board_config.h
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/****************************************************************************
*
* Copyright (c) 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
*
* PX4FMUv4 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/* BUTTON *************************************************************************** */
#define BUTTON_SAFETY /* PB3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)
#define GPIO_RGB_S /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
#define BOARD_SRGBLED_PORT STM32_GPIOB_ODR
#define BOARD_SRGBLED_BIT 0
/* CAN Silence
*
* Silent mode control \ ESC Mux select
*/
#define GPIO_CAN1_SILENT_S0 /* PB5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3)
/* Tone alarm output. */
#define TONE_ALARM_TIMER 2 /* timer 2 */
#define TONE_ALARM_CHANNEL 3 /* channel 1 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTB|GPIO_PIN10)
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
#define FLASH_BASED_PARAMS
__BEGIN_DECLS
#define BOARD_HAS_N_S_RGB_LED 8 /* Uses 8 SK6812 digital led chip */
#define BOARD_MAX_LEDS BOARD_HAS_N_S_RGB_LED
/* USE_S_RGB_LED_DMAis passed in from the *.cmake file
* Bootloader is not timming sensitive and can use the SW version as a
* size savings
* The Application can not as it needs DMA to maintain reall time.
*/
#if defined(USE_S_RGB_LED_DMA)
# define S_RGB_LED_DMA DMAMAP_TIM1_CH2
# define S_RGB_LED_TIMER 1 /* timer 1 */
# define S_RGB_LED_CHANNEL 2 /* channel 2 */
# define S_RGB_LED_CHANNELN 1 /* channel 2N */
# define S_RGB_LED_TIM_GPIO GPIO_TIM1_CH2N_1
#endif
#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);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS