From dbd02b1e47aacc4982c944dfb79e424eacdc6f14 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Wed, 10 Apr 2019 13:49:58 -0700
Subject: [PATCH] px4io:Detect Running on Cube and set GPIO for heater
Addresses #11832 - configure the mixed use GPIO
that can be the a BLue LED or a Heater as PUSH
PULL on Cube as to not let the heater input float.
---
boards/px4/io-v2/src/board_config.h | 21 +++++++++++++++++++++
boards/px4/io-v2/src/init.c | 24 ++++++++++++++++++++++++
2 files changed, 45 insertions(+)
diff --git a/boards/px4/io-v2/src/board_config.h b/boards/px4/io-v2/src/board_config.h
index 475d450379..0571ae22f3 100644
--- a/boards/px4/io-v2/src/board_config.h
+++ b/boards/px4/io-v2/src/board_config.h
@@ -77,6 +77,27 @@
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
+#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+
+#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
+
+/* PixHawk 1:
+ * PC14 Floating
+ * PC15 Floating
+ *
+ * PixHawk 2:
+ * PC14 3.3v
+ * PC15 GND
+ */
+
+#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
+# define SENSE_PH1 0b10 /* Floating pulled as set */
+# define SENSE_PH2 0b01 /* Driven as tied */
+
+#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
+
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
/* Safety switch button *******************************************************/
diff --git a/boards/px4/io-v2/src/init.c b/boards/px4/io-v2/src/init.c
index f7ba363580..4d064e5b13 100644
--- a/boards/px4/io-v2/src/init.c
+++ b/boards/px4/io-v2/src/init.c
@@ -86,12 +86,36 @@ __EXPORT void stm32_boardinitialize(void)
/* configure GPIOs */
+ /* Set up for sensing HW */
+
+ stm32_configgpio(GPIO_SENSE_PC14_DN);
+ stm32_configgpio(GPIO_SENSE_PC15_UP);
+
/* LEDS - default to off */
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
stm32_configgpio(GPIO_LED3);
stm32_configgpio(GPIO_LED4);
+ /* PixHawk 1:
+ * PC14 Floating
+ * PC15 Floating
+ *
+ * PixHawk 2:
+ * PC14 3.3v
+ * PC15 GND
+ */
+
+ uint8_t sense = stm32_gpioread(GPIO_SENSE_PC15_UP) << 1 | stm32_gpioread(GPIO_SENSE_PC14_DN);
+
+ if (sense == SENSE_PH2) {
+ stm32_configgpio(GPIO_HEATER_OFF);
+ }
+
+ stm32_configgpio(GPIO_PC14);
+ stm32_configgpio(GPIO_PC15);
+
+
stm32_configgpio(GPIO_BTN_SAFETY);
/* spektrum power enable is active high - enable it by default */
--
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