text: /****************************************************************************
   *
   *   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
   *
   * PX4IOV2 internal definitions
   */
  
  #pragma once
  
  /******************************************************************************
   * Included Files
   ******************************************************************************/
  
  #include <px4_config.h>
  #include <nuttx/compiler.h>
  #include <stdint.h>
  
  /* these headers are not C++ safe */
  #include <stm32.h>
  #include <arch/board/board.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_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
  #define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
  #define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
  #define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
  
  #define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
  
  /* 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_SET|GPIO_PORTC|GPIO_PIN13)
  #define POWER_SPEKTRUM(_s)		stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
  
  #define SPEKTRUM_RX_HIGH(_s)	stm32_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_s))
  #define SPEKTRUM_RX_AS_UART()		stm32_configgpio(GPIO_USART1_RX)
  #define SPEKTRUM_RX_AS_GPIO()		stm32_configgpio(GPIO_USART1_RX_SPEKTRUM)
  
  #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_SET|GPIO_PORTB|GPIO_PIN4)
  
  // pins for detecting board type. On a pixhawk2 PC14 is pulled high,
  // PC15 is pulled low. On a Pixhawk1 they are both floating
  #define GPIO_IO_HW_DETECT1  (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_PORTC|GPIO_PIN14)
  #define GPIO_IO_HW_DETECT2  (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_PORTC|GPIO_PIN15)
  
  /*
   * High-resolution timer
   */
  #define HRT_TIMER		1	/* use timer1 for the HRT */
  #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel 2 */
  #define HRT_PPM_CHANNEL		1	/* use capture/compare channel 1 */
  #define GPIO_PPM_IN		(GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTE|GPIO_PIN9)
  
  /* LED definitions ******************************************************************/
  /* PX4 has two LEDs that we will encode as: */
  
  #define LED_STARTED       0  /* LED? */
  #define LED_HEAPALLOCATE  1  /* LED? */
  #define LED_IRQSENABLED   2  /* LED? + LED? */
  #define LED_STACKCREATED  3  /* LED? */
  #define LED_INIRQ         4  /* LED? + LED? */
  #define LED_SIGNAL        5  /* LED? + LED? */
  #define LED_ASSERTION     6  /* LED? + LED? + LED? */
  #define LED_PANIC         7  /* N/C  + N/C  + N/C + LED? */
  
  