board_config.h
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/****************************************************************************
*
* Copyright (c) 2018-2019 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
*
* NXP fmukrt1062-v1 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include "imxrt_gpio.h"
#include "imxrt_iomuxc.h"
#include "hardware/imxrt_pinmux.h"
#include <arch/board/board.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* PX4IO connection configuration */
#if 0 // There is no PX4IO Support on first out
// This requires serial DMA driver
#define BOARD_USES_PX4IO_VERSION 2
#define PX4IO_SERIAL_DEVICE "/dev/ttyS6"
#define PX4IO_SERIAL_TX_GPIO GPIO_LPUART8_TX_2
#define PX4IO_SERIAL_RX_GPIO GPIO_LPUART8_RX_2
#define PX4IO_SERIAL_BASE IMXRT_LPUART8_BASE
#define PX4IO_SERIAL_VECTOR IMXRT_IRQ_LPUART8
#define PX4IO_SERIAL_TX_DMAMAP
#define PX4IO_SERIAL_RX_DMAMAP
#define PX4IO_SERIAL_RCC_REG
#define PX4IO_SERIAL_RCC_EN
#define PX4IO_SERIAL_CLOCK
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
#endif
/* Configuration ************************************************************************************/
/* FMURT1062 GPIOs ***********************************************************************************/
/* LEDs */
/* An RGB LED is connected through GPIO as shown below:
*/
#define LED_IOMUX (IOMUX_OPENDRAIN | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
#define GPIO_nLED_RED /* GPIO_B0_00 QTIMER1_TIMER0 GPIO2_IO0 */ (GPIO_PORT2 | GPIO_PIN0 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
#define GPIO_nLED_GREEN /* GPIO_B0_01 QTIMER1_TIMER1 GPIO2_IO1 */ (GPIO_PORT2 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
#define GPIO_nLED_BLUE /* GPIO_B1_08 QTIMER1_TIMER3 GPIO2_IO24 */ (GPIO_PORT2 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | LED_IOMUX)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_STATE_LED LED_BLUE
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT | IOMUX_PULL_DOWN_100K | IOMUX_CMOS_INPUT))
/* Define the Chip Selects, Data Ready and Control signals per SPI bus */
#define CS_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_33OHM | IOMUX_SPEED_LOW | IOMUX_SLEW_FAST)
#define OUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_UP_100K | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
/* SPI1 off */
#define _GPIO_LPSPI1_SCK /* GPIO_EMC_27 GPIO4_IO27 */ (GPIO_PORT4 | GPIO_PIN27 | CS_IOMUX)
#define _GPIO_LPSPI1_MISO /* GPIO_EMC_29 GPIO4_IO29 */ (GPIO_PORT4 | GPIO_PIN29 | CS_IOMUX)
#define _GPIO_LPSPI1_MOSI /* GPIO_EMC_28 GPIO4_IO28 */ (GPIO_PORT4 | GPIO_PIN28 | CS_IOMUX)
#define GPIO_SPI1_SCK_OFF _PIN_OFF(_GPIO_LPSPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(_GPIO_LPSPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(_GPIO_LPSPI1_MOSI)
#define _GPIO_LPSPI3_SCK /* GPIO_AD_B1_15 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN31 | CS_IOMUX)
#define _GPIO_LPSPI3_MISO /* GPIO_AD_B1_13 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN29 | CS_IOMUX)
#define _GPIO_LPSPI3_MOSI /* GPIO_AD_B1_14 GPIO1_IO27 */ (GPIO_PORT1 | GPIO_PIN30 | CS_IOMUX)
#define GPIO_SPI3_SCK_OFF _PIN_OFF(_GPIO_LPSPI3_SCK)
#define GPIO_SPI3_MISO_OFF _PIN_OFF(_GPIO_LPSPI3_MISO)
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(_GPIO_LPSPI3_MOSI)
/* Define the SPI4 Data Ready and Control signals */
