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author | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
commit | 063caba36bd2fe26eb4bfa8e546e9551ccc05519 (patch) | |
tree | d8ea5015111793800d945fbc33505088cf5fe12d /src/drivers/boards/aerocore/board_config.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 'src/drivers/boards/aerocore/board_config.h')
-rw-r--r-- | src/drivers/boards/aerocore/board_config.h | 176 |
1 files changed, 176 insertions, 0 deletions
diff --git a/src/drivers/boards/aerocore/board_config.h b/src/drivers/boards/aerocore/board_config.h new file mode 100644 index 000000000..70142a314 --- /dev/null +++ b/src/drivers/boards/aerocore/board_config.h @@ -0,0 +1,176 @@ +/**************************************************************************** + * + * 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. + * + ****************************************************************************/ + +/** + * @file board_config.h + * + * AeroCore internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/compiler.h> +#include <stdint.h> + +__BEGIN_DECLS + +/* these headers are not C++ safe */ +#include <stm32.h> +#include <arch/board/board.h> + +#define UDID_START 0x1FFF7A10 + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ + +/* LEDs */ +#define GPIO_LED0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9) +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10) + +/* Gyro */ +#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN0) +#define SENSOR_BOARD_ROTATION_DEFAULT 3 /* SENSOR_BOARD_ROTATION_270_DEG */ + +/* Accel & Mag */ +#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN1) +#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN2) + +/* GPS */ +#define GPIO_GPS_NRESET (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5) +#define GPIO_GPS_TIMEPULSE (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4) +#define GPS_DEFAULT_UART_PORT "/dev/ttyS0" + +/* SPI3--Sensors */ +#define PX4_SPI_BUS_SENSORS 3 +#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2) +#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) + +/* Nominal chip selects for devices on SPI bus #3 */ +#define PX4_SPIDEV_ACCEL_MAG 0 +#define PX4_SPIDEV_GYRO 1 +#define PX4_SPIDEV_BARO 2 + +/* User GPIOs broken out on J11 */ +#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1) +#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN12) +#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO8_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO9_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15) +#define GPIO_GPIO10_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_GPIO11_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8) + +#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) +#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1) +#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2) +#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3) +#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN12) +#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) +#define GPIO_GPIO8_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) +#define GPIO_GPIO9_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15) +#define GPIO_GPIO10_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5) +#define GPIO_GPIO11_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) + +/* PWM + * + * Eight PWM outputs are configured. + * + * Pins: + * + * CH1 : PA8 : TIM1_CH1 + * CH2 : PA9 : TIM1_CH2 + * CH3 : PA10 : TIM1_CH3 + * CH4 : PA11 : TIM1_CH4 + * CH5 : PC6 : TIM3_CH1 + * CH6 : PC7 : TIM3_CH2 + * CH7 : PC8 : TIM3_CH3 + * CH8 : PC9 : TIM3_CH4 + */ +#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 +#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1 +#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1 +#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_1 +#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_3 +#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3 +#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2 +#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2 + +/* High-resolution timer */ +#define HRT_TIMER 8 /* use timer 8 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ + +/* Tone Alarm (no onboard speaker )*/ +#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_PIN0) +#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0) + + +/**************************************************************************************************** + * Public Types + ****************************************************************************************************/ + +/**************************************************************************************************** + * Public data + ****************************************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************************************** + * Public Functions + ****************************************************************************************************/ + +/**************************************************************************************************** + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the PX4FMU board. + * + ****************************************************************************************************/ + +extern void stm32_spiinitialize(void); + +#endif /* __ASSEMBLY__ */ + +__END_DECLS |