text: /****************************************************************************
   *
   *   Copyright (c) 2013-2016 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
   *
   * PX4FMUv4 internal definitions
   */
  
  #pragma once
  
  /****************************************************************************************************
   * Included Files
   ****************************************************************************************************/
  
  #include <px4_platform_common/px4_config.h>
  #include <nuttx/compiler.h>
  #include <stdint.h>
  
  /****************************************************************************************************
   * Definitions
   ****************************************************************************************************/
  /* Configuration ************************************************************************************/
  
  /* PX4FMU GPIOs ***********************************************************************************/
  /* LEDs */
  #define GPIO_LED1                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
  #define GPIO_LED2                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
  #define GPIO_LED3                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
  
  #define GPIO_LED_RED                 GPIO_LED1
  #define GPIO_LED_GREEN               GPIO_LED2
  #define GPIO_LED_BLUE                GPIO_LED3
  
  #define BOARD_HAS_CONTROL_STATUS_LEDS 1
  #define BOARD_OVERLOAD_LED     LED_RED
  #define BOARD_ARMED_LED        LED_BLUE
  #define BOARD_ARMED_STATE_LED  LED_GREEN
  
  #ifdef CONFIG_STM32_SPI4
  #  define BOARD_HAS_BUS_MANIFEST 1 // We support a bus manifest because spi 4 is optional
  #endif /* CONFIG_STM32_SPI4 */
  
  /**
   * 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 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
  
  /* ADC defines to be used in sensors.cpp to read from a particular channel. */
  #define ADC_BATTERY_VOLTAGE_CHANNEL  2
  #define ADC_BATTERY_CURRENT_CHANNEL  3
  #define ADC_5V_RAIL_SENSE            4
  #define ADC_RC_RSSI_CHANNEL          11
  
  /* Define Battery 1 Voltage Divider and A per V. */
  #define BOARD_BATTERY1_V_DIV         (13.653333333f)
  #define BOARD_BATTERY1_A_PER_V       (36.367515152f)
  
  
  /* Power supply control and monitoring GPIOs. */
  #define GPIO_VDD_BRICK_VALID         (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
  #define GPIO_VDD_USB_VALID           (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
  
  /* Tone alarm output. */
  #define TONE_ALARM_TIMER             2    /* timer 2 */
  #define TONE_ALARM_CHANNEL           1    /* channel 1 */
  #define GPIO_TONE_ALARM_IDLE         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
  #define GPIO_TONE_ALARM              (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
  
  /**
   * PWM:
   *
   * Six PWM outputs are configured.
   */
  #define DIRECT_PWM_OUTPUT_CHANNELS   6
  #define DIRECT_INPUT_TIMER_CHANNELS  6
  
  /**
   * USB OTG FS:
   * PA9  OTG_FS_VBUS VBUS sensing.
   */
  #define GPIO_OTGFS_VBUS              (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
  
  /* High-resolution timer */
  #define HRT_TIMER                    3  /* use timer 3 for the HRT */
  #define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
  
  #define HRT_PPM_CHANNEL              3  /* use capture/compare channel 3 */
  #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
  
  /* RC Serial port */
  
  #define RC_SERIAL_PORT               "/dev/ttyS4"
  
  /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
  #define PWMIN_TIMER                  4
  #define PWMIN_TIMER_CHANNEL          2
  #define GPIO_PWM_IN                  GPIO_TIM4_CH2IN_2
  
  #define GPIO_RSSI_IN                 (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
  #define GPIO_LED_SAFETY              (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
  #define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
  #define GPIO_PERIPH_3V3_EN           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
  
  /* For R12, this signal is active high. */
  #define GPIO_SBUS_INV                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
  #define RC_INVERT_INPUT(_invert_true) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true)
  
  #define GPIO_SPEKTRUM_PWR_EN         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
  
  #define GPIO_8266_GPIO0              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
  #define GPIO_8266_GPIO2              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
  #define GPIO_8266_PD                 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
  #define GPIO_8266_RST                (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6)
  
  /* Heater pins */
  #define GPIO_HEATER_INPUT            (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN6)
  #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
  
  /* Power switch controls */
  
  #define SPEKTRUM_POWER(_on_true)     px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))
  
  /**
   * FMUv4 has separate RC_IN
   *
   * GPIO PPM_IN on PB0 T3C3
   * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
   * Inversion is possible via the 74LVC2G86 controlled by the FMU
   * The FMU 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_BRICK_VALID        (px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
  #define BOARD_ADC_USB_VALID          (px4_arch_gpioread(GPIO_VDD_USB_VALID))
  #define BOARD_ADC_SERVO_VALID        (1)
  #define BOARD_ADC_PERIPH_5V_OC       (0)
  #define BOARD_ADC_HIPOWER_5V_OC      (0)
  
  #define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
  
  /* This board provides a DMA pool and APIs */
  #define BOARD_DMA_ALLOC_POOL_SIZE 5120
  
  #define BOARD_HAS_ON_RESET 1
  
  #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
  
  __BEGIN_DECLS
  
  /****************************************************************************************************
   * 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);
  
  extern void board_peripheral_reset(int ms);
  
  #include <px4_platform_common/board_common.h>
  
  #endif /* __ASSEMBLY__ */
  
  __END_DECLS
  