#define GPIO_SPI4_DRDY7_EXTERNAL1 /* GPIO_EMC_35 GPIO3_IO21*/ (GPIO_PORT3 | GPIO_PIN21 | GPIO_INPUT | DRDY_IOMUX)
#define GPIO_nSPI4_RESET_EXTERNAL1 /* GPIO_B1_00 GPIO2_IO16 */ (GPIO_PORT2 | GPIO_PIN16 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX)
#define GPIO_SPI4_SYNC_EXTERNAL1 /* GPIO_EMC_05 GPIO4_IO5 */(GPIO_PORT4 | GPIO_PIN5 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | OUT_IOMUX)
#define GPIO_DRDY_OFF_SPI4_DRDY7_EXTERNAL1 _PIN_OFF(GPIO_SPI4_DRDY7_EXTERNAL1)
#define GPIO_nSPI4_RESET_EXTERNAL1_OFF _PIN_OFF(GPIO_nSPI4_RESET_EXTERNAL1)
#define GPIO_SPI4_SYNC_EXTERNAL1_OFF _PIN_OFF(GPIO_SPI4_SYNC_EXTERNAL1)
#define ADC_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
#define ADC1_CH(n) (n)
#define ADC1_GPIO(n, p) (GPIO_PORT1 | GPIO_PIN##p | ADC_IOMUX) //
/* Define GPIO pins used as ADC N.B. Channel numbers are for reference, */
#define PX4_ADC_GPIO \
/* BATTERY1_VOLTAGE GPIO_AD_B1_11 GPIO1 Pin 27 */ ADC1_GPIO(0, 27), \
/* BATTERY1_CURRENT GPIO_AD_B0_12 GPIO1 Pin 12 */ ADC1_GPIO(1, 12), \
/* BATTERY2_VOLTAGE GPIO_AD_B0_13 GPIO1 Pin 13 */ ADC1_GPIO(2, 13), \
/* BATTERY2_CURRENT GPIO_AD_B0_14 GPIO1 Pin 14 */ ADC1_GPIO(3, 14), \
/* SPARE_2_CHANNEL GPIO_AD_B0_15 GPIO1 Pin 15 */ ADC1_GPIO(4, 15), \
/* HW_VER_SENSE GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_GPIO(9, 20), \
/* SCALED_V5 GPIO_AD_B1_05 GPIO1 Pin 21 */ ADC1_GPIO(10, 21), \
/* SCALED_VDD_3V3_SENSORS GPIO_AD_B1_06 GPIO1 Pin 22 */ ADC1_GPIO(11, 22), \
/* HW_REV_SENSE GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_GPIO(13, 24), \
/* SPARE_1 GPIO_AD_B1_09 GPIO1 Pin 25 */ ADC1_GPIO(14, 25), \
/* RSSI_IN GPIO_AD_B1_10 GPIO1 Pin 26 */ ADC1_GPIO(15, 26)
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_BATTERY1_VOLTAGE_CHANNEL /* GPIO_AD_B1_11 GPIO1 Pin 27 */ ADC1_CH(0)
#define ADC_BATTERY1_CURRENT_CHANNEL /* GPIO_AD_B0_12 GPIO1 Pin 12 */ ADC1_CH(1)
#define ADC_BATTERY2_VOLTAGE_CHANNEL /* GPIO_AD_B0_13 GPIO1 Pin 13 */ ADC1_CH(2)
#define ADC_BATTERY2_CURRENT_CHANNEL /* GPIO_AD_B0_14 GPIO1 Pin 14 */ ADC1_CH(3)
#define ADC1_SPARE_2_CHANNEL /* GPIO_AD_B0_15 GPIO1 Pin 15 */ ADC1_CH(4)
#define ADC_HW_VER_SENSE_CHANNEL /* GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_CH(9)
#define ADC_SCALED_V5_CHANNEL /* GPIO_AD_B1_05 GPIO1 Pin 21 */ ADC1_CH(10)
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* GPIO_AD_B1_06 GPIO1 Pin 22 */ ADC1_CH(11)
#define ADC_HW_REV_SENSE_CHANNEL /* GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_CH(13)
#define ADC1_SPARE_1_CHANNEL /* GPIO_AD_B1_09 GPIO1 Pin 25 */ ADC1_CH(14)
#define ADC_RSSI_IN_CHANNEL /* GPIO_AD_B1_10 GPIO1 Pin 26 */ ADC1_CH(15)
#define ADC_CHANNELS \
((1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
(1 << ADC1_SPARE_2_CHANNEL) | \
(1 << ADC_RSSI_IN_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL) | \
(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
(1 << ADC_HW_VER_SENSE_CHANNEL) | \
(1 << ADC_HW_REV_SENSE_CHANNEL) | \
(1 << ADC1_SPARE_1_CHANNEL))
/* Define Battery 1 Voltage Divider and A per V */
#define BOARD_BATTERY1_V_DIV (10.1097f) /* measured with the provided PM board */
#define BOARD_BATTERY1_A_PER_V (15.391030303f)
/* 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 HW_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MAX | IOMUX_SLEW_FAST)
