text: /****************************************************************************
   *
   *   Copyright (c) 2021 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
   *
   * Board internal definitions
   */
  
  #pragma once
  
  #include <px4_platform_common/px4_config.h>
  #include <nuttx/compiler.h>
  #include <stdint.h>
  #include <stm32_gpio.h>
  
  /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
  #define GPIO_nLED_RED   /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
  #define GPIO_nLED_GREEN /* PB1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
  #define GPIO_nLED_BLUE  /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
  
  #define BOARD_HAS_CONTROL_STATUS_LEDS      1
  #define BOARD_OVERLOAD_LED     LED_RED
  #define BOARD_ARMED_STATE_LED  LED_BLUE
  
  /* ADC channels */
  #define PX4_ADC_GPIO  \
  	/* PA2 */  GPIO_ADC12_INP14,  \
  	/* PA3 */  GPIO_ADC12_INP15,  \
  	/* PA4 */  GPIO_ADC12_INP18,  \
  	/* PC1 */  GPIO_ADC123_INP11
  
  /* Define Channel numbers must match above GPIO pins */
  #define ADC_BATTERY_VOLTAGE_CHANNEL       14 /* PA2 BATT_VOLT_SENS */
  #define ADC_BATTERY_CURRENT_CHANNEL       15 /* PA3 BATT_CURRENT_SENS */
  #define ADC_SCALED_V5_CHANNEL             18 /* PA4 VDD_5V_SENS */
  #define ADC_RC_RSSI_CHANNEL               11 /* PC1 */
  
  #define ADC_CHANNELS \
  	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
  	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
  	 (1 << ADC_SCALED_V5_CHANNEL)             | \
  	 (1 << ADC_RC_RSSI_CHANNEL))
  
  /* HW has to large of R termination on ADC todo:change when HW value is chosen */
  #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
  
  /* CAN Silence: Silent mode control */
  #define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
  
  /* PWM */
  #define DIRECT_PWM_OUTPUT_CHANNELS  8
  
  /* Power supply control and monitoring GPIOs */
  #define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
  
  #define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
  #define BOARD_NUMBER_BRICKS             1
  
  #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
  
  /* Define True logic Power Control in arch agnostic form */
  #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
  #define READ_VDD_3V3_SPEKTRUM_POWER_EN()   (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
  
  /* Tone alarm output */
  #define TONE_ALARM_TIMER        2  /* timer 2 */
  #define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */
  
  #define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
  
  #define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
  #define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2
  
  /* USB OTG FS */
  #define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
  
  /* High-resolution timer */
  #define HRT_TIMER               3  /* use timer3 for the HRT */
  #define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
  
  #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
  #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
  
  /* RC Serial port */
  #define RC_SERIAL_PORT          "/dev/ttyS3"
  
  #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
  
  /* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
  #define GPIO_SAFETY_SWITCH_IN              /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
  /* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
  #define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
  
  /* Power switch controls ******************************************************/
  #define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
  
  /*
   * Board has a separate RC_IN
   *
   * GPIO PPM_IN on PB0 T3CH3
   * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
   *   Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
   */
  #define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
  #define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
  #define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
  #define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
  
  /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
   * this board support the ADC system_power interface, and therefore
   * provides the true logic GPIO BOARD_ADC_xxxx macros.
   */
  #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
  #define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
  #define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
  #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
  
  /* This board provides a DMA pool and APIs */
  #define BOARD_DMA_ALLOC_POOL_SIZE 5120
  
  /* This board provides the board_on_reset interface */
  #define BOARD_HAS_ON_RESET 1
  
  #define BOARD_HAS_STATIC_MANIFEST 1
  
  
  #define BOARD_NUM_IO_TIMERS 3
  
  
  #define BOARD_ENABLE_CONSOLE_BUFFER
  
  #define PX4_GPIO_INIT_LIST { \
  		PX4_ADC_GPIO,                     \
  		GPIO_CAN1_TX,                     \
  		GPIO_CAN1_RX,                     \
  		GPIO_CAN1_SILENT_S0,              \
  		GPIO_nPOWER_IN_A,                 \
  		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
  		GPIO_TONE_ALARM_IDLE,             \
  		GPIO_SAFETY_SWITCH_IN,            \
  		GPIO_OTGFS_VBUS,                  \
  	}
  
  __BEGIN_DECLS
  #ifndef __ASSEMBLY__
  
  extern void stm32_spiinitialize(void);
  extern void board_peripheral_reset(int ms);
  
  #include <px4_platform_common/board_common.h>
  #endif /* __ASSEMBLY__ */
  __END_DECLS
  