/************************************************************************************ * configs/px4fmu/include/board.h * include/arch/board/board.h * * Copyright (C) 2009 Gregory Nutt. All rights reserved. * Author: Gregory Nutt * * 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 NuttX 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. * ************************************************************************************/ #ifndef __ARCH_BOARD_BOARD_H #define __ARCH_BOARD_BOARD_H /************************************************************************************ * Included Files ************************************************************************************/ #include #ifndef __ASSEMBLY__ # include #endif //#include "stm32_rcc.h" //#include "stm32_sdio.h" //#include "stm32_internal.h" /************************************************************************************ * Definitions ************************************************************************************/ /* Clocking *************************************************************************/ /* The PX4FMU uses a 24MHz crystal connected to the HSE. * * This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c: * System Clock source : PLL (HSE) * SYSCLK(Hz) : 168000000 Determined by PLL configuration * HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE) * AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE) * APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1) * APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2) * HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL) * PLLM : 24 (STM32_PLLCFG_PLLM) * PLLN : 336 (STM32_PLLCFG_PLLN) * PLLP : 2 (STM32_PLLCFG_PLLP) * PLLQ : 7 (STM32_PLLCFG_PPQ) * Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK * Flash Latency(WS) : 5 * Prefetch Buffer : OFF * Instruction cache : ON * Data cache : ON * Require 48MHz for USB OTG FS, : Enabled * SDIO and RNG clock */ /* HSI - 16 MHz RC factory-trimmed * LSI - 32 KHz RC * HSE - On-board crystal frequency is 24MHz * LSE - not installed */ #define STM32_BOARD_XTAL 24000000ul #define STM32_HSI_FREQUENCY 16000000ul #define STM32_LSI_FREQUENCY 32000 #define STM32_HSE_FREQUENCY STM32_BOARD_XTAL //#define STM32_LSE_FREQUENCY 32768 /* Main PLL Configuration. * * PLL source is HSE * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN * = (25,000,000 / 25) * 336 * = 336,000,000 * SYSCLK = PLL_VCO / PLLP * = 336,000,000 / 2 = 168,000,000 * USB OTG FS, SDIO and RNG Clock * = PLL_VCO / PLLQ * = 48,000,000 */ #define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24) #define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336) #define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 #define STM32_PLLCFG_PPQ RCC_PLLCFG_PLLQ(7) #define STM32_SYSCLK_FREQUENCY 168000000ul /* AHB clock (HCLK) is SYSCLK (168MHz) */ #define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */ #define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY #define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */ /* APB1 clock (PCLK1) is HCLK/4 (42MHz) */ #define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */ #define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4) /* Timers driven from APB1 will be twice PCLK1 */ #define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY) /* APB2 clock (PCLK2) is HCLK/2 (84MHz) */ #define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */ #define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2) /* Timers driven from APB2 will be twice PCLK2 */ #define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY) #define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK1_FREQUENCY) #define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK1_FREQUENCY) /* Timer Frequencies, if APBx is set to 1, frequency is same to APBx * otherwise frequency is 2xAPBx. * Note: TIM1,8 are on APB2, others on APB1 */ #define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY) #define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY) /* SDIO dividers. Note that slower clocking is required when DMA is disabled * in order to avoid RX overrun/TX underrun errors due to delayed responses * to service FIFOs in interrupt driven mode. These values have not been * tuned!!! * * HCLK=72MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(178+2)=400 KHz */ #define SDIO_INIT_CLKDIV (178 << SDIO_CLKCR_CLKDIV_SHIFT) /* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(2+2)=18 MHz * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz */ #ifdef CONFIG_SDIO_DMA # define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT) #else # define SDIO_MMCXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT) #endif /* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(1+2)=24 MHz * DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz */ #ifdef CONFIG_SDIO_DMA # define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT) #else # define SDIO_SDXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT) #endif /* High-resolution timer */ #ifdef CONFIG_HRT_TIMER # define HRT_TIMER 1 /* use timer1 for the HRT */ # define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ #endif /* 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? */ /* Alternate function pin selections ************************************************/ /* * UARTs. * * Note that UART5 has no optional pinout. */ #define GPIO_USART1_RX GPIO_USART1_RX_2 #define GPIO_USART1_TX GPIO_USART1_TX_2 #define GPIO_USART2_RX GPIO_USART2_RX_1 #define GPIO_USART2_TX GPIO_USART2_TX_1 #define GPIO_USART2_RTS GPIO_USART2_RTS_1 #define GPIO_USART2_CTS GPIO_USART2_CTS_1 #define GPIO_USART6_RX GPIO_USART6_RX_1 #define GPIO_USART6_TX GPIO_USART6_TX_1 /* UART DMA configuration for USART1/6 */ #define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 /* * 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 /* * PPM * * PPM input is handled by the HRT timer. */ #if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM) # define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */ # define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) #endif /* * CAN * * CAN2 is routed to the expansion connector. */ #define GPIO_CAN2_RX GPIO_CAN2_RX_2 #define GPIO_CAN2_TX GPIO_CAN2_TX_2 /* * I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 #define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 #define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 #define GPIO_I2C3_SDA GPIO_I2C3_SDA_1 /* * I2C busses */ #define PX4_I2C_BUS_ESC 1 #define PX4_I2C_BUS_ONBOARD 2 #define PX4_I2C_BUS_EXPANSION 3 /* * Devices on the onboard bus. * * Note that these are unshifted addresses. */ #define PX4_I2C_OBDEV_HMC5883 0x1e #define PX4_I2C_OBDEV_MS5611 NOTDEFINED #define PX4_I2C_OBDEV_EEPROM 0x50 #define PX4_I2C_OBDEV_PX4IO_BL 0x18 #define PX4_I2C_OBDEV_PX4IO 0x19 /* * SPI */ #define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 #define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 #define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 #define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 #define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1 #define GPIO_SPI3_SCK GPIO_SPI3_SCK_2 #define GPIO_SPI3_NSS GPIO_SPI3_NSS_2 /* * 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 /* * Tone alarm output */ #ifdef CONFIG_TONE_ALARM # define TONE_ALARM_TIMER 3 /* timer 3 */ # define TONE_ALARM_CHANNEL 3 /* channel 3 */ # define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8) #endif /************************************************************************************ * Public Data ************************************************************************************/ #ifndef __ASSEMBLY__ #undef EXTERN #if defined(__cplusplus) #define EXTERN extern "C" extern "C" { #else #define EXTERN extern #endif /************************************************************************************ * Public Function Prototypes ************************************************************************************/ /************************************************************************************ * Name: stm32_boardinitialize * * Description: * All STM32 architectures must provide the following entry point. This entry point * is called early in the intitialization -- after all memory has been configured * and mapped but before any devices have been initialized. * ************************************************************************************/ EXTERN void stm32_boardinitialize(void); /************************************************************************************ * Button support. * * Description: * up_buttoninit() must be called to initialize button resources. After * that, up_buttons() may be called to collect the current state of all * buttons or up_irqbutton() may be called to register button interrupt * handlers. * * After up_buttoninit() has been called, up_buttons() may be called to * collect the state of all buttons. up_buttons() returns an 8-bit bit set * with each bit associated with a button. See the BUTTON_*_BIT * definitions in board.h for the meaning of each bit. * * up_irqbutton() may be called to register an interrupt handler that will * be called when a button is depressed or released. The ID value is a * button enumeration value that uniquely identifies a button resource. See the * BUTTON_* definitions in board.h for the meaning of enumeration * value. The previous interrupt handler address is returned (so that it may * restored, if so desired). * ************************************************************************************/ #ifdef CONFIG_ARCH_BUTTONS EXTERN void up_buttoninit(void); EXTERN uint8_t up_buttons(void); #ifdef CONFIG_ARCH_IRQBUTTONS EXTERN xcpt_t up_irqbutton(int id, xcpt_t irqhandler); #endif #endif #undef EXTERN #if defined(__cplusplus) } #endif #endif /* __ASSEMBLY__ */ #endif /* __ARCH_BOARD_BOARD_H */