#define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01 */ (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX)
#define GPIO_HW_REV_SENSE /* GPIO_AD_B1_08 GPIO1 Pin 24 */ ADC1_GPIO(13, 24)
#define GPIO_HW_VER_SENSE /* GPIO_AD_B1_04 GPIO1 Pin 20 */ ADC1_GPIO(9, 20)
#define HW_INFO_INIT {'V','5','x', 'x',0}
#define HW_INFO_INIT_VER 2
#define HW_INFO_INIT_REV 3
/* CAN Silence
*
* Silent mode control \ ESC Mux select
*/
#define SILENT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MAX | IOMUX_SLEW_FAST)
#define GPIO_CAN1_SILENT_S0 /* GPIO_AD_B0_10 GPIO1_IO10 */ (GPIO_PORT1 | GPIO_PIN10 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX)
#define GPIO_CAN2_SILENT_S1 /* GPIO_EMC_06 GPIO4_IO06 */ (GPIO_PORT4 | GPIO_PIN6 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX)
#define GPIO_CAN3_SILENT_S2 /* GPIO_EMC_09 GPIO4_IO09 */ (GPIO_PORT4 | GPIO_PIN9 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | SILENT_IOMUX)
/* HEATER
* PWM in future
*/
#define HEATER_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
#define GPIO_HEATER_OUTPUT /* GPIO_B1_09 QTIMER2_TIMER3 GPIO2_IO25 */ (GPIO_QTIMER2_TIMER3_1 | HEATER_IOMUX)
/* PWM Capture
*
* 2 PWM Capture inputs are supported
*/
#define DIRECT_PWM_CAPTURE_CHANNELS 2
#define CAP_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_50OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
#define PIN_FLEXPWM2_PWMB0 /* P2:7 PWM2 B0 FMU_CAP1 */ (CAP_IOMUX | GPIO_FLEXPWM2_PWMB00_2)
#define PIN_FLEXPWM2_PWMB3 /* P3:3 PWM2 A1 FMU_CAP2 */ (CAP_IOMUX | GPIO_FLEXPWM2_PWMB03_3)
#define nARMED_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_22K | IOMUX_DRIVE_HIZ)
#define nARMED_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
#define GPIO_nARMED_INIT /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_INPUT | nARMED_INPUT_IOMUX)
#define GPIO_nARMED /* GPIO_SD_B1_01 GPIO3_IO1 */ (GPIO_PORT3 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | nARMED_OUTPUT_IOMUX)
#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
/* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 8
// Input Capture not supported on MVP
#define DIRECT_INPUT_TIMER_CHANNELS 0
//#define BOARD_HAS_UI_LED_PWM 1 Not ported yet (Still Kinetis driver)
#define BOARD_HAS_LED_PWM 1
#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
/* UI LEDs are driven by timer 4 the pins have no alternates
*
* nUI_LED_RED GPIO_B0_10 GPIO2_IO10 QTIMER4_TIMER1
* nUI_LED_GREEN GPIO_B0_11 GPIO2_IO11 QTIMER4_TIMER2
* nUI_LED_BLUE GPIO_B1_11 GPIO2_IO27 QTIMER4_TIMER3
*/
/* Power supply control and monitoring GPIOs */
#define GENERAL_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_47K | IOMUX_DRIVE_HIZ)
#define GENERAL_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_KEEP | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_FAST)
#define GPIO_nPOWER_IN_A /* GPIO_B0_12 GPIO2_IO12 */ (GPIO_PORT2 | GPIO_PIN12 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
#define GPIO_nPOWER_IN_B /* GPIO_B0_13 GPIO2_IO13 */ (GPIO_PORT2 | GPIO_PIN13 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
#define GPIO_nPOWER_IN_C /* GPIO_B0_14 GPIO2_IO14 */ (GPIO_PORT2 | GPIO_PIN14 | GPIO_INPUT | GENERAL_INPUT_IOMUX)
#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 GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB Is Chosen */
#define OC_INPUT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
#define GPIO_nVDD_5V_PERIPH_EN /* GPIO_B1_03 GPIO2_IO19 */ (GPIO_PORT2 | GPIO_PIN19 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
#define GPIO_nVDD_5V_PERIPH_OC /* GPIO_B1_04 GPIO2_IO20 */ (GPIO_PORT2 | GPIO_PIN20 | GPIO_INPUT | OC_INPUT_IOMUX)
#define GPIO_nVDD_5V_HIPOWER_EN /* GPIO_B1_01 GPIO2_IO17 */ (GPIO_PORT2 | GPIO_PIN17 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
#define GPIO_nVDD_5V_HIPOWER_OC /* GPIO_B1_02 GPIO2_IO18 */ (GPIO_PORT2 | GPIO_PIN18 | GPIO_INPUT | OC_INPUT_IOMUX)
#define GPIO_VDD_3V3_SENSORS_EN /* GPIO_EMC_41 GPIO3_IO27 */ (GPIO_PORT3 | GPIO_PIN27 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* GPIO_AD_B0_00 GPIO1_IO00 */ (GPIO_PORT1 | GPIO_PIN0 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
#define GPIO_VDD_5V_RC_EN /* GPIO_AD_B0_08 GPIO1_IO08 */ (GPIO_PORT1 | GPIO_PIN8 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
#define GPIO_VDD_5V_WIFI_EN /* PMIC_STBY_REQ GPIO5_IO02 */ (GPIO_PORT5 | GPIO_PIN2 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
#define GPIO_VDD_3V3_SD_CARD_EN /* GPIO_EMC_13 GPIO4_IO13 */ (GPIO_PORT4 | GPIO_PIN13 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO |GENERAL_OUTPUT_IOMUX)
/* Define True logic Power Control in arch agnostic form */
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_HIPOWER_EN, !(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_5V_RC_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
#define VDD_5V_WIFI_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_WIFI_EN, (on_true))
#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 2 /* GPT 2 */
#define TONE_ALARM_CHANNEL 3 /* GPIO_AD_B1_07 GPT2_COMPARE3 */
#define GPIO_BUZZER_1 /* GPIO_AD_B1_07 GPIO1_IO23 */ (GPIO_PORT1 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | GENERAL_OUTPUT_IOMUX)
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
#define GPIO_TONE_ALARM (GPIO_GPT2_COMPARE3_2 | GENERAL_OUTPUT_IOMUX)
/* USB OTG FS
*
* VBUS_VALID is detected in USB_ANALOG_USB1_VBUS_DETECT_STAT
*/
/* High-resolution timer */
#define HRT_TIMER 1 /* use GPT1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
#define HRT_PPM_CHANNEL /* GPIO_B1_06 GPT1_CAPTURE2 */ 2 /* use capture/compare channel 2 */
#define GPIO_PPM_IN /* GPIO_B1_06 GPT1_CAPTURE2 */ (GPIO_GPT1_CAPTURE2_2 | GENERAL_INPUT_IOMUX)
#define RC_SERIAL_PORT "/dev/ttyS5"
#define RC_SERIAL_SINGLEWIRE
/* PWM input driver. Use FMU AUX5 pins attached to GPIO_EMC_33 GPIO3_IO19 FLEXPWM3_PWMA2 */
#define PWMIN_TIMER /* FLEXPWM3_PWMA2 */ 3
#define PWMIN_TIMER_CHANNEL /* FLEXPWM3_PWMA2 */ 2
#define GPIO_PWM_IN /* GPIO_EMC_33 GPIO3_IO19 */ (GPIO_FLEXPWM3_PWMA02_1 | GENERAL_INPUT_IOMUX)
/* Shared pins Both FMU and PX4IO control/monitor
* FMU Initializes these pins to passive input until it is known
* if we have and PX4IO on board
*/
#define GPIO_RSSI_IN /* GPIO_AD_B1_10 GPIO1_IO26 */ (GPIO_PORT1 | GPIO_PIN26 | GPIO_INPUT | ADC_IOMUX)
#define GPIO_RSSI_IN_INIT /* GPIO_AD_B1_10 GPIO1_IO26 */ 0 /* Using 0 will Leave as ADC RSSI_IN */
/* 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 SAFETY_INIT_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
#define SAFETY_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_PULL_NONE | IOMUX_DRIVE_33OHM | IOMUX_SPEED_MEDIUM | IOMUX_SLEW_SLOW)
#define SAFETY_SW_IOMUX (IOMUX_CMOS_INPUT | IOMUX_PULL_UP_22K | IOMUX_DRIVE_HIZ)
