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313 lines
12 KiB
313 lines
12 KiB
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_config.h
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*
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* ModalAI FC-v1 internal definitions
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*/
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#pragma once
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/****************************************************************************************************
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* Included Files
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****************************************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32_gpio.h>
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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/* Configuration ************************************************************************************/
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// NA on ModalAI FC-v1
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/* PX4FMU GPIOs ***********************************************************************************/
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#undef TRACE_PINS
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/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
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#if !defined(TRACE_PINS)
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# define GPIO_nLED_RED /* PB0 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
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# define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
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# define GPIO_nLED_BLUE /* PA7 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN7)
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# define GPIO_nLED_2_RED /* PI0 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN0)
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# define GPIO_nLED_2_GREEN /* PH11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN11)
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# define GPIO_nLED_2_BLUE /* PA2 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN2)
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# define BOARD_HAS_CONTROL_STATUS_LEDS 1
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# define BOARD_OVERLOAD_LED LED_RED
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# define BOARD_ARMED_STATE_LED LED_BLUE
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#endif
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/* SPI */
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#define GPIO_FYSNC_INT_ICM42688 /* PA0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
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#define GPIO_FYSNC_INT_ICM20602 /* PH10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)
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/* I2C busses */
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/* Devices on the onboard bus.
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*
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* Note that these are unshifted addresses.
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*/
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#define PX4_I2C_OBDEV_A71CH 0x49
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#define GPIO_I2C4_DRDY1_BMP388 /* PG5 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
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#define GPIO_A71CH_nRST /* PH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN3)
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/*
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* ADC channels
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*
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* These are the channel numbers of the ADCs of the microcontroller that
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* can be used by the Px4 Firmware in the adc driver
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*/
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/* ADC defines to be used in sensors.cpp to read from a particular channel */
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#define ADC1_CH(n) (n)
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#define ADC1_GPIO(n) GPIO_ADC1_IN##n
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#define ADC3_CH(n) (n)
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#define ADC3_GPIO(n) GPIO_ADC3_IN##n
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/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
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#define PX4_ADC_GPIO \
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/* PC0 */ ADC1_GPIO(10), \
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/* PC1 */ ADC1_GPIO(11), \
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/* PF4 */ ADC3_GPIO(14), \
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/* PF5 */ ADC3_GPIO(15)
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/* Define Channel numbers must match above GPIO pin IN(n)*/
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#define ADC_SCALED_V5_CHANNEL /* PC0 */ ADC1_CH(10)
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#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL /* PC1 */ ADC1_CH(11)
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#define ADC_HW_VER_SENSE_CHANNEL /* PF4 */ ADC3_CH(14)
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#define ADC_HW_REV_SENSE_CHANNEL /* PF5 */ ADC3_CH(15)
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#define ADC_CHANNELS \
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((1 << ADC_SCALED_V5_CHANNEL) | \
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(1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
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(1 << ADC_HW_VER_SENSE_CHANNEL) | \
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(1 << ADC_HW_REV_SENSE_CHANNEL))
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
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#define SYSTEM_ADC_BASE STM32_ADC1_BASE
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* HW Version and Revision drive signals Default to 1 to detect */
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#define BOARD_HAS_HW_VERSIONING
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#define GPIO_HW_VER_REV_DRIVE /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
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#define GPIO_HW_REV_SENSE /* PF5 */ ADC3_GPIO(15)
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#define GPIO_HW_VER_SENSE /* PF4 */ ADC3_GPIO(14)
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#define HW_INFO_INIT_PREFIX "V1"
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#define V10006 HW_VER_REV(0x0,0x6) // V1006 Rev 6
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#define V10100 HW_VER_REV(0x1,0x0) // V1010 Rev 0
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/* PWM
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*/
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#define DIRECT_PWM_OUTPUT_CHANNELS 8
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#define GPIO_CAN1_SILENT /* PI11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN11)
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#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PH2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
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#define GPIO_VDD_3V3_SD_CARD_EN /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
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/* For primary/backup signaling with VOXL, 2 pins on J4 are exposed */
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#define GPIO_VOXL_STATUS_OUT /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
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#define GPIO_VOXL_STATUS_IN /* PE3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
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/* Define True logic Power Control in arch agnostic form */
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#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
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#define READ_VDD_3V3_SPEKTRUM_POWER_EN() px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
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#define VDD_3V3_SD_CARD_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
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/* USB OTG FS
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*
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* PA9 OTG_FS_VBUS VBUS sensing
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*/
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#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
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/* High-resolution timer */
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#define HRT_TIMER 8 /* use timer8 for the HRT */
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#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
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#define HRT_PPM_CHANNEL /* T8C1 */ 1 /* use capture/compare channel 1 */
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#define GPIO_PPM_IN /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
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/* RC Serial port */
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#define RC_SERIAL_PORT "/dev/ttyS5"
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#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
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/* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
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#define GPIO_SAFETY_SWITCH_IN /* PF3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTF|GPIO_PIN3)
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#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
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/* Power switch controls ******************************************************/
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#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
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/*
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* ModalAI FC-v1 has a separate RC_IN
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*
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* GPIO PPM_IN on PI5 T8CH1
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* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
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* Inversion is possible in the UART and can drive GPIO PPM_IN as an output
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*/
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#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN5)
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#define SPEKTRUM_RX_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
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#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(SPEKTRUM_RX_AS_OUT)
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#define SPEKTRUM_RX_AS_UART() /* Can be left as uart */
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#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(SPEKTRUM_RX_AS_OUT, (_one_true))
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#define SDIO_SLOTNO 0 /* Only one slot */
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#define SDIO_MINOR 0
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/* SD card bringup does not work if performed on the IDLE thread because it
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* will cause waiting. Use either:
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*
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* CONFIG_BOARDCTL=y, OR
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* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
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*/
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#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
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!defined(CONFIG_BOARD_INITTHREAD)
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# warning SDIO initialization cannot be perfomed on the IDLE thread
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#endif
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/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
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* this board support the ADC system_power interface, and therefore
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* provides the true logic GPIO BOARD_ADC_xxxx macros.
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*/
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#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
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/* ModalAI FC-v1 never powers off the Servo rail */
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#define BOARD_ADC_SERVO_VALID (1)
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#define BOARD_ADC_BRICK_VALID (1)
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120
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/* This board provides the board_on_reset interface */
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#define BOARD_HAS_ON_RESET 1
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#define PX4_GPIO_INIT_LIST { \
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PX4_ADC_GPIO, \
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GPIO_HW_VER_REV_DRIVE, \
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GPIO_CAN1_TX, \
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GPIO_CAN1_RX, \
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GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \
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GPIO_VDD_3V3_SD_CARD_EN, \
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GPIO_A71CH_nRST, \
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GPIO_VOXL_STATUS_OUT, \
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GPIO_VOXL_STATUS_IN, \
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GPIO_SAFETY_SWITCH_IN, \
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GPIO_FYSNC_INT_ICM42688, \
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GPIO_FYSNC_INT_ICM20602 \
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}
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#define BOARD_ENABLE_CONSOLE_BUFFER
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#define BOARD_NUM_IO_TIMERS 5
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// J4 / TELEM3 / UART2
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#define VOXL_ESC_DEFAULT_PORT "/dev/ttyS1"
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__BEGIN_DECLS
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/****************************************************************************************************
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* Public Types
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****************************************************************************************************/
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/****************************************************************************************************
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* Public data
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****************************************************************************************************/
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#ifndef __ASSEMBLY__
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/****************************************************************************************************
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* Public Functions
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****************************************************************************************************/
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/****************************************************************************
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* Name: stm32_sdio_initialize
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*
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* Description:
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* Initialize SDIO-based MMC/SD card support
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*
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****************************************************************************/
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int stm32_sdio_initialize(void);
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/****************************************************************************************************
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* Name: stm32_spiinitialize
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*
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* Description:
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* Called to configure SPI chip select GPIO pins for the PX4FMU board.
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*
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****************************************************************************************************/
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extern void stm32_spiinitialize(void);
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extern void stm32_usbinitialize(void);
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extern void board_peripheral_reset(int ms);
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#include <px4_platform_common/board_common.h>
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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