board_config.h
16.6 KB
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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
*
* holybro durandal-v1 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_gpio.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* PX4IO connection configuration */
#define BOARD_USES_PX4IO_VERSION 2
#define PX4IO_SERIAL_DEVICE "/dev/ttyS6"
#define PX4IO_SERIAL_TX_GPIO GPIO_UART8_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_UART8_RX
#define PX4IO_SERIAL_BASE STM32_UART8_BASE
#define PX4IO_SERIAL_VECTOR STM32_IRQ_UART8
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_UART8_TX
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_UART8_RX
#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB1LENR
#define PX4IO_SERIAL_RCC_EN RCC_APB1LENR_UART8EN
#define PX4IO_SERIAL_CLOCK STM32_PCLK1_FREQUENCY
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
/* Configuration ************************************************************************************/
# define BOARD_HAS_LTC44XX_VALIDS 2 // No LTC or N Bricks
# define BOARD_HAS_USB_VALID 1 // LTC Has No USB valid
# define BOARD_HAS_NBAT_V 2 // Only one Vbat to ADC
# define BOARD_HAS_NBAT_I 2 // No Ibat ADC
/* Holybro Durandal V1 GPIOs ************************************************************************/
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
#define GPIO_nLED_RED /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
#define GPIO_nLED_GREEN /* PC6 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
#define GPIO_nLED_BLUE /* PC7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_STATE_LED LED_BLUE
/*
* 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
*/
/* ADC defines to be used in sensors.cpp to read from a particular channel */
#define ADC1_CH(n) (n)
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
#define PX4_ADC_GPIO \
/* PA0 */ GPIO_ADC1_INP16, \
/* PA1 */ GPIO_ADC1_INP17, \
/* PA2 */ GPIO_ADC12_INP14, \
/* PA3 */ GPIO_ADC12_INP15, \
/* PA4 */ GPIO_ADC12_INP18, \
/* PB0 */ GPIO_ADC12_INP9, \
/* PC0 */ GPIO_ADC123_INP10, \
/* PC1 */ GPIO_ADC123_INP11, \
/* PC2 */ GPIO_ADC123_INP12, \
/* PC3 */ GPIO_ADC12_INP13, \
/* PC4 */ GPIO_ADC12_INP4
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_BATTERY1_VOLTAGE_CHANNEL /* PA0 */ ADC1_CH(16)
#define ADC_BATTERY1_CURRENT_CHANNEL /* PA1 */ ADC1_CH(17)
#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PA2 */ ADC1_CH(14)
#define ADC_BATTERY2_CURRENT_CHANNEL /* PA3 */ ADC1_CH(15)
#define ADC1_6V6_IN_CHANNEL /* PA4 */ ADC1_CH(18)
#define ADC_RSSI_IN_CHANNEL /* PB0 */ ADC1_CH(9)
#define ADC_SCALED_V5_CHANNEL /* PC0 */ ADC1_CH(10)
#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC1 */ ADC1_CH(11)
#define ADC_HW_VER_SENSE_CHANNEL /* PC2 */ ADC1_CH(12)
#define ADC_HW_REV_SENSE_CHANNEL /* PC3 */ ADC1_CH(13)
#define ADC1_3V3_IN_CHANNEL /* PC4 */ ADC1_CH(4)
#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 << 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_3V3_IN_CHANNEL))
/* Define Battery 1 Voltage Divider and A per V
*/
#define BOARD_BATTERY1_V_DIV (18.1f) /* measured with the provided PM board */
#define BOARD_BATTERY1_A_PER_V (36.367515152f)
/* 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 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 /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
#define GPIO_HW_VER_SENSE /* PC2 */ GPIO_ADC123_INP12
#define HW_INFO_INIT {'V','D','x', 'x',0}
#define HW_INFO_INIT_VER 2
#define HW_INFO_INIT_REV 3
/* CAN Silence
*
* Silent mode control \ ESC Mux select
*/
#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
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PA7 T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
/* PWM Capture
*
* 6 PWM Capture inputs are configured.