#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT /* GPIO_B0_15 GPIO2_IO15 */ (GPIO_PORT2 | GPIO_PIN15 | GPIO_INPUT | SAFETY_INIT_IOMUX)
#define GPIO_nSAFETY_SWITCH_LED_OUT /* GPIO_B0_15 GPIO2_IO15 */ (GPIO_PORT2 | GPIO_PIN15 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | SAFETY_IOMUX)
/* 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 /* GPIO_AD_B1_12 GPIO1_IO28 */ (GPIO_PORT1 | GPIO_PIN28 | GPIO_INPUT | SAFETY_SW_IOMUX)
/* 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 */
/*
* FMUv5 has a separate RC_IN
*
* GPIO PPM_IN on GPIO_EMC_23 GPIO4 Pin 23 GPT1_CAPTURE2
* Inversion is possible in the UART and can drive GPIO PPM_IN as an output
*/
#define GPIO_PPM_IN_AS_OUT /* GPIO_B1_06 GPIO2_IO23 GPT1_CAPTURE2 GPT1_CAPTURE2 */ (GPIO_PORT2 | GPIO_PIN23 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | GENERAL_OUTPUT_IOMUX)
#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_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
#define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)
/* FMUv5 never powers odd the Servo rail */
#define BOARD_ADC_SERVO_VALID (1)
#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_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
#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 { \
GPIO_nARMED_INIT, \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
GPIO_FLEXCAN1_TX, \
GPIO_FLEXCAN1_RX, \
GPIO_FLEXCAN2_TX, \
GPIO_FLEXCAN2_RX, \
GPIO_FLEXCAN3_TX, \
GPIO_FLEXCAN3_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_CAN3_SILENT_S2, \
GPIO_HEATER_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
GPIO_nVDD_5V_PERIPH_EN, \
GPIO_nVDD_5V_PERIPH_OC, \
GPIO_nVDD_5V_HIPOWER_EN, \
GPIO_nVDD_5V_HIPOWER_OC, \
GPIO_VDD_3V3_SENSORS_EN, \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
GPIO_VDD_5V_RC_EN, \
GPIO_VDD_5V_WIFI_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_RSSI_IN_INIT, \
GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
GPIO_nSPI4_RESET_EXTERNAL1, \
GPIO_SPI4_SYNC_EXTERNAL1, \
GPIO_SAFETY_SWITCH_IN \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************
* Name: fmurt1062_usdhc_initialize
*
* Description:
* Initialize SDIO-based MMC/SD card support
*
****************************************************************************/
int fmurt1062_usdhc_initialize(void);
/****************************************************************************************************
* Name: imxrt_spidev_initialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void imxrt_spidev_initialize(void);
/************************************************************************************
* Name: imxrt_spi_bus_initialize
*
* Description:
* Called to configure SPI Buses.
*
************************************************************************************/
extern int imxrt1062_spi_bus_initialize(void);
/************************************************************************************
* Name: imxrt_usb_initialize
*
* Description:
* Called to configure USB.
*
************************************************************************************/
extern int imxrt_usb_initialize(void);
extern void imxrt_usbinitialize(void);
extern void board_peripheral_reset(int ms);
extern void fmurt1062_timer_initialize(void);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS