board_config.h
18.7 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
/****************************************************************************
*
* Copyright (c) 2016, 2020 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
*
* PX4FMU-v6u internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
#define BOARD_HAS_LTC44XX_VALIDS 2 // N Bricks
#define BOARD_HAS_USB_VALID 1 // LTC Has USB valid
#define BOARD_HAS_NBAT_V 2d // 2 Digital Voltage
#define BOARD_HAS_NBAT_I 2d // 2 Digital Current
/* PX4FMU GPIOs ***********************************************************************************/
/* Trace Clock and D0-D3 are available on the trace connector
*
* TRACECLK PE2 - Dedicated - Trace Connector Pin 1
* TRACED0 PE3 - nLED_RED - Trace Connector Pin 3
* TRACED1 PE4 - nLED_GREEN - Trace Connector Pin 5
* TRACED2 PE5 - nLED_BLUE - Trace Connector Pin 7
* TRACED3 PC12 - UART5_TX_TELEM2 - Trace Connector Pin 8
*/
#undef TRACE_PINS
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
#if !defined(TRACE_PINS)
# define GPIO_nLED_RED /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
# define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
# define GPIO_nLED_BLUE /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
# define BOARD_HAS_CONTROL_STATUS_LEDS 1
# define BOARD_OVERLOAD_LED LED_RED
# define BOARD_ARMED_STATE_LED LED_BLUE
#else
# if defined(CONFIG_STM32H7_UART5) && (GPIO_UART5_TX == GPIO_UART5_TX_3)
# error Need to disable CONFIG_STM32H7_UART5 for Trace 3 (Retarget to CAN2 if need be)
# endif
#endif
/* SPI */
#define SPI6_nRESET_EXTERNAL1 /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
#define GPIO_SYNC /* PE9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
/* I2C busses */
/* Devices on the onboard buses.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_SE050 0x48
#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
/*
* ADC channels
*
* These are the channel numbers of the ADCs of the microcontroller that
* can be used by the Px4 Firmware in the adc driver
*/
/* ADC defines to be used in sensors.cpp to read from a particular channel */
#define ADC1_CH(n) (n)
/* N.B. there is no offset mapping needed for ADC3 because */
#define ADC3_CH(n) (n)
/* We are only use ADC3 for REV/VER.
* ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
* To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
* respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
* PA0SO of 0.
*
* 0 Analog switch closed (pads are connected through the analog switch)
*
* So ADC3_INP0 is GPIO_ADC123_INP12
* ADC3_INP1 is GPIO_ADC12_INP13
*/
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
#define PX4_ADC_GPIO \
/* PA0 */ GPIO_ADC1_INP16, \
/* PA4 */ GPIO_ADC12_INP18, \
/* PC2 */ GPIO_ADC123_INP12, \
/* PC4 */ GPIO_ADC12_INP4, \
/* PH3 */ GPIO_ADC3_INP14, \
/* PH4 */ GPIO_ADC3_INP15
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC4 */ ADC1_CH(4)
#define ADC_SCALED_V5_CHANNEL /* PA0 */ ADC1_CH(16)
#define ADC_ADC3_6V6_CHANNEL /* PC2 */ ADC3_CH(12)
#define ADC_ADC3_3V3_CHANNEL /* PA4 */ ADC1_CH(18)
#define ADC_HW_VER_SENSE_CHANNEL /* PH3 */ ADC3_CH(14)
#define ADC_HW_REV_SENSE_CHANNEL /* PH4 */ ADC3_CH(15)
#define ADC_BATTERY_VOLTAGE_CHANNEL ADC_ADC3_3V3_CHANNEL
#define ADC_BATTERY_CURRENT_CHANNEL ADC_ADC3_6V6_CHANNEL
#define ADC_CHANNELS \
((1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_ADC3_6V6_CHANNEL) | \
(1 << ADC_ADC3_3V3_CHANNEL))
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
#define SYSTEM_ADC_BASE STM32_ADC1_BASE
/* Define Battery 1 Voltage Divider and A per V
*/
#define BOARD_BATTERY1_V_DIV (18.1f) /* measured with the provided PM board */
#define BOARD_BATTERY1_A_PER_V (36.367515152f)
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
/* HW Version and Revision drive signals Default to 1 to detect */
#define BOARD_HAS_HW_VERSIONING
#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_REV_SENSE /* PH4 */ GPIO_ADC3_INP15
#define GPIO_HW_VER_SENSE /* PH3 */ GPIO_ADC3_INP14
#define HW_INFO_INIT {'V','6','U','x', 'x',0}
#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA2 T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
/* PWM Capture
*
* 1 PWM Capture inputs are configured.
