADC_BATTERY_CURRENT_CHANNEL 3 |
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#define ADC_5V_RAIL_SENSE 4 |
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#define ADC_AIRSPEED_VOLTAGE_CHANNEL 15 |
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/* Define Battery 1 Voltage Divider and A per V |
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*/ |
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#define BOARD_BATTERY1_V_DIV (10.177939394f) |
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#define BOARD_BATTERY1_A_PER_V (15.391030303f) |
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/* User GPIOs |
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* |
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* GPIO0-5 are the PWM servo outputs. |
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*/ |
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#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14) |
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#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13) |
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#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11) |
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#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9) |
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#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13) |
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#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14) |
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#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) |
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#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13) |
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#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) |
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#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) |
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#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) |
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#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) |
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/* Power supply control and monitoring GPIOs */ |
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#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8) |
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#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) |
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#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) |
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#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) |
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#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) |
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#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10) |
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#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15) |
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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 /* channel 1 */ |
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#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) |
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#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15) |
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/* PWM |
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* |
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* Six PWM outputs are configured. |
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* |
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* Pins: |
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* |
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* CH1 : PE14 : TIM1_CH4 |
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* CH2 : PE13 : TIM1_CH3 |
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* CH3 : PE11 : TIM1_CH2 |
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* CH4 : PE9 : TIM1_CH1 |
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* CH5 : PD13 : TIM4_CH2 |
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* CH6 : PD14 : TIM4_CH3 |
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*/ |
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#define GPIO_TIM1_CH1OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9) |
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#define GPIO_TIM1_CH2OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11) |
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#define GPIO_TIM1_CH3OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13) |
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#define GPIO_TIM1_CH4OUT (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14) |
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#define GPIO_TIM4_CH2OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13) |
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#define GPIO_TIM4_CH3OUT (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14) |
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#define DIRECT_PWM_OUTPUT_CHANNELS 6 |
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#define GPIO_TIM1_CH1IN GPIO_TIM1_CH1IN_2 |
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#define GPIO_TIM1_CH2IN GPIO_TIM1_CH2IN_2 |
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#define GPIO_TIM1_CH3IN GPIO_TIM1_CH3IN_2 |
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#define GPIO_TIM1_CH4IN GPIO_TIM1_CH4IN_2 |
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#define GPIO_TIM4_CH2IN GPIO_TIM4_CH2IN_2 |
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#define GPIO_TIM4_CH3IN GPIO_TIM4_CH3IN_2 |
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#define DIRECT_INPUT_TIMER_CHANNELS 6 |
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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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/* High-resolution timer */ |
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#define HRT_TIMER 8 /* use timer8 for the HRT */ |
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ |
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/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */ |
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#define PWMIN_TIMER 4 |
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#define PWMIN_TIMER_CHANNEL 2 |
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#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2 |
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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_BRICK_VALID (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID)) |
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#define BOARD_ADC_SERVO_VALID (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID)) |
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#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_VDD_USB_VALID)) |
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#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC)) |
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#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_OC)) |
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#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS |
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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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#define BOARD_HAS_ON_RESET 1 |
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__BEGIN_DECLS |
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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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/**************************************************************************************************** |
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* Name: board_spi_reset board_peripheral_reset |
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* |
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* Description: |
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* Called to reset SPI and the perferal bus |
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* |
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****************************************************************************************************/ |
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void board_spi_reset(int ms); |
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extern void board_peripheral_reset(int ms); |
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/**************************************************************************************************** |
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* Name: stm32_usbinitialize |
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* |
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* Description: |
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* Called to configure USB IO. |
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* |
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****************************************************************************************************/ |
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extern void stm32_usbinitialize(void); |
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#include <drivers/boards/common/board_common.h> |
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#endif /* __ASSEMBLY__ */ |
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__END_DECLS
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