diff options
Diffstat (limited to 'nuttx/configs/nucleo-f401re/src/board_config.h')
| -rw-r--r-- | nuttx/configs/nucleo-f401re/src/board_config.h | 264 |
1 files changed, 264 insertions, 0 deletions
diff --git a/nuttx/configs/nucleo-f401re/src/board_config.h b/nuttx/configs/nucleo-f401re/src/board_config.h new file mode 100644 index 000000000..08dd80377 --- /dev/null +++ b/nuttx/configs/nucleo-f401re/src/board_config.h @@ -0,0 +1,264 @@ +/**************************************************************************** + * 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. + * + ****************************************************************************/ + +#ifndef __CONFIGS_NUCLEO_F401RE_SRC_NUCLEO_F401RE_H +#define __CONFIGS_NUCLEO_F401RE_SRC_BOARD_CONFIG_H + +/**************************************************************************** + * 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 + +#endif /* __CONFIGS_NUCLEO_F401RE_SRC_BOARD_CONFIG_H */ |