/**************************************************************************** * * 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 * * ModalAI FC-v1 internal definitions */ #pragma once /**************************************************************************************************** * Included Files ****************************************************************************************************/ #include #include #include #include /**************************************************************************************************** * Definitions ****************************************************************************************************/ /* Configuration ************************************************************************************/ // NA on ModalAI FC-v1 /* PX4FMU GPIOs ***********************************************************************************/ #undef TRACE_PINS /* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */ #if !defined(TRACE_PINS) # define GPIO_nLED_RED /* PB0 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) # define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1) # define GPIO_nLED_BLUE /* PA7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN7) # define GPIO_nLED_2_RED /* PI0 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN0) # define GPIO_nLED_2_GREEN /* PH11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN11) # define GPIO_nLED_2_BLUE /* PA2 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN2) # define BOARD_HAS_CONTROL_STATUS_LEDS 1 # define BOARD_OVERLOAD_LED LED_RED # define BOARD_ARMED_STATE_LED LED_BLUE #endif /* SPI */ #define GPIO_FYSNC_INT_ICM42688 /* PA0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) #define GPIO_FYSNC_INT_ICM20602 /* PH10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10) /* I2C busses */ /* Devices on the onboard bus. * * Note that these are unshifted addresses. */ #define PX4_I2C_OBDEV_A71CH 0x49 #define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5) #define GPIO_A71CH_nRST /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN3) /* * 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 ADC1_GPIO(n) GPIO_ADC1_IN##n #define ADC3_CH(n) (n) #define ADC3_GPIO(n) GPIO_ADC3_IN##n /* Define GPIO pins used as ADC N.B. Channel numbers must match below */ #define PX4_ADC_GPIO \ /* PC0 */ ADC1_GPIO(10), \ /* PC1 */ ADC1_GPIO(11), \ /* PF4 */ ADC3_GPIO(14), \ /* PF5 */ ADC3_GPIO(15) /* Define Channel numbers must match above GPIO pin IN(n)*/ #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 /* PF4 */ ADC3_CH(14) #define ADC_HW_REV_SENSE_CHANNEL /* PF5 */ ADC3_CH(15) #define ADC_CHANNELS \ ((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 HW_REV_VER_ADC_BASE STM32_ADC3_BASE #define SYSTEM_ADC_BASE STM32_ADC1_BASE #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_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0) #define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15) #define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14) #define HW_INFO_INIT_PREFIX "V1" #define V10006 HW_VER_REV(0x0,0x6) // V1006 Rev 6 #define V10100 HW_VER_REV(0x1,0x0) // V1010 Rev 0 /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 8 #define GPIO_CAN1_SILENT /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN11) #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2) #define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) /* For primary/backup signaling with VOXL, 2 pins on J4 are exposed */ #define GPIO_VOXL_STATUS_OUT /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4) #define GPIO_VOXL_STATUS_IN /* PE3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3) /* Define True logic Power Control in arch agnostic form */ #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)) /* 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 */ #define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */ #define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2 /* RC Serial port */ #define RC_SERIAL_PORT "/dev/ttyS5" #define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT /* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */ #define GPIO_SAFETY_SWITCH_IN /* PF3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTF|GPIO_PIN3) #define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ /* Power switch controls ******************************************************/ #define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) /* * ModalAI FC-v1 has a separate RC_IN * * GPIO PPM_IN on PI5 T8CH1 * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 * 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_PORTI|GPIO_PIN5) #define SPEKTRUM_RX_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7) #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(SPEKTRUM_RX_AS_OUT) #define SPEKTRUM_RX_AS_UART() /* Can be left as uart */ #define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(SPEKTRUM_RX_AS_OUT, (_one_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_BOARDCTL=y, OR * CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y */ #if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_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)) /* ModalAI FC-v1 never powers off the Servo rail */ #define BOARD_ADC_SERVO_VALID (1) #define BOARD_ADC_BRICK_VALID (1) /* 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_HW_VER_REV_DRIVE, \ GPIO_CAN1_TX, \ GPIO_CAN1_RX, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ GPIO_VDD_3V3_SD_CARD_EN, \ GPIO_A71CH_nRST, \ GPIO_VOXL_STATUS_OUT, \ GPIO_VOXL_STATUS_IN, \ GPIO_SAFETY_SWITCH_IN, \ GPIO_FYSNC_INT_ICM42688, \ GPIO_FYSNC_INT_ICM20602 \ } #define BOARD_ENABLE_CONSOLE_BUFFER #define BOARD_NUM_IO_TIMERS 5 // J4 / TELEM3 / UART2 #define VOXL_ESC_DEFAULT_PORT "/dev/ttyS1" __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 PX4FMU board. * ****************************************************************************************************/ extern void stm32_spiinitialize(void); extern void stm32_usbinitialize(void); extern void board_peripheral_reset(int ms); #include #endif /* __ASSEMBLY__ */ __END_DECLS