text: /****************************************************************************
   *
   *   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 <px4_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>
  
  /****************************************************************************************************
   * 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
  
  /*
   * ADC channels
   *
   * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
   */
  #define ADC_CHANNELS (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13)
  
  // ADC defines to be used in sensors.cpp to read from a particular channel
  #define ADC_BATTERY_VOLTAGE_CHANNEL	10
  #define ADC_BATTERY_CURRENT_CHANNEL	((uint8_t)(-1))
  #define ADC_AIRSPEED_VOLTAGE_CHANNEL	11
  
  /* 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
  #define DIRECT_PWM_OUTPUT_CHANNELS	4
  
  #define GPIO_TIM2_CH1IN		GPIO_TIM2_CH1IN_1
  #define GPIO_TIM2_CH2IN		GPIO_TIM2_CH2IN_1
  #define GPIO_TIM2_CH3IN		GPIO_TIM2_CH3IN_1
  #define GPIO_TIM2_CH4IN		GPIO_TIM2_CH4IN_1
  #define DIRECT_INPUT_TIMER_CHANNELS  4
  
  /* 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
  