*
* Pins:
*
* FMU_CAP1 : PE11 : TIM1_CH2
*/
#define GPIO_TIM1_CH2IN /* PE11 T1C2 FMU_CAP1 */ GPIO_TIM1_CH2IN_2
#define GPIO_TIM1_CH2OUT /* PE11 T1C2 FMU_CAP1 */ GPIO_TIM1_CH2OUT_2
#define DIRECT_PWM_CAPTURE_CHANNELS 1
/* PE6 is nARMED
* The GPIO will be set as input while not armed HW will have external HW Pull UP.
* While armed it shall be configured at a GPIO OUT set LOW
*/
#define GPIO_nARMED_INIT /* PE6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
#define GPIO_nARMED /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
#define BOARD_INDICATE_ARMED_STATE(on_armed) px4_arch_configgpio((on_armed) ? GPIO_nARMED : GPIO_nARMED_INIT)
/* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
#define GPIO_nPOWER_IN_B /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
#define GPIO_nPOWER_IN_C /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_B /* Brick 2 Is Chosen */
#define BOARD_NUMBER_BRICKS 2
#define BOARD_NUMBER_DIGITAL_BRICKS 2
#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */
#define GPIO_VDD_5V_PERIPH_nEN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
#define GPIO_VDD_5V_PERIPH_nOC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
#define GPIO_VDD_5V_HIPOWER_nEN /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
#define GPIO_VDD_5V_HIPOWER_nOC /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
#define GPIO_VDD_3V3_SENSORS_EN /* PG12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN12)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/* Spare GPIO */
#define GPIO_PG6 /* PG6 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)
#define GPIO_PD15 /* PD15 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
#define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)
/* Define True logic Power Control in arch agnostic form */
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
#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)
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
/* Tone alarm output */
#define TONE_ALARM_TIMER 14 /* Timer 14 */
#define TONE_ALARM_CHANNEL 1 /* PF9 GPIO_TIM14_CH1OUT_2 */
#define GPIO_BUZZER_1 /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
#define GPIO_TONE_ALARM GPIO_TIM14_CH1OUT_2
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS5"
#define RC_SERIAL_SINGLEWIRE
#define RC_SERIAL_SWAP_RXTX
/* Input Capture Channels. */
#define INPUT_CAP1_TIMER 1
#define INPUT_CAP1_CHANNEL /* T1C2 */ 2
#define GPIO_INPUT_CAP1 /* PE11 */ GPIO_TIM1_CH2IN
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN_2
/* Safety Switch is HW version dependent on having an PX4IO
* So we init to a benign state with the _INIT definition
* and provide the the non _INIT one for the driver to make a run time
* decision to use it.
*/
#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
#define GPIO_nSAFETY_SWITCH_LED_OUT /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
#define GPIO_SAFETY_SWITCH_IN /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5)
/* 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)
/*
* FMUv6U has a separate RC_IN
*
* GPIO PPM_IN on PI5 T8CH1
* 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_PORTI|GPIO_PIN5)
#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))
#define SDIO_SLOTNO 0 /* Only one slot */
#define SDIO_MINOR 0
/* SD card bringup does not work if performed on the IDLE thread because it
* will cause waiting. Use either:
*
* CONFIG_LIB_BOARDCTL=y, OR
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
*/
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
!defined(CONFIG_BOARD_INITTHREAD)
# warning SDIO initialization cannot be perfomed on the IDLE thread
#endif
/* 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 (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
/* FMUv6U never powers off the Servo rail */
#define BOARD_ADC_SERVO_VALID (1)
#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
# define BOARD_ADC_BRICK1_VALID (1)
# define BOARD_ADC_BRICK2_VALID (0)
#elif BOARD_HAS_LTC44XX_VALIDS == 1
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (0)
#elif BOARD_HAS_LTC44XX_VALIDS == 2
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
#elif BOARD_HAS_LTC44XX_VALIDS == 3
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
#elif BOARD_HAS_LTC44XX_VALIDS == 4
# define BOARD_ADC_BRICK1_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
# define BOARD_ADC_BRICK2_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
# define BOARD_ADC_BRICK3_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
# define BOARD_ADC_BRICK4_VALID (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
#else
# error Unsupported BOARD_HAS_LTC44XX_VALIDS value
#endif
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* 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 PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
GPIO_VDD_5V_PERIPH_nEN, \
GPIO_VDD_5V_PERIPH_nOC, \
GPIO_VDD_5V_HIPOWER_nEN, \
GPIO_VDD_5V_HIPOWER_nOC, \
GPIO_VDD_3V3_SENSORS_EN, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_PD15, \
GPIO_SYNC, \
SPI6_nRESET_EXTERNAL1, \
GPIO_TONE_ALARM_IDLE, \
GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
GPIO_SAFETY_SWITCH_IN, \
GPIO_PG6, \
GPIO_nARMED_INIT \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
#define BOARD_NUM_IO_TIMERS 5
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************
* Name: stm32_sdio_initialize
*
* Description:
* Initialize SDIO-based MMC/SD card support
*
****************************************************************************/
int stm32_sdio_initialize(void);
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
extern void stm32_usbinitialize(void);
extern void board_peripheral_reset(int ms);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS