diff options
author | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
---|---|---|
committer | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
commit | 063caba36bd2fe26eb4bfa8e546e9551ccc05519 (patch) | |
tree | d8ea5015111793800d945fbc33505088cf5fe12d /nuttx-configs/aerocore/include/board.h | |
parent | 68352cb923d366b66bb68c8d946c4960b6f7ff1a (diff) | |
parent | 36495cdb62e21b30a5a1851ec802c9f6a40c1171 (diff) | |
download | px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.tar.gz px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.tar.bz2 px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.zip |
Merge branch 'master' into navigator_rewrite
Conflicts:
src/drivers/gps/gps.cpp
src/drivers/gps/mtk.cpp
src/modules/commander/commander.cpp
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
src/modules/navigator/mission.cpp
src/modules/navigator/mission.h
src/modules/navigator/navigator_main.cpp
src/modules/navigator/navigator_state.h
src/modules/position_estimator_inav/position_estimator_inav_main.c
Diffstat (limited to 'nuttx-configs/aerocore/include/board.h')
-rw-r--r-- | nuttx-configs/aerocore/include/board.h | 263 |
1 files changed, 263 insertions, 0 deletions
diff --git a/nuttx-configs/aerocore/include/board.h b/nuttx-configs/aerocore/include/board.h new file mode 100644 index 000000000..8705c1bc2 --- /dev/null +++ b/nuttx-configs/aerocore/include/board.h @@ -0,0 +1,263 @@ +/************************************************************************************ + * configs/aerocore/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2009 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <gnutt@nuttx.org> + * + * 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 NuttX 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 __ARCH_BOARD_BOARD_H +#define __ARCH_BOARD_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include <nuttx/config.h> +#ifndef __ASSEMBLY__ +# include <stdint.h> +#endif + +#include <stm32.h> + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The AeroCore uses a 24MHz crystal connected to the HSE. + * + * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c: + * System Clock source : PLL (HSE) + * SYSCLK(Hz) : 168000000 Determined by PLL configuration + * HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE) + * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE) + * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1) + * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2) + * HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL) + * PLLM : 24 (STM32_PLLCFG_PLLM) + * PLLN : 336 (STM32_PLLCFG_PLLN) + * PLLP : 2 (STM32_PLLCFG_PLLP) + * PLLQ : 7 (STM32_PLLCFG_PPQ) + * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK + * Flash Latency(WS) : 5 + * Prefetch Buffer : OFF + * Instruction cache : ON + * Data cache : ON + * Require 48MHz for USB OTG FS, : Enabled + * SDIO and RNG clock + */ + +/* HSI - 16 MHz RC factory-trimmed + * LSI - 32 KHz RC + * HSE - On-board crystal frequency is 24MHz + * LSE - not installed + */ + +#define STM32_BOARD_XTAL 24000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL + +/* Main PLL Configuration. + * + * PLL source is HSE + * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * = (24,000,000 / 24) * 336 + * = 336,000,000 + * SYSCLK = PLL_VCO / PLLP + * = 336,000,000 / 2 = 168,000,000 + * USB OTG FS, SDIO and RNG Clock + * = PLL_VCO / PLLQ + * = 48,000,000 + */ + +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 +#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7) + +#define STM32_SYSCLK_FREQUENCY 168000000ul + +/* AHB clock (HCLK) is SYSCLK (168MHz) */ + +#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ +#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY +#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ + +/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */ + +#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ +#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) + +/* Timers driven from APB1 will be twice PCLK1 */ + +#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) +#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) + +/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */ + +#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ +#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) + +/* Timers driven from APB2 will be twice PCLK2 */ + +#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY) + +/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx + * otherwise frequency is 2xAPBx. + * Note: TIM1,8 are on APB2, others on APB1 + */ + +#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY) +#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY) + +/* Alternate function pin selections ************************************************/ + +/* + * UARTs. + */ +/* USART1 on PB[6,7]: GPS */ +#define GPIO_USART1_RX GPIO_USART1_RX_2 +#define GPIO_USART1_TX GPIO_USART1_TX_2 + +/* USART2 on PD[5,6]: J5 Breakout */ +#define GPIO_USART2_RX GPIO_USART2_RX_2 +#define GPIO_USART2_TX GPIO_USART2_TX_2 +#define GPIO_USART2_CTS 0 // unused +#define GPIO_USART2_RTS 0 // unused + +/* USART3 on PD[8,9]: to DuoVero UART2 */ +#define GPIO_USART3_RX GPIO_USART3_RX_3 +#define GPIO_USART3_TX GPIO_USART3_TX_3 +#define GPIO_USART3_CTS 0 // unused +#define GPIO_USART3_RTS 0 // unused + +/* UART7 on PE[78]: J7 Breakout */ +#define GPIO_UART7_RX GPIO_UART7_RX_1 +#define GPIO_UART7_TX GPIO_UART7_TX_1 + +/* + * UART8 on PE[0-1]: System Console on Port C of USB (J7) + * No alternate pin config +*/ + +/* USART[1,6] require a RX DMA configuration */ +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 +#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 + +/* + * I2C + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + */ + +/* PB[10-11]: I2C2 is broken out on J9 header */ +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10) +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) + +/* + * SPI + */ +/* PA[4-7] SPI1 broken out on J12 */ +#define GPIO_SPI1_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) /* should be GPIO_SPI1_NSS_2 but use as a GPIO */ +#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz) +#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz) +#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz) + +/* PB[12-15]: SPI2 connected to DuoVero SPI1 */ +#define GPIO_SPI2_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) /* should be GPIO_SPI2_NSS_2 but use as a GPIO */ +#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz) +#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz) + +/* PC[10-12]: SPI3 connected to onboard sensors */ +#define GPIO_SPI3_SCK (GPIO_SPI3_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI3_MISO (GPIO_SPI3_MISO_2|GPIO_SPEED_50MHz) +#define GPIO_SPI3_MOSI (GPIO_SPI3_MOSI_2|GPIO_SPEED_50MHz) + +/* PE[11-14]: SPI4 connected to FRAM */ +#define GPIO_SPI4_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11) /* should be GPIO_SPI4_NSS_2 but use as a GPIO */ +#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_2|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_2|GPIO_SPEED_50MHz) +#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_2|GPIO_SPEED_50MHz) + +/************************************************************************************ + * Public Data + ************************************************************************************/ +#ifndef __ASSEMBLY__ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" { +#else +#define EXTERN extern +#endif + +/************************************************************************************ + * Public Function Prototypes + ************************************************************************************/ +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the intitialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __ARCH_BOARD_BOARD_H */ |