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
   *
   * PX4FMUv2 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>
  
  #define UDID_START		0x1FFF7A10
  
  /****************************************************************************************************
   * Definitions
   ****************************************************************************************************/
  /* Configuration ************************************************************************************/
  
  /* PX4IO connection configuration */
  #define PX4IO_SERIAL_DEVICE	"/dev/ttyS4"
  #define PX4IO_SERIAL_TX_GPIO	GPIO_USART6_TX
  #define PX4IO_SERIAL_RX_GPIO	GPIO_USART6_RX
  #define PX4IO_SERIAL_BASE	STM32_USART6_BASE	/* hardwired on the board */
  #define PX4IO_SERIAL_VECTOR	STM32_IRQ_USART6
  #define PX4IO_SERIAL_TX_DMAMAP	DMAMAP_USART6_TX_2
  #define PX4IO_SERIAL_RX_DMAMAP	DMAMAP_USART6_RX_2
  #define PX4IO_SERIAL_CLOCK	STM32_PCLK2_FREQUENCY
  #define PX4IO_SERIAL_BITRATE	1500000			/* 1.5Mbps -> max rate for IO */
  
  
  /* PX4FMU GPIOs ***********************************************************************************/
  /* LEDs */
  
  #define GPIO_LED1		(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
  
  /* External interrupts */
  #define GPIO_EXTI_GYRO_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
  #define GPIO_EXTI_MAG_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
  #define GPIO_EXTI_ACCEL_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
  #define GPIO_EXTI_MPU_DRDY	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
  
  /* Data ready pins off */
  #define GPIO_GYRO_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN0)
  #define GPIO_MAG_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN1)
  #define GPIO_ACCEL_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN4)
  #define GPIO_EXTI_MPU_DRDY_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
  
  /* SPI1 off */
  #define GPIO_SPI1_SCK_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
  #define GPIO_SPI1_MISO_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN6)
  #define GPIO_SPI1_MOSI_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
  
  /* SPI1 chip selects off */
  #define GPIO_SPI_CS_GYRO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN13)
  #define GPIO_SPI_CS_ACCEL_MAG_OFF	(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
  #define GPIO_SPI_CS_BARO_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
  #define GPIO_SPI_CS_MPU_OFF		(GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
  
  /* SPI chip selects */
  #define GPIO_SPI_CS_GYRO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
  #define GPIO_SPI_CS_ACCEL_MAG	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
  #define GPIO_SPI_CS_BARO	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
  #define GPIO_SPI_CS_FRAM	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
  #define GPIO_SPI_CS_HMC		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1)
  #define GPIO_SPI_CS_MPU		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
  #define GPIO_SPI_CS_EXT0	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
  #define GPIO_SPI_CS_EXT1	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
  #define GPIO_SPI_CS_EXT2	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
  #define GPIO_SPI_CS_EXT3	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
  
  #define PX4_SPI_BUS_SENSORS	1
  #define PX4_SPI_BUS_EXT		4
  
  /* 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_MAG	2
  #define PX4_SPIDEV_BARO		3
  #define PX4_SPIDEV_MPU		4
  #define PX4_SPIDEV_HMC		5
  
  /* External bus */
  #define PX4_SPIDEV_EXT0		1
  #define PX4_SPIDEV_EXT1		2
  #define PX4_SPIDEV_EXT2		3
  #define PX4_SPIDEV_EXT3		4
  
  /* FMUv3 SPI on external bus */
  #define PX4_SPIDEV_EXT_MPU		PX4_SPIDEV_EXT0
  #define PX4_SPIDEV_EXT_BARO		PX4_SPIDEV_EXT1
  #define PX4_SPIDEV_EXT_ACCEL_MAG	PX4_SPIDEV_EXT2
  #define PX4_SPIDEV_EXT_GYRO		PX4_SPIDEV_EXT3
  
  /* I2C busses */
  #define PX4_I2C_BUS_EXPANSION	1
  #define PX4_I2C_BUS_ONBOARD	2
  #define PX4_I2C_BUS_LED		PX4_I2C_BUS_ONBOARD
  
  /* Devices on the onboard bus.
   *
   * Note that these are unshifted addresses.
   */
  #define PX4_I2C_OBDEV_LED	0x55
  #define PX4_I2C_OBDEV_HMC5883	0x1e
  
  /*
   * 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) | (1 << 15)
  
  // 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_AIRSPEED_VOLTAGE_CHANNEL	15
  
  /* User GPIOs
   *
   * GPIO0-5 are the PWM servo outputs.
   */
  #define GPIO_GPIO0_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
  #define GPIO_GPIO1_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
  #define GPIO_GPIO2_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
  #define GPIO_GPIO3_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
  #define GPIO_GPIO4_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
  #define GPIO_GPIO5_INPUT	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
  #define GPIO_GPIO0_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
  #define GPIO_GPIO1_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
  #define GPIO_GPIO2_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
  #define GPIO_GPIO3_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
  #define GPIO_GPIO4_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
  #define GPIO_GPIO5_OUTPUT	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN14)
  
  /* Power supply control and monitoring GPIOs */
  #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
  #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
  #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
  #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
  #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
  #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
  
  /* 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.
   *
   * Pins:
   *
   * CH1 : PE14 : TIM1_CH4
   * CH2 : PE13 : TIM1_CH3
   * CH3 : PE11 : TIM1_CH2
   * CH4 : PE9  : TIM1_CH1
   * CH5 : PD13 : TIM4_CH2
   * CH6 : PD14 : TIM4_CH3
   */
  #define GPIO_TIM1_CH1OUT	GPIO_TIM1_CH1OUT_2
  #define GPIO_TIM1_CH2OUT	GPIO_TIM1_CH2OUT_2
  #define GPIO_TIM1_CH3OUT	GPIO_TIM1_CH3OUT_2
  #define GPIO_TIM1_CH4OUT	GPIO_TIM1_CH4OUT_2
  #define GPIO_TIM4_CH2OUT	GPIO_TIM4_CH2OUT_2
  #define GPIO_TIM4_CH3OUT	GPIO_TIM4_CH3OUT_2
  
  /* 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		8	/* use timer8 for the HRT */
  #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
  
  /* 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
  
  /****************************************************************************************************
   * 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
  