/**************************************************************************** * * Copyright (c) 2012-2014 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 * * PX4FMUv1 internal definitions */ #pragma once /**************************************************************************************************** * Included Files ****************************************************************************************************/ #include #include #include __BEGIN_DECLS /* these headers are not C++ safe */ #include #include /**************************************************************************************************** * Definitions ****************************************************************************************************/ /* Configuration ************************************************************************************/ /* PX4IO connection configuration */ #define PX4IO_SERIAL_DEVICE "/dev/ttyS2" #define UDID_START 0x1FFF7A10 //#ifdef CONFIG_STM32_SPI2 //# error "SPI2 is not supported on this board" //#endif #if defined(CONFIG_STM32_CAN1) # warning "CAN1 is not supported on this board" #endif /* PX4FMU GPIOs ***********************************************************************************/ /* LEDs */ #define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15) #define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14) /* External interrupts */ #define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1) /* SPI chip selects */ #define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) #define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) #define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) #define PX4_SPI_BUS_SENSORS 1 /* * 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 2 #define PX4_SPIDEV_MPU 3 /* * Optional devices on IO's external port */ #define PX4_SPIDEV_ACCEL_MAG 2 /* * I2C busses */ #define PX4_I2C_BUS_ESC 1 #define PX4_I2C_BUS_ONBOARD 2 #define PX4_I2C_BUS_EXPANSION 3 #define PX4_I2C_BUS_LED 3 /* * Devices on the onboard bus. * * Note that these are unshifted addresses. */ #define PX4_I2C_OBDEV_HMC5883 0x1e #define PX4_I2C_OBDEV_EEPROM NOTDEFINED #define PX4_I2C_OBDEV_LED 0x55 #define PX4_I2C_OBDEV_PX4IO_BL 0x18 #define PX4_I2C_OBDEV_PX4IO 0x1a /* User GPIOs * * GPIO0-1 are the buffered high-power GPIOs. * GPIO2-5 are the USART2 pins. * GPIO6-7 are the CAN2 pins. */ #define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) #define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5) #define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0) #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_PORTB|GPIO_PIN13) #define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2) #define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4) #define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5) #define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0) #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_PORTB|GPIO_PIN13) #define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12) #define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) /* * Tone alarm output */ #define TONE_ALARM_TIMER 3 /* timer 3 */ #define TONE_ALARM_CHANNEL 3 /* channel 3 */ #define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8) #define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8) /* * PWM * * Four PWM outputs can be configured on pins otherwise shared with * USART2; two can take the flow control pins if they are not being used. * * Pins: * * CTS - PA0 - TIM2CH1 * RTS - PA1 - TIM2CH2 * TX - PA2 - TIM2CH3 * RX - PA3 - TIM2CH4 * */ #define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1 #define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1 #define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 #define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 /* 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 1 /* use timer1 for the HRT */ #define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ #define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ #define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) /**************************************************************************************************** * 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); extern void stm32_usbinitialize(void); /**************************************************************************** * Name: nsh_archinitialize * * Description: * Perform architecture specific initialization for NSH. * * CONFIG_NSH_ARCHINIT=y : * Called from the NSH library * * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && * CONFIG_NSH_ARCHINIT=n : * Called from board_initialize(). * ****************************************************************************/ #ifdef CONFIG_NSH_LIBRARY int nsh_archinitialize(void); #endif #endif /* __ASSEMBLY__ */ __END_DECLS