board_config.h
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/****************************************************************************
*
* Copyright (c) 2021 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
*
* Board internal definitions
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
#define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
#define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_STATE_LED LED_BLUE
/* ADC channels */
#define PX4_ADC_GPIO \
/* PA2 */ GPIO_ADC12_INP14, \
/* PA3 */ GPIO_ADC12_INP15, \
/* PA4 */ GPIO_ADC12_INP18, \
/* PC1 */ GPIO_ADC123_INP11
/* Define Channel numbers must match above GPIO pins */
#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */
#define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */
#define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */
#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */
#define ADC_CHANNELS \
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_RC_RSSI_CHANNEL))
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
/* CAN Silence: Silent mode control */
#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
#define GPIO_CAN2_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
#define BOARD_NUMBER_BRICKS 1
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
/* 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) == 0)
/* Tone alarm output */
#define TONE_ALARM_TIMER 2 /* timer 2 */
#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */
#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
/* USB OTG FS */
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer3 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS3"
#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
#define GPIO_SAFETY_SWITCH_IN /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
/* Power switch controls ******************************************************/
#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
/*
* Board has a separate RC_IN
*
* GPIO PPM_IN on PB0 T3CH3
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
* Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
*/
#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
/* 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 BOARD_ADC_USB_CONNECTED
#define BOARD_ADC_SERVO_VALID (1) /* never powers off the Servo rail */
#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
/* 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 BOARD_HAS_STATIC_MANIFEST 1
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_NUM_IO_TIMERS 3
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
#define BOARD_ENABLE_CONSOLE_BUFFER
#define PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S0, \
GPIO_nPOWER_IN_A, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_SAFETY_SWITCH_IN, \
GPIO_OTGFS_VBUS, \
}
__BEGIN_DECLS
#ifndef __ASSEMBLY__
extern void stm32_spiinitialize(void);
extern void board_peripheral_reset(int ms);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS