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nuttx/configs/px4fmu-v2_upstream/src/board_config.h

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/****************************************************************************
* configs/px4fmu-v2_upstream/src/board_config.h
*
* Copyright (c) 2013, 2014 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
#ifdef __cplusplus
__BEGIN_DECLS
#endif
/* These headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
#define UDID_START 0x1FFF7A10
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* PX4IO connection configuration */
#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 /* hardwired on the board */
#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
/* PX4FMU GPIOs *************************************************************/
/* LEDs */
#define GPIO_LED1 \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
/* External interrupts */
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
#define GPIO_EXTI_MPU_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* Data ready pins off */
#define GPIO_GYRO_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
#define GPIO_MAG_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
#define GPIO_ACCEL_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
#define GPIO_EXTI_MPU_DRDY_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
#define GPIO_SPI1_MISO_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
#define GPIO_SPI1_MOSI_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
/* SPI1 chip selects off */
#define GPIO_SPI_CS_GYRO_OFF \
(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI_CS_ACCEL_MAG_OFF \
(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO_OFF \
(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_MPU_OFF \
(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
/* SPI chip selects */
#define GPIO_SPI_CS_GYRO \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI_CS_ACCEL_MAG \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define GPIO_SPI_CS_MPU \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
/* Use these in place of the spi_dev_e enumeration to select a specific SPI
* device on SPI1
*/
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL_MAG 2
#define PX4_SPIDEV_BARO 3
#define PX4_SPIDEV_MPU 4
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED 2
/* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_LED 0x55
#define PX4_I2C_OBDEV_HMC5883 0x1e
/* User GPIOs
*
* GPIO0-5 are the PWM servo outputs.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO0_OUTPUT \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_OUTPUT \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_OUTPUT \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_OUTPUT \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_OUTPUT \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_OUTPUT \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
/* Power supply control and monitoring GPIOs */
#define GPIO_VDD_5V_PERIPH_EN \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
#define GPIO_VDD_3V3_SENSORS_EN \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
/* Tone alarm output */
#define TONE_ALARM_TIMER 2 /* timer 2 */
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
#define GPIO_TONE_ALARM_IDLE \
(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TONE_ALARM \
(GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
/* PWM
*
* Six PWM outputs are configured.
*
* Pins:
*
* CH1 : PE14 : TIM1_CH4
* CH2 : PE13 : TIM1_CH3
* CH3 : PE11 : TIM1_CH2
* CH4 : PE9 : TIM1_CH1
* CH5 : PD13 : TIM4_CH2
* CH6 : PD14 : TIM4_CH3
*/
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/
#define GPIO_OTGFS_VBUS \
(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 8 /* Use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* Use capture/compare channel */
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public data
****************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************/
void stm32_spiinitialize(void);
/* Ideally we'd be able to get these from up_internal.h, but since we want
* to be able to disable the NuttX use of leds for system indication at will
* and there is no separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
void led_init(void);
void led_on(int led);
void led_off(int led);
void led_toggle(int led);
#endif /* __ASSEMBLY__ */
#ifdef __cplusplus
__END_DECLS
#endif
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