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board_config.h
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board_config.h
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/****************************************************************************
*
* Copyright (c) 2022 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
*
* PX4FMU-v6c 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
****************************************************************************************************/
#undef TRACE_PINS
/* PX4IO connection configuration */
#define BOARD_USES_PX4IO_VERSION 2
#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
#define PX4IO_SERIAL_BASE STM32_USART6_BASE
#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX
#define PX4IO_SERIAL_RCC_REG STM32_RCC_APB2ENR
#define PX4IO_SERIAL_RCC_EN RCC_APB2ENR_USART6EN
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
/* PX4FMU GPIOs ***********************************************************************************/
/* LEDs are driven with push pull Anodes to 3.3V */
#define GPIO_nLED_RED /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_nLED_BLUE /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
#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)
/* N.B. there is no offset mapping needed for ADC3 because */
#define ADC3_CH(n) (n)
/* We are only use ADC3 for REV/VER. */
/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
#define PX4_ADC_GPIO \
/* PC4 */ GPIO_ADC12_INP4, \
/* PB1 */ GPIO_ADC12_INP5, \
/* PC5 */ GPIO_ADC12_INP8, \
/* PC0 */ GPIO_ADC123_INP10, \
/* PC1 */ GPIO_ADC123_INP11, \
/* PA2 */ GPIO_ADC12_INP14, \
/* PA4 */ GPIO_ADC12_INP18 \
/* Define Channel numbers must match above GPIO pin IN(n)*/
#define ADC_BATTERY1_CURRENT_CHANNEL /* PC4 */ ADC1_CH(4)
#define ADC_BATTERY2_VOLTAGE_CHANNEL /* PB1 */ ADC1_CH(5)
#define ADC_BATTERY1_VOLTAGE_CHANNEL /* PC5 */ ADC1_CH(8)
#define ADC_HW_REV_SENSE_CHANNEL /* PC0 */ ADC3_CH(10)
#define ADC_HW_VER_SENSE_CHANNEL /* PC1 */ ADC3_CH(11)
#define ADC_BATTERY2_CURRENT_CHANNEL /* PA2 */ ADC1_CH(14)
#define ADC_SCALED_V5_CHANNEL /* PA4 */ ADC1_CH(18)
#define ADC_CHANNELS \
((1 << ADC_BATTERY1_CURRENT_CHANNEL) | \
(1 << ADC_BATTERY2_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY1_VOLTAGE_CHANNEL) | \
(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
(1 << ADC_SCALED_V5_CHANNEL ))
#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
#define SYSTEM_ADC_BASE STM32_ADC1_BASE
/* 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_VER_REV_DRIVE /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
#define GPIO_HW_REV_SENSE /* PC0 */ GPIO_ADC123_INP10
#define GPIO_HW_VER_SENSE /* PC1 */ GPIO_ADC123_INP11
#define HW_INFO_INIT {'V','6','C','x', 'x',0}
#define HW_INFO_INIT_VER 3 /* Offset in above string of the VER */
#define HW_INFO_INIT_REV 4 /* Offset in above string of the REV */
#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0, 10 Sensor sets
// Base/FMUM
#define V6C00 HW_VER_REV(0x0,0x0) // FMUV6C, Rev 0 I2C4 External but with Internal devices
#define V6C01 HW_VER_REV(0x0,0x1) // FMUV6C, Rev 1 I2C4 Internal I2C2 External
#define V6C10 HW_VER_REV(0x1,0x0) // NO PX4IO, Rev 0 I2C4 External but with Internal devices
#define V6C11 HW_VER_REV(0x1,0x1) // NO PX4IO, Rev 1 I2C4 Internal I2C2 External
/* HEATER
* PWM in future
*/
#define GPIO_HEATER_OUTPUT /* PB9 T17CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
#define HEATER_OUTPUT_EN(on_true) px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
/* PWM
*/
#define DIRECT_PWM_OUTPUT_CHANNELS 8
/* Power supply control and monitoring GPIOs */
#define GPIO_nPOWER_IN_A /* PA15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN15)
#define GPIO_nPOWER_IN_B /* PB12 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN12)
#define GPIO_nPOWER_IN_C /* PE15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
#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_VDD_5V_PERIPH_nEN /* PE2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
#define GPIO_VDD_5V_PERIPH_nOC /* PE3 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_5V_HIPOWER_nEN /* PC10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN10)
#define GPIO_VDD_5V_HIPOWER_nOC /* PC11 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTC|GPIO_PIN11)
#define GPIO_VDD_3V3_SENSORS_EN /* PB2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
/* Define True logic Power Control in arch agnostic form */
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
#define VDD_5V_HIPOWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
#define VDD_3V3_SENSORS_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
/* Tone alarm output */
#define TONE_ALARM_TIMER 3 /* Timer 3 */
#define TONE_ALARM_CHANNEL 3 /* PB0 GPIO_TIM3_CH3OUT_1 */
#define GPIO_BUZZER_1 /* PPB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
#define GPIO_TONE_ALARM GPIO_TIM3_CH3OUT_1
/* 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 */
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 3 */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL /* T4C3 */ 3
#define GPIO_PWM_IN /* PD14 */ GPIO_TIM4_CH3IN_2
#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))
/* FMUv6C 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_VDD_5V_PERIPH_nOC))
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
/* 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_CAN2_TX, \
GPIO_CAN2_RX, \
GPIO_HEATER_OUTPUT, \
GPIO_nPOWER_IN_A, \
GPIO_nPOWER_IN_B, \
GPIO_nPOWER_IN_C, \
GPIO_VDD_5V_PERIPH_nEN, \
GPIO_VDD_5V_PERIPH_nOC, \
GPIO_VDD_5V_HIPOWER_nEN, \
GPIO_VDD_5V_HIPOWER_nOC, \
GPIO_VDD_3V3_SENSORS_EN, \
GPIO_TONE_ALARM_IDLE, \
}
#define BOARD_ENABLE_CONSOLE_BUFFER
#define PX4_I2C_BUS_MTD 4,5
#define BOARD_OVERRIDE_I2C_DEVICE_EXTERNAL
#define BOARD_NUM_IO_TIMERS 5
__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 <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS