board_config.h
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/****************************************************************************
*
* Copyright (c) 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
*
* UVify Core internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* UVify Core GPIOs ***********************************************************************************/
/* LEDs */
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
#define GPIO_LED_RED GPIO_LED1
#define GPIO_LED_GREEN GPIO_LED2
#define GPIO_LED_BLUE GPIO_LED3
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_LED LED_BLUE
#define BOARD_ARMED_STATE_LED LED_GREEN
#ifdef CONFIG_STM32_SPI4
# define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
#endif /* CONFIG_STM32_SPI4 */
/**
* 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.
*/
#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
/* ADC defines to be used in sensors.cpp to read from a particular channel. */
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 4
#define ADC_RC_RSSI_CHANNEL 11
/* Define Battery 1 Voltage Divider and A per V. */
#define BOARD_BATTERY1_V_DIV (10.14f)
#define BOARD_BATTERY1_A_PER_V (18.18f)
/* Power supply control and monitoring GPIOs. */
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_USB_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
/* Tone alarm output. */
#define TONE_ALARM_TIMER 2 /* timer 2 */
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
/*
* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 6
#define DIRECT_INPUT_TIMER_CHANNELS 6
/**
* USB OTG FS:
* PA9 OTG_FS_VBUS VBUS sensing.
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS4"
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL 2
#define GPIO_PWM_IN GPIO_TIM4_CH2IN_2
#define GPIO_RSSI_IN (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
#define GPIO_PERIPH_3V3_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
/* For,this signal is active high. */
#define GPIO_SBUS_INV (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
/* GPIOs */
#define GPIO_PE2 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
#define GPIO_PB4 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
#define GPIO_PE5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
#define GPIO_PE6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
/* Heater pins (reserved) */
#define GPIO_HEATER_INPUT (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
#define GPIO_HEATER_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
/* Power switch controls */
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))
/**
* UVify Core has separate RC_IN
*
* GPIO PPM_IN on PB0 T3C3
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
* Inversion is possible via the 74LVC2G86 controlled by the FMU
* The FMU 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_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
#define BOARD_ADC_USB_VALID (px4_arch_gpioread(GPIO_VDD_USB_VALID))
#define BOARD_ADC_SERVO_VALID (1)
#define BOARD_ADC_PERIPH_5V_OC (0)
#define BOARD_ADC_HIPOWER_5V_OC (0)
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
#define BOARD_HAS_ON_RESET 1
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
#define BOARD_ENABLE_CONSOLE_BUFFER
#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* 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