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
*
* Board internal definitions
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/* LEDs */
#define GPIO_nLED_RED /* PI5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
#define GPIO_nLED_GREEN /* PI6 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN6)
#define GPIO_nLED_BLUE /* PI7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN7)
#define BOARD_HAS_LED_PWM 1
/* ADC channels */
#define PX4_ADC_GPIO \
/* PA0 */ GPIO_ADC1_INP16, \
/* PA1 */ GPIO_ADC1_INP17, \
/* PA2 */ GPIO_ADC12_INP14, \
/* PF11 */ GPIO_ADC1_INP2, \
/* PC4 */ GPIO_ADC12_INP4, \
/* PA4 */ GPIO_ADC12_INP18, \
/* PF12 */ GPIO_ADC1_INP6, \
/* PC5 */ GPIO_ADC12_INP8, \
/* PC1 */ GPIO_ADC123_INP11, \
/* PC2 */ GPIO_ADC123_INP12, \
/* PC3 */ GPIO_ADC12_INP13
/* Define Channel numbers must match above GPIO pins */
#define ADC_BATTERY1_VOLTAGE_CHANNEL 16 /* PA0 */
#define ADC_BATTERY1_CURRENT_CHANNEL 17 /* PA1 */
#define ADC_BATTERY2_VOLTAGE_CHANNEL 14 /* PA2 */
#define ADC_BATTERY2_CURRENT_CHANNEL 2 /* PF11 */
#define ADC1_6V6_IN_CHANNEL 4 /* PC4 */ // SPARE1_ADC1: ADC6.6
#define ADC1_3V3_IN_CHANNEL 18 /* PA4 */ // SPARE2_ADC1: ADC3.3
#define ADC_RSSI_IN_CHANNEL 6 /* PF12 */
#define ADC_SCALED_V5_CHANNEL 8 /* PC5 */ // VDD_5V_SENS: Motherboard 5V voltage detection
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL 11 /* PC1 */ // SCALED_V3V3: Sensor power detection
#define ADC_HW_VER_SENSE_CHANNEL 12 /* PC2 */
#define ADC_HW_REV_SENSE_CHANNEL 13 /* PC3 */
#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_6V6_IN_CHANNEL) | \
(1 << ADC1_3V3_IN_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))
/* HW has to large of R termination on ADC todo:change when HW value is chosen */
#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
#define GPIO_HW_REV_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
#define GPIO_HW_REV_SENSE /* PC3 */ GPIO_ADC12_INP13
#define GPIO_HW_VER_DRIVE /* PH14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN3)
#define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12
/* CAN Silence Silent mode control */
#define GPIO_CAN1_SILENT_S0 /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
#define GPIO_CAN2_SILENT_S1 /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN3)
/* HEATER */
#define GPIO_HEATER_OUTPUT /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
/* PWM */
#define DIRECT_PWM_OUTPUT_CHANNELS 14
#define BOARD_NUM_IO_TIMERS 4
/* Power supply control and monitoring GPIOs */
#define BOARD_NUMBER_BRICKS 2
#define GPIO_nPOWER_IN_ADC /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
#define GPIO_nPOWER_IN_CAN /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
#define GPIO_nPOWER_IN_C /* PG0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
#define GPIO_nVDD_BRICK1_VALID GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
#define GPIO_nVDD_BRICK2_VALID GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen */
#define GPIO_nVDD_USB_VALID GPIO_nPOWER_IN_C /* USB is Chosen */
#define GPIO_VDD_5V_HIPOWER_EN /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
#define GPIO_nVDD_5V_PERIPH_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
#define GPIO_VDD_5V_RC_EN /* PG5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
#define GPIO_VDD_3V3_SD_CARD_EN /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
#define GPIO_VDD_5V_HIPOWER_OC /* PJ3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
#define GPIO_nVDD_5V_PERIPH_OC /* PJ4 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
/* Power switch controls ******************************************************/
#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_VDD_5V_HIPOWER_EN, (on_true))
#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
#define SPEKTRUM_POWER(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
#define READ_SPEKTRUM_POWER() px4_arch_gpioread(GPIO_VDD_5V_RC_EN)
/* Tone alarm output */
#define TONE_ALARM_TIMER 15 /* timer 15 */
#define TONE_ALARM_CHANNEL 1 /* PE5 TIM15_CH1 */
#define GPIO_TONE_ALARM_IDLE /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5) // ALARM
#define GPIO_TONE_ALARM GPIO_TIM15_CH1OUT_2
/* USB
* OTG FS: PA9 OTG_FS_VBUS VBUS sensing
* HS USB EN: PH15
*/
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
#define GPIO_HS_USB_EN /* PH15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN15)
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer3 for the HRT */
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
#define HRT_PPM_CHANNEL /* T3C1 */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PB4 T3C1 */ GPIO_TIM3_CH1IN_2
#define RC_SERIAL_PORT "/dev/ttyS5"
#define RC_SERIAL_SINGLEWIRE
/**
* GPIO PPM_IN on PB4 T3C1
* SPEKTRUM_RX (it's TX or RX in Bind) on UART8 PE0
* 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_PIN4)
#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))
/* RSSI_IN */
#define GPIO_RSSI_IN /* PB0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
/* Safety Switch is only on FMU */
#define FMU_LED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN12) // FMU_LED_AMBER
#define GPIO_BTN_SAFETY /* PE10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN10) // SAFETY_SW
#define GPIO_LED_SAFETY FMU_LED_AMBER
/* 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))
#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_VDD_5V_HIPOWER_OC))
/* 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_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_ENABLE_CONSOLE_BUFFER
#define PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_HW_REV_DRIVE, \
GPIO_HW_VER_DRIVE, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_CAN2_SILENT_S1, \
GPIO_HEATER_OUTPUT, \
GPIO_nPOWER_IN_CAN, \
GPIO_nPOWER_IN_ADC, \
GPIO_nPOWER_IN_C, \
GPIO_nVDD_5V_PERIPH_EN, \
GPIO_nVDD_5V_PERIPH_OC, \
GPIO_VDD_5V_HIPOWER_EN, \
GPIO_VDD_5V_HIPOWER_OC, \
GPIO_VDD_5V_RC_EN, \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_OTGFS_VBUS, \
PX4_GPIO_PIN_OFF(GPIO_HS_USB_EN), \
GPIO_RSSI_IN, \
FMU_LED_AMBER, \
GPIO_BTN_SAFETY, \
}
__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