forked from Archive/PX4-Autopilot
Lorenz Meier
commit
01d354effc
30
Makefile
30
Makefile
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@ -148,14 +148,40 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(board)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)/nuttx-configs/$(board) .)
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
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@$(ECHO) %% Exporting NuttX for $(board)
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$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
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$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
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$(Q) mkdir -p $(dir $@)
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$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
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$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
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#
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# The user can run the NuttX 'menuconfig' tool for a single board configuration with
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# make BOARDS=<boardname> menuconfig
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#
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ifeq ($(MAKECMDGOALS),menuconfig)
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ifneq ($(words $(BOARDS)),1)
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$(error BOARDS must specify exactly one board for the menuconfig goal)
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endif
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BOARD = $(BOARDS)
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menuconfig: $(NUTTX_SRC)
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@$(ECHO) %% Configuring NuttX for $(BOARD)
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$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
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$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
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$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
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$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
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@$(ECHO) %% Running menuconfig for $(BOARD)
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$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
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@$(ECHO) %% Saving configuration file
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$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
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else
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menuconfig:
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@$(ECHO) ""
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@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
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@$(ECHO) ""
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endif
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$(NUTTX_SRC):
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@$(ECHO) ""
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@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
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@ -6,5 +6,6 @@
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# Configure the toolchain
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#
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CONFIG_ARCH = CORTEXM4F
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CONFIG_BOARD = PX4FMU_V1
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include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
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@ -6,5 +6,6 @@
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# Configure the toolchain
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#
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CONFIG_ARCH = CORTEXM3
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CONFIG_BOARD = PX4IO_V1
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include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
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@ -153,6 +153,7 @@ ifeq ($(BOARD_FILE),)
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$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
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endif
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export BOARD
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export BOARD_FILE
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include $(BOARD_FILE)
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$(info % BOARD = $(BOARD))
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@ -98,6 +98,7 @@
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#
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# CONFIG
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# BOARD
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# BOARD_FILE
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# MODULE_WORK_DIR
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# MODULE_OBJ
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# MODULE_MK
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@ -117,7 +118,7 @@ $(info %% MODULE_MK = $(MODULE_MK))
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#
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# Get the board/toolchain config
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#
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include $(PX4_MK_DIR)/board_$(BOARD).mk
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include $(BOARD_FILE)
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#
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# Get the module's config
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@ -85,6 +85,13 @@ ifeq ($(ARCHCPUFLAGS),)
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$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
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endif
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# Set the board flags
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#
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ifeq ($(CONFIG_BOARD),)
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$(error Board config does not define CONFIG_BOARD)
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endif
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ARCHDEFINES += -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
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# optimisation flags
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#
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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@ -158,10 +158,8 @@
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/* High-resolution timer
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*/
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#ifdef CONFIG_HRT_TIMER
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# define HRT_TIMER 1 /* use timer1 for the HRT */
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# define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
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#endif
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#define HRT_TIMER 1 /* use timer1 for the HRT */
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#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
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/* LED definitions ******************************************************************/
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/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
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@ -241,10 +239,8 @@
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*
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* PPM input is handled by the HRT timer.
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*/
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#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
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# define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
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# define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
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#endif
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#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
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#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
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/*
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* CAN
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@ -73,17 +73,16 @@ CONFIG_ARCH="arm"
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# CONFIG_ARCH_CHIP_LPC31XX is not set
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# CONFIG_ARCH_CHIP_LPC43XX is not set
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# CONFIG_ARCH_CHIP_NUC1XX is not set
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# CONFIG_ARCH_CHIP_SAM3U is not set
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# CONFIG_ARCH_CHIP_SAM34 is not set
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CONFIG_ARCH_CHIP_STM32=y
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# CONFIG_ARCH_CHIP_STR71X is not set
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CONFIG_ARCH_CORTEXM4=y
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CONFIG_ARCH_HAVE_FPU=y
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CONFIG_ARCH_FAMILY="armv7-m"
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CONFIG_ARCH_CHIP="stm32"
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CONFIG_ARMV7M_USEBASEPRI=y
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CONFIG_ARCH_HAVE_CMNVECTOR=y
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CONFIG_ARMV7M_CMNVECTOR=y
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CONFIG_ARMV7M_STACKCHECK=y
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CONFIG_ARCH_HAVE_FPU=y
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CONFIG_ARCH_FPU=y
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CONFIG_ARCH_HAVE_MPU=y
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# CONFIG_ARMV7M_MPU is not set
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@ -93,10 +92,8 @@ CONFIG_ARCH_HAVE_MPU=y
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#
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# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
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CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
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CONFIG_ARMV7M_STACKCHECK=y
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CONFIG_SERIAL_TERMIOS=y
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CONFIG_SERIAL_DISABLE_REORDERING=y
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CONFIG_SERIAL_IFLOWCONTROL=y
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CONFIG_SERIAL_OFLOWCONTROL=y
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#
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# STM32 Configuration Options
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@ -248,6 +245,7 @@ CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
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# CONFIG_STM32_FORCEPOWER is not set
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# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
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# CONFIG_STM32_CCMEXCLUDE is not set
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CONFIG_STM32_DMACAPABLE=y
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# CONFIG_STM32_TIM4_PWM is not set
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# CONFIG_STM32_TIM5_PWM is not set
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# CONFIG_STM32_TIM9_PWM is not set
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@ -275,6 +273,7 @@ CONFIG_UART5_RXDMA=y
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CONFIG_USART6_RXDMA=y
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# CONFIG_USART7_RXDMA is not set
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# CONFIG_USART8_RXDMA is not set
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CONFIG_SERIAL_DISABLE_REORDERING=y
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CONFIG_STM32_USART_SINGLEWIRE=y
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#
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@ -342,15 +341,12 @@ CONFIG_BOOT_RUNFROMFLASH=y
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#
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# Board Selection
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#
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CONFIG_ARCH_BOARD_PX4FMU_V1=y
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# CONFIG_ARCH_BOARD_CUSTOM is not set
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CONFIG_ARCH_BOARD="px4fmu-v1"
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CONFIG_ARCH_BOARD_CUSTOM=y
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CONFIG_ARCH_BOARD=""
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#
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# Common Board Options
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#
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CONFIG_ARCH_HAVE_LEDS=y
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# CONFIG_ARCH_LEDS is not set
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CONFIG_NSH_MMCSDMINOR=0
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CONFIG_NSH_MMCSDSLOTNO=0
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CONFIG_NSH_MMCSDSPIPORTNO=3
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@ -358,8 +354,6 @@ CONFIG_NSH_MMCSDSPIPORTNO=3
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#
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# Board-Specific Options
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#
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CONFIG_HRT_TIMER=y
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CONFIG_HRT_PPM=y
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#
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# RTOS Features
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@ -497,6 +491,8 @@ CONFIG_USART1_BAUD=57600
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CONFIG_USART1_BITS=8
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CONFIG_USART1_PARITY=0
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CONFIG_USART1_2STOP=0
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# CONFIG_USART1_IFLOWCONTROL is not set
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# CONFIG_USART1_OFLOWCONTROL is not set
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#
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# USART2 Configuration
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@ -507,6 +503,8 @@ CONFIG_USART2_BAUD=57600
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CONFIG_USART2_BITS=8
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CONFIG_USART2_PARITY=0
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CONFIG_USART2_2STOP=0
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CONFIG_USART2_IFLOWCONTROL=y
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CONFIG_USART2_OFLOWCONTROL=y
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#
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# UART5 Configuration
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@ -517,6 +515,8 @@ CONFIG_UART5_BAUD=57600
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CONFIG_UART5_BITS=8
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CONFIG_UART5_PARITY=0
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CONFIG_UART5_2STOP=0
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# CONFIG_UART5_IFLOWCONTROL is not set
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# CONFIG_UART5_OFLOWCONTROL is not set
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#
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# USART6 Configuration
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@ -527,6 +527,10 @@ CONFIG_USART6_BAUD=57600
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CONFIG_USART6_BITS=8
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CONFIG_USART6_PARITY=0
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CONFIG_USART6_2STOP=0
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# CONFIG_USART6_IFLOWCONTROL is not set
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# CONFIG_USART6_OFLOWCONTROL is not set
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CONFIG_SERIAL_IFLOWCONTROL=y
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CONFIG_SERIAL_OFLOWCONTROL=y
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CONFIG_USBDEV=y
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#
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@ -560,6 +564,7 @@ CONFIG_CDCACM_EPBULKIN_FSSIZE=64
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CONFIG_CDCACM_EPBULKIN_HSSIZE=512
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CONFIG_CDCACM_NWRREQS=4
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CONFIG_CDCACM_NRDREQS=4
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CONFIG_CDCACM_BULKIN_REQLEN=96
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CONFIG_CDCACM_RXBUFSIZE=256
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CONFIG_CDCACM_TXBUFSIZE=256
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CONFIG_CDCACM_VENDORID=0x26ac
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@ -748,6 +753,7 @@ CONFIG_EXAMPLES_CDCACM=y
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# CONFIG_EXAMPLES_MM is not set
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# CONFIG_EXAMPLES_MODBUS is not set
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CONFIG_EXAMPLES_MOUNT=y
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# CONFIG_EXAMPLES_NRF24L01TERM is not set
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CONFIG_EXAMPLES_NSH=y
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# CONFIG_EXAMPLES_NULL is not set
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# CONFIG_EXAMPLES_NX is not set
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@ -118,10 +118,8 @@
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/*
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* High-resolution timer
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*/
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#ifdef CONFIG_HRT_TIMER
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# define HRT_TIMER 1 /* use timer1 for the HRT */
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# define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
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#endif
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#define HRT_TIMER 1 /* use timer1 for the HRT */
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#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
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/*
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* PPM
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@ -130,10 +128,8 @@
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*
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* Pin is PA8, timer 1, channel 1
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*/
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#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
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# define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
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# define GPIO_PPM_IN GPIO_TIM1_CH1IN
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#endif
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#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
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#define GPIO_PPM_IN GPIO_TIM1_CH1IN
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/************************************************************************************
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* Public Data
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@ -200,28 +200,6 @@ SERIAL_HAVE_CONSOLE_DMA=y
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CONFIG_USART2_RXDMA=n
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CONFIG_USART3_RXDMA=y
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#
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# PX4IO specific driver settings
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#
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# CONFIG_HRT_TIMER
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# Enables the high-resolution timer. The board definition must
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# set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
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# compare channels to be used.
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# CONFIG_HRT_PPM
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# Enables R/C PPM input using the HRT. The board definition must
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# set HRT_PPM_CHANNEL to the timer capture/compare channel to be
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# used, and define GPIO_PPM_IN to configure the appropriate timer
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# GPIO.
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# CONFIG_PWM_SERVO
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# Enables the PWM servo driver. The driver configuration must be
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# supplied by the board support at initialisation time.
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# Note that USART2 must be disabled on the PX4 board for this to
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# be available.
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#
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#
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CONFIG_HRT_TIMER=y
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CONFIG_HRT_PPM=y
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#
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# General build options
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#
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@ -70,7 +70,7 @@
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#include "stm32_gpio.h"
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#include "stm32_tim.h"
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#ifdef CONFIG_HRT_TIMER
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#ifdef HRT_TIMER
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/* HRT configuration */
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#if HRT_TIMER == 1
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@ -155,7 +155,7 @@
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# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
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# endif
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#else
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# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y
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# error HRT_TIMER must be a value between 1 and 11
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#endif
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/*
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@ -275,7 +275,7 @@ static void hrt_call_invoke(void);
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/*
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* Specific registers and bits used by PPM sub-functions
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*/
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#ifdef CONFIG_HRT_PPM
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#ifdef HRT_PPM_CHANNEL
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/*
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* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
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*
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@ -326,7 +326,7 @@ static void hrt_call_invoke(void);
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# define CCER_PPM (GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
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# define CCER_PPM_FLIP GTIM_CCER_CC4P
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# else
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# error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set
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# error HRT_PPM_CHANNEL must be a value between 1 and 4
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# endif
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/*
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@ -377,7 +377,7 @@ static void hrt_ppm_decode(uint32_t status);
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# define CCMR1_PPM 0
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# define CCMR2_PPM 0
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# define CCER_PPM 0
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#endif /* CONFIG_HRT_PPM */
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#endif /* HRT_PPM_CHANNEL */
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/*
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* Initialise the timer we are going to use.
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@ -424,7 +424,7 @@ hrt_tim_init(void)
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up_enable_irq(HRT_TIMER_VECTOR);
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}
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#ifdef CONFIG_HRT_PPM
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#ifdef HRT_PPM_CHANNEL
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/*
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* Handle the PPM decoder state machine.
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*/
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@ -526,7 +526,7 @@ error:
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ppm_decoded_channels = 0;
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}
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#endif /* CONFIG_HRT_PPM */
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#endif /* HRT_PPM_CHANNEL */
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/*
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* Handle the compare interupt by calling the callout dispatcher
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@ -546,7 +546,7 @@ hrt_tim_isr(int irq, void *context)
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/* ack the interrupts we just read */
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rSR = ~status;
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#ifdef CONFIG_HRT_PPM
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#ifdef HRT_PPM_CHANNEL
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/* was this a PPM edge? */
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if (status & (SR_INT_PPM | SR_OVF_PPM)) {
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@ -686,7 +686,7 @@ hrt_init(void)
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sq_init(&callout_queue);
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hrt_tim_init();
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#ifdef CONFIG_HRT_PPM
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#ifdef HRT_PPM_CHANNEL
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/* configure the PPM input pin */
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stm32_configgpio(GPIO_PPM_IN);
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#endif
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@ -907,4 +907,4 @@ hrt_latency_update(void)
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}
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#endif /* CONFIG_HRT_TIMER */
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#endif /* HRT_TIMER */
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@ -117,10 +117,6 @@
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#include <systemlib/err.h>
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#ifndef CONFIG_HRT_TIMER
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# error This driver requires CONFIG_HRT_TIMER
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#endif
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/* Tone alarm configuration */
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#if TONE_ALARM_TIMER == 2
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# define TONE_ALARM_BASE STM32_TIM2_BASE
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|
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@ -94,7 +94,7 @@ extern uint16_t ppm_pulse_history[];
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int test_ppm(int argc, char *argv[])
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{
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#ifdef CONFIG_HRT_PPM
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#ifdef HRT_PPM_CHANNEL
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unsigned i;
|
||||
|
||||
printf("channels: %u\n", ppm_decoded_channels);
|
||||
|
|
|
|||
Loading…
Reference in New Issue