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/****************************************************************************
*
* Copyright (C) 2012 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 px4iov2_internal.h
*
* PX4IOV2 internal definitions
*/
#pragma once
/******************************************************************************
* Included Files
******************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/* these headers are not C++ safe */
#include <stm32.h>
/******************************************************************************
* Definitions
******************************************************************************/
/* Configuration **************************************************************/
/******************************************************************************
* Serial
******************************************************************************/
#define PX4FMU_SERIAL_BASE STM32_USART2_BASE
#define PX4FMU_SERIAL_VECTOR STM32_IRQ_USART2
#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX
#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX
#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX
#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX
#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY
#define PX4FMU_SERIAL_BITRATE 1500000
/******************************************************************************
* GPIOS
******************************************************************************/
/* LEDS **********************************************************************/
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
/* Safety switch button *******************************************************/
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
/* Power switch controls ******************************************************/
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
/* Analog inputs **************************************************************/
#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
/* the same rssi signal goes to both an adc and a timer input */
#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12)
/* PWM pins **************************************************************/
#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8)
#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
/* SBUS pins *************************************************************/
/* XXX these should be UART pins */
#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11)
#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
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