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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
*
* Board 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
****************************************************************************************************/
// #define FLASH_BASED_PARAMS
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
#define GPIO_nLED_BLUE /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_nLED_GREEN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_ARMED_STATE_LED 1 // Green LED
#define BOARD_OVERLOAD_LED 0 // Blue LED
/*
* 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 \
/* PC0 */ GPIO_ADC123_INP10, \
/* PC1 */ GPIO_ADC123_INP11, \
/* PA4 */ GPIO_ADC12_INP18, \
/* PA7 */ GPIO_ADC12_INP7, \
/* PC4 */ GPIO_ADC12_INP4, \
/* PC5 */ GPIO_ADC12_INP8
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_BATTERY_VOLTAGE_CHANNEL /* PC0 */ ADC1_CH(10)
#define ADC_BATTERY_CURRENT_CHANNEL /* PC1 */ ADC1_CH(11)
#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PA4 */ ADC1_CH(18)
#define ADC_BATTERY2_CURRENT_CHANNEL /* PA7 */ ADC1_CH(7)
#define ADC_AIRSPEED_IN_CHANNEL /* PC4 */ ADC1_CH(4)
#define ADC_RSSI_IN_CHANNEL /* PC5 */ ADC1_CH(8)
#define ADC_CHANNELS \
((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY_CURRENT_CHANNEL) | \
(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
(1 << ADC_AIRSPEED_IN_CHANNEL) | \
(1 << ADC_RSSI_IN_CHANNEL))
/* Define Battery 1 Voltage Divider and A per V
*/
#define BOARD_BATTERY1_V_DIV (11.0f) /* measured with the provided PM board */
#define BOARD_BATTERY1_A_PER_V (40.0f)
#define BOARD_BATTERY2_V_DIV (11.0f) /* measured with the provided PM board */
/* CAN Silence
*
* Silent mode control \ ESC Mux select
*/
#define GPIO_CAN1_SILENT_S0 /* PD3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN3)
/* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 8
#define DIRECT_INPUT_TIMER_CHANNELS 8
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* Spare GPIO */
#define GPIO_VIDEO_PWR /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN10)
#define GPIO_VIDEO_CAM /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN11)
// #define GPIO_PG15 /* PG15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN15)
/* Tone alarm output */
#define GPIO_TONE_ALARM_IDLE /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TONE_ALARM_GPIO /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define TONE_ALARM_TIMER 2 /* Timer 2 */
// #define TONE_ALARM_CHANNEL 1 /* PA15 GPIO_TIM2_CH1OUT_2 */
// #define GPIO_TONE_ALARM_IDLE /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
// #define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
/* USB OTG FS
*
* PE2 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS /* PE2 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTE|GPIO_PIN2)
/* High-resolution timer */
#define HRT_TIMER 2 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 3 */
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS4"
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
// #define GPIO_RSSI_IN /* PC5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
/* SD Card */
#define SDIO_SLOTNO 0 /* Only one slot */
#define SDIO_MINOR 0
/* 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 PX4_GPIO_INIT_LIST { \
PX4_ADC_GPIO, \
GPIO_CAN1_TX, \
GPIO_CAN1_RX, \
GPIO_CAN1_SILENT_S0, \
GPIO_nLED_BLUE, \
GPIO_nLED_GREEN, \
GPIO_TONE_ALARM_IDLE, \
GPIO_VIDEO_PWR, \
GPIO_VIDEO_CAM, \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
#define BOARD_NUM_IO_TIMERS 4
__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 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