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betaflight/src/platform/PICO/target/RP2350B/target.h
Steve Evans bc6f95928e
Pico GYRO_EXTI pin definition (#14494) 
Define GYRO_1_EXTI_PIN
2025-06-30 18:51:28 +01:00

360 lines
8.1 KiB
C
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/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#ifdef PICO_TRACE
//void _bprintf(const char * format, ...);
//#define bprintf(fmt,...) _bprintf(fmt, ## __VA_ARGS__)
//#define bprintf(fmt,...) do {stdio_printf(fmt, ## __VA_ARGS__); stdio_printf("\n"); } while (0)
#include "pico_trace.h"
#define bprintf tprintf
//int __wrap_printf(const char * fmt, ...);
//#define bprintf __wrap_printf
#else
#define bprintf(fmt,...)
#endif
#ifndef RP2350B
#define RP2350B
#endif
#ifndef TARGET_BOARD_IDENTIFIER
#define TARGET_BOARD_IDENTIFIER "235B"
#endif
#ifndef USBD_PRODUCT_STRING
#define USBD_PRODUCT_STRING "Betaflight RP2350B"
#endif
//#define USE_MULTICORE
#define USE_IO
#define USE_UART0
#define USE_UART1
#define USE_SPI
#define USE_SPI_DEVICE_0
#define USE_SPI_DEVICE_1
#define USE_I2C
#define USE_I2C_DEVICE_0
#define USE_I2C_DEVICE_1
// one of these ...
// #define USE_SPI_DMA_ENABLE_EARLY
#define USE_SPI_DMA_ENABLE_LATE
#undef USE_SOFTSERIAL1
#undef USE_SOFTSERIAL2
#define USE_VCP
#undef USE_TRANSPONDER
#undef USE_FLASH
#undef USE_FLASH_CHIP
#undef USE_SDCARD
#undef USE_TIMER
#undef USE_RCC
//////////////////////////
// Radio RX
// TODO tidy up, introduce more possible options
#undef USE_RX_SPI
#undef USE_RX_PWM
#undef USE_RX_PPM
#undef USE_RX_CC2500
#undef USE_RX_EXPRESSLRS // <-- not this one, it's for SPI
#undef USE_RX_SX1280 // no, it's for SPI
//#undef USE_CRSF <-- this one
// #undef USE_SERIALRX_CRSF // <-- this one
#undef USE_SERIALRX_GHST
#undef USE_SERIALRX_IBUS
#undef USE_SERIALRX_JETIEXBUS
#undef USE_SERIALRX_SBUS
#undef USE_SERIALRX_SPEKTRUM
#undef USE_SERIALRX_SUMD
#undef USE_SERIALRX_SUMH
#undef USE_SERIALRX_XBUS
#undef USE_SERIALRX_FPORT
// TODO persistent objects -> crsfRxUpdateBaudRate -> crsf, telemetry
//#undef USE_TELEMETRY_CRSF
//#undef USE_TELEMETRY
#undef USE_TELEMETRY_GHST
#undef USE_TELEMETRY_FRSKY_HUB
#undef USE_TELEMETRY_HOTT
#undef USE_TELEMETRY_IBUS
#undef USE_TELEMETRY_IBUS_EXTENDED
#undef USE_TELEMETRY_JETIEXBUS
#undef USE_TELEMETRY_LTM
#undef USE_TELEMETRY_MAVLINK
#undef USE_TELEMETRY_SMARTPORT
#undef USE_TELEMETRY_SRXL
//////////////////////
#undef USE_SERIAL_4WAY_BLHELI_INTERFACE
#undef USE_SERIAL_4WAY_BLHELI_BOOTLOADER
#undef USE_SERIAL_4WAY_SK_BOOTLOADER
#undef USE_MULTI_GYRO
#undef USE_RANGEFINDER_HCSR04
#undef USE_MAX7456
#undef USE_MAG
#undef USE_MAG_HMC5883
#undef USE_MAG_SPI_HMC5883
#undef USE_VTX_RTC6705
#undef USE_VTX_RTC6705_SOFTSPI
#undef USE_SRXL
#undef USE_OSD
#undef USE_SPEKTRUM
#undef USE_SPEKTRUM_BIND
// #undef USE_CLI
#undef USE_SERIAL_PASSTHROUGH
// #undef USE_MSP
#undef USE_MSP_UART
#undef USE_MSP_DISPLAYPORT
/* DMA Settings */
//#undef USE_DMA
#define DMA_IRQ_CORE_NUM 1 // Use core 1 for DMA IRQs
#undef USE_DMA_SPEC // not yet required - possibly won't be used at all
#undef USE_DSHOT_TELEMETRY
#undef USE_ESC_SENSOR
#undef USE_PWM_OUTPUT
#undef USE_GPS
#undef USE_GPS_UBLOX
#undef USE_GPS_MTK
#undef USE_GPS_NMEA
#undef USE_GPS_SERIAL
#undef USE_GPS_SONAR
#undef USE_GPS_UBLOX7
#undef USE_GPS_UBLOX8
#undef USE_GPS_RESCUE
#undef USE_VTX
#undef USE_VTX_TRAMP
#undef USE_VTX_SMARTAUDIO
#undef USE_SPEKTRUM_VTX_CONTROL
#undef USE_VTX_COMMON
#undef USE_FLASH
#undef USE_FLASH_CHIP
#undef USE_FLASH_M25P16
#undef USE_FLASH_W25N01G
#undef USE_FLASH_W25N02K
#undef USE_FLASH_W25M
#undef USE_FLASH_W25M512
#undef USE_FLASH_W25M02G
#undef USE_FLASH_W25Q128FV
#undef USE_FLASH_PY25Q128HA
#undef USE_FLASH_W25Q64FV
#undef USE_RPM_LIMIT
#undef USE_SERVOS
#undef USE_LED_STRIP
#undef USE_OSD
#undef USE_OSD_SD
#undef USE_OSD_HD
#undef USE_OSD_QUICK_MENU
#undef USE_POSITION_HOLD
//#define FLASH_PAGE_SIZE 0x1
#define CONFIG_IN_FLASH
// Pico flash writes are all aligned and in batches of FLASH_PAGE_SIZE (256)
#define FLASH_CONFIG_STREAMER_BUFFER_SIZE FLASH_PAGE_SIZE
#define FLASH_CONFIG_BUFFER_TYPE uint8_t
// to be moved to a config file once target if working
// defaults as per Laurel board for now
// Laurel to enable secondary voltage supplies from main battery
#define PICO_BEC_5V_ENABLE_PIN PA14
// Enable 9V if/when we need it (for DVTX?)
// #define PICO_BEC_9V_ENABLE_PIN PA15
//#undef USE_BARO
#define USE_BARO_DPS310
#undef USE_BARO_MS5611
#undef USE_BARO_SPI_MS5611
#undef USE_BARO_BMP280
#undef USE_BARO_SPI_BMP280
#undef USE_BARO_BMP388
#undef USE_BARO_SPI_BMP388
#undef USE_BARO_LPS
#undef USE_BARO_SPI_LPS
#undef USE_BARO_QMP6988
#undef USE_BARO_SPI_QMP6988
#undef USE_BARO_SPI_DPS310
#undef USE_BARO_BMP085
#undef USE_BARO_2SMBP_02B
#undef USE_BARO_SPI_2SMBP_02B
#undef USE_BARO_LPS22DF
#undef USE_BARO_SPI_LPS22DF
#define BARO_I2C_INSTANCE I2CDEV_0
#define I2C0_SDA_PIN PA44
#define I2C0_SCL_PIN PA45
// PA20, PA21 on laurel are set aside for jumper to connect to Radio RX on UART2 (software PIO uart)
// but let's assign them for h/w UART1 for now [UART1 TX at 20 and RX at 21 are available on RP2350]
#define UART1_TX_PIN PA20
#define UART1_RX_PIN PA21
// [target.mk] Switch PICO_DEFAULT_UART to 0 and change PICO_DEFAULT_UART_TX,RX_PINs to 34, 35
// which are available to UART0, and appear on spare UART connector J10
#define LED0_PIN PA6
#define LED1_PIN PA7
#define SPI0_SCK_PIN PA2
#define SPI0_SDI_PIN PA4
#define SPI0_SDO_PIN PA3
#define SPI1_SCK_PIN PA26
#define SPI1_SDI_PIN PA24
#define SPI1_SDO_PIN PA27
#define SDCARD_CS_PIN PA25
#define FLASH_CS_PIN PA25
#define MAX7456_SPI_CS_PIN PA17
#define GYRO_1_CS_PIN PA1
#define GYRO_1_EXTI_PIN PA22
#define GYRO_2_CS_PIN NONE
#if 0 // def TEST_DSHOT_ETC
// testing motor1 and motor2 pins -> GPIO_SPARE1, GPIO_SPARE2
#define MOTOR1_PIN PA32
#define MOTOR2_PIN PA33
#define MOTOR3_PIN PA30
#define MOTOR4_PIN PA31
#else
#define MOTOR1_PIN PA28
#define MOTOR2_PIN PA29
#define MOTOR3_PIN PA30
#define MOTOR4_PIN PA31
#endif
#define MAX7456_SPI_INSTANCE SPI1
#define SDCARD_SPI_INSTANCE SPI1
#define GYRO_1_SPI_INSTANCE SPI0
#define USE_GYRO
#define USE_GYRO_SPI_ICM42688P
#define USE_ACC
#define USE_ACC_SPI_ICM42688P
#if 1 // TODO review
#undef USE_ACCGYRO_LSM6DSV16X
#undef USE_GYRO_SPI_ICM20689
#undef USE_GYRO_SPI_MPU6000
#undef USE_GYRO_SPI_MPU6500
#undef USE_GYRO_SPI_MPU9250
#undef USE_ACCGYRO_LSM6DSO
#undef USE_ACCGYRO_BMI160
#undef USE_ACCGYRO_BMI270
#endif
//#define USE_FLASH
//#define USE_FLASH_W25Q128FV
//#define USE_MAX7456
/*
SPI0_CS PA1
SPI0_SCLK PA2
SPI0_COPI PA3
SPI0_CIPO PA4
BUZZER PA5
LED0 PA6
LED1 PA7
UART1_TX PA8
UART1_RX PA9
I2C1_SDA PA10
I2C1_SCL PA11
UART0_TX PA12
UART0_RX PA13
OSD_CS PA17
UART2_TX PA20
UART2_RX PA21
GYRO_INT PA22
GYRO_CLK PA23
SPI1_CIPO PA24
SPI1_CS PA25
SPI1_SCLK PA26
SPI1_COPI PA27
MOTOR1 PA28
MOTOR2 PA29
MOTOR3 PA30
MOTOR4 PA31
SPARE1 PA32
SPARE2 PA33
UART3_TX PA34
UART3_RX PA35
DVTX_SBUS_RX PA36
TELEM_RX PA37
LED_STRIP PA38
RGB_LED PA39
VBAT_SENSE PA40
CURR_SENSE PA41
ADC_SPARE PA42
I2C0_SDA PA44
I2C0_SCL PA45
SPARE3 PA47
*/
#define SPIDEV_COUNT 2
#define MAX_SPI_PIN_SEL 6
#define I2CDEV_COUNT 2
#define UART_RX_BUFFER_SIZE 1024
#define UART_TX_BUFFER_SIZE 1024
#define UARTHARDWARE_MAX_PINS 12
#define UART_TRAIT_AF_PORT 1
#define I2CDEV_COUNT 2
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