*
* Pins:
*
* FMU_CAP1 : PB11 : TIM2_CH4
* FMU_CAP2 : PB3 : TIM2_CH2
* FMU_CAP3 : PA5 : TIM2_CH1
* FMU_CAP4 : PH9 : TIM12_CH2
* FMU_CAP5 : PH6 : TIM12_CH1
* FMU_CAP6 : PD14 : TIM4_CH3
*/
#define GPIO_TIM2_CH4_IN /* PB11 FMU_CAP3 */ GPIO_TIM2_CH4IN_2
#define GPIO_TIM2_CH2_IN /* PB3 FMU_CAP2 */ GPIO_TIM2_CH2IN_2
#define GPIO_TIM2_CH1_IN /* PA5 FMU_CAP1 */ GPIO_TIM2_CH1IN_3
#define GPIO_TIM12_CH2_IN /* PH9 FMU_CAP4 */ GPIO_TIM12_CH2IN_2
#define GPIO_TIM12_CH1_IN /* PH6 FMU_CAP5 */ GPIO_TIM12_CH1IN_2
#define GPIO_TIM4_CH3_IN /* PD14 FMU_CAP6 */ GPIO_TIM4_CH3IN_2
#define DIRECT_PWM_CAPTURE_CHANNELS 6
/* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 5
#define DIRECT_INPUT_TIMER_CHANNELS 5
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PG1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
#define GPIO_nPOWER_IN_B /* PG2 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
#define GPIO_nPOWER_IN_C /* PG3 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
#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 GPIO_nVDD_5V_PERIPH_EN /* PG4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
#define GPIO_nVDD_5V_PERIPH_OC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
#define GPIO_nVDD_5V_HIPOWER_EN /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
#define GPIO_nVDD_5V_HIPOWER_OC /* PG13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
#define GPIO_VDD_3V3_SD_CARD_EN /* PG7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
/* 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_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_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
/* Tone alarm output */
#define TONE_ALARM_TIMER 15 /* timer 15 */
#define TONE_ALARM_CHANNEL 1 /* PE5 TIM15_CH1 */
#define GPIO_BUZZER_1 /* PE5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN5)
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
#define GPIO_TONE_ALARM GPIO_TIM15_CH1OUT_2
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
/* RC Serial port */
/* Input Capture Channels. */
#define INPUT_CAP1_TIMER 2
#define INPUT_CAP1_CHANNEL /* T2C4 */ 4
#define GPIO_INPUT_CAP1 /* PB11 */ GPIO_TIM2_CH4_IN
#define INPUT_CAP2_TIMER 2
#define INPUT_CAP2_CHANNEL /* T2C2 */ 2
#define GPIO_INPUT_CAP2 /* PB3 */ GPIO_TIM2_CH2_IN
#define INPUT_CAP3_TIMER 2
#define INPUT_CAP3_CHANNEL /* T2C1 */ 1
#define GPIO_INPU3_CAP1 /* PA5 */ GPIO_TIM2_CH1_IN
#define INPUT_CAP4_TIMER 12
#define INPUT_CAP4_CHANNEL /* T12C2*/ 2
#define GPIO_INPUT_CAP4 /* PH9 */ GPIO_TIM12_CH2_IN
#define INPUT_CAP5_TIMER 12
#define INPUT_CAP5_CHANNEL /* T12C1*/ 1
#define GPIO_INPUT_CAP5 /* PH6 */ GPIO_TIM12_CH1_IN
#define INPUT_CAP6_TIMER 4
#define INPUT_CAP6_CHANNEL /* T4C3 */ 3
#define GPIO_INPUT_CAP6 /* PD14 */ GPIO_TIM4_CH3_IN
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL /* T4C2 */ 2
#define GPIO_PWM_IN /* PD13 */ GPIO_TIM4_CH2IN
/* RSSI_IN is grounded via a 10K */
#define GPIO_RSSI_IN /* PB0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN0)
/* Safety Switch is only on PX4IO */
#define GPIO_nSAFETY_SWITCH_LED_OUT /* PE12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN12)
#define GPIO_SAFETY_SWITCH_IN /* PE10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN10)
/* Power switch controls ******************************************************/
#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
#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_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
/* Board never powers off 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 SDMMC_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_2MHz))
#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_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_SPEKTRUM_POWER_EN, \
SDMMC_PIN_OFF(GPIO_SDMMC1_D0), \
SDMMC_PIN_OFF(GPIO_SDMMC1_D1), \
SDMMC_PIN_OFF(GPIO_SDMMC1_D2), \
SDMMC_PIN_OFF(GPIO_SDMMC1_D3), \
SDMMC_PIN_OFF(GPIO_SDMMC1_CMD), \
GPIO_VDD_3V3_SD_CARD_EN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_RSSI_IN, \
GPIO_nSAFETY_SWITCH_LED_OUT, \
GPIO_SAFETY_SWITCH_IN, \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************
* Name: stm32_sdio_initialize
*
* Description:
* Initialize SDIO-based MMC/SD card support
*
****************************************************************************/
int stm32_sdio_initialize(void);
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the Holybro Durandal V1
* 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