board_config.h
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/****************************************************************************
*
* Copyright (c) 2021 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>
// todo:NCP5623 datasheet says 0x38 driver says 0x39 - needs testing
/* GPIO *************************************************************************** */
/*
* 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 ADC1_CH(n) (n)
#define ADC1_GPIO(n) GPIO_ADC1_IN##n
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
#define PX4_ADC_GPIO \
/* PA0 */ ADC1_GPIO(0), \
/* PA1 */ ADC1_GPIO(1)
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_HW_REV_SENSE_CHANNEL /* PA0 */ ADC1_CH(0)
#define ADC_HW_VER_SENSE_CHANNEL /* PA1 */ ADC1_CH(1)
#define ADC_CHANNELS \
((1 << ADC_HW_REV_SENSE_CHANNEL) | \
(1 << ADC_HW_VER_SENSE_CHANNEL))
/* HW Version and Revision drive signals Default to 1 to detect */
#define BOARD_HAS_HW_VERSIONING
#define GPIO_HW_VER_REV_DRIVE /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_HW_REV_SENSE /* PA0 */ ADC1_GPIO(0)
#define GPIO_HW_VER_SENSE /* PA1 */ ADC1_GPIO(1)
#define HW_INFO_INIT {'C','A','N','G','P','S','x', 'x',0}
#define HW_INFO_INIT_VER 6
#define HW_INFO_INIT_REV 7
#define FLASH_BASED_PARAMS
/* CAN Silence
*
* Silent mode control
*/
#define GPIO_MCU_CAN1_SILENT /* PB2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
#define GPIO_MCU_CAN2_SILENT /* PA4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN4)
// SPI pinning for ICM20649 is in spi.ccp
// GPIO_MCU_SPI1_DRDY /* PB0 */
// GPIO_MCU_SPI1_NCS_ACC /* PA8 */
#define GPIO_SENSOR_3V3_EN /* PC15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
#define GPIO_MCU_I2C1_SCL_RESET /* PB6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
#define GPIO_MCU_I2C1_SDA_RESET /* PB7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
#define GPIO_MCU_I2C2_SCL_RESET /* PB10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define GPIO_MCU_I2C2_SDA_RESET /* PB3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
#define GPIO_NOPT_WAIT_FOR_GETNODEINFO /* PC14 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN14)
#define GPIO_TIM1_CH1N /* PA7 */ GPIO_TIM1_CH1N_1 /* NLED_RED */
#define GPIO_TIM1_CH2N /* PB14 */ GPIO_TIM1_CH2N_2 /* NLED_BLUE */
#define GPIO_TIM1_CH3N /* PB15 */ GPIO_TIM1_CH3N_2 /* NLED_GREEN */
#define GPIO_TIM2_CH1 /* PA15 */ GPIO_TIM2_CH1_3 /* GPS_PPS_IN */ // todo:needs Driver
#define GPIO_GPS_PPS_IN /* PA15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
#define PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_HW_VER_REV_DRIVE, \
GPIO_SENSOR_3V3_EN, \
GPIO_MCU_I2C1_SCL_RESET, \
GPIO_MCU_I2C1_SDA_RESET, \
GPIO_MCU_I2C2_SCL_RESET, \
GPIO_MCU_I2C2_SDA_RESET, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_MCU_CAN1_SILENT, \
GPIO_MCU_CAN2_SILENT, \
GPIO_NOPT_WAIT_FOR_GETNODEINFO, \
GPIO_GPS_PPS_IN \
}
__BEGIN_DECLS
#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);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS