forked from Archive/PX4-Autopilot
Merged
This commit is contained in:
Lorenz Meier
commit
17e01eb9cb
|
|
@ -1,42 +0,0 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the L3GD20 driver.
|
||||
#
|
||||
|
||||
APPNAME = l3gd20
|
||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 2048
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
|
@ -11,6 +11,9 @@ ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
|||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/boards/px4fmu
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += systemcmds/eeprom
|
||||
|
||||
#
|
||||
|
|
@ -44,7 +47,6 @@ BUILTIN_COMMANDS := \
|
|||
$(call _B, hmc5883, , 4096, hmc5883_main ) \
|
||||
$(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \
|
||||
$(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \
|
||||
$(call _B, l3gd20, , 2048, l3gd20_main ) \
|
||||
$(call _B, math_demo, , 8192, math_demo_main ) \
|
||||
$(call _B, mavlink, , 2048, mavlink_main ) \
|
||||
$(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \
|
||||
|
|
|
|||
|
|
@ -12,6 +12,7 @@ ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
|||
#
|
||||
MODULES += drivers/boards/px4fmuv2
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/rgbled
|
||||
MODULES += systemcmds/ramtron
|
||||
|
|
@ -44,7 +45,6 @@ BUILTIN_COMMANDS := \
|
|||
$(call _B, hil, , 2048, hil_main ) \
|
||||
$(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \
|
||||
$(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \
|
||||
$(call _B, l3gd20, , 2048, l3gd20_main ) \
|
||||
$(call _B, math_demo, , 8192, math_demo_main ) \
|
||||
$(call _B, mavlink, , 2048, mavlink_main ) \
|
||||
$(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \
|
||||
|
|
|
|||
|
|
@ -308,6 +308,10 @@
|
|||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_2
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_2
|
||||
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
|
||||
|
||||
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
|
||||
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
|
||||
#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
|
||||
|
|
@ -321,6 +325,8 @@
|
|||
#define PX4_SPIDEV_ACCEL 2
|
||||
#define PX4_SPIDEV_MPU 3
|
||||
|
||||
#define PX4_SPIDEV_ACCEL_MAG 2 // external for anti vibration test
|
||||
|
||||
/*
|
||||
* Tone alarm output
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -109,16 +109,15 @@ endif
|
|||
CONFIGURED_APPS += systemcmds/i2c
|
||||
|
||||
# Communication and Drivers
|
||||
CONFIGURED_APPS += drivers/boards/px4fmu
|
||||
#CONFIGURED_APPS += drivers/boards/px4fmu
|
||||
CONFIGURED_APPS += drivers/device
|
||||
CONFIGURED_APPS += drivers/ms5611
|
||||
CONFIGURED_APPS += drivers/hmc5883
|
||||
CONFIGURED_APPS += drivers/mpu6000
|
||||
CONFIGURED_APPS += drivers/bma180
|
||||
CONFIGURED_APPS += drivers/l3gd20
|
||||
CONFIGURED_APPS += drivers/px4io
|
||||
CONFIGURED_APPS += drivers/stm32
|
||||
CONFIGURED_APPS += drivers/led
|
||||
#CONFIGURED_APPS += drivers/led
|
||||
CONFIGURED_APPS += drivers/blinkm
|
||||
CONFIGURED_APPS += drivers/stm32/tone_alarm
|
||||
CONFIGURED_APPS += drivers/stm32/adc
|
||||
|
|
|
|||
|
|
@ -85,7 +85,7 @@ CONFIG_ARCH_FPU=y
|
|||
CONFIG_ARCH_INTERRUPTSTACK=n
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARCH_BOOTLOADER=n
|
||||
CONFIG_ARCH_LEDS=y
|
||||
CONFIG_ARCH_LEDS=n
|
||||
CONFIG_ARCH_BUTTONS=n
|
||||
CONFIG_ARCH_CALIBRATION=n
|
||||
CONFIG_ARCH_DMA=y
|
||||
|
|
|
|||
|
|
@ -111,8 +111,6 @@ CONFIGURED_APPS += drivers/boards/px4fmuv2
|
|||
CONFIGURED_APPS += drivers/device
|
||||
# XXX needs conversion to SPI
|
||||
#CONFIGURED_APPS += drivers/ms5611
|
||||
CONFIGURED_APPS += drivers/l3gd20
|
||||
CONFIGURED_APPS += drivers/lsm303d
|
||||
# XXX needs conversion to serial
|
||||
#CONFIGURED_APPS += drivers/px4io
|
||||
CONFIGURED_APPS += drivers/stm32
|
||||
|
|
|
|||
|
|
@ -0,0 +1,9 @@
|
|||
#
|
||||
# Board-specific startup code for the PX4FMU
|
||||
#
|
||||
|
||||
SRCS = px4fmu_can.c \
|
||||
px4fmu_init.c \
|
||||
px4fmu_pwm_servo.c \
|
||||
px4fmu_spi.c \
|
||||
px4fmu_usb.c
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 px4fmu_can.c
|
||||
*
|
||||
* Board-specific CAN functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/can.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_arch.h"
|
||||
|
||||
#include "stm32.h"
|
||||
#include "stm32_can.h"
|
||||
#include "px4fmu_internal.h"
|
||||
|
||||
#ifdef CONFIG_CAN
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
|
||||
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
|
||||
# undef CONFIG_STM32_CAN2
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_CAN1
|
||||
# define CAN_PORT 1
|
||||
#else
|
||||
# define CAN_PORT 2
|
||||
#endif
|
||||
|
||||
/* Debug ***************************************************************************/
|
||||
/* Non-standard debug that may be enabled just for testing CAN */
|
||||
|
||||
#ifdef CONFIG_DEBUG_CAN
|
||||
# define candbg dbg
|
||||
# define canvdbg vdbg
|
||||
# define canlldbg lldbg
|
||||
# define canllvdbg llvdbg
|
||||
#else
|
||||
# define candbg(x...)
|
||||
# define canvdbg(x...)
|
||||
# define canlldbg(x...)
|
||||
# define canllvdbg(x...)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: can_devinit
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following interface to work with
|
||||
* examples/can.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int can_devinit(void)
|
||||
{
|
||||
static bool initialized = false;
|
||||
struct can_dev_s *can;
|
||||
int ret;
|
||||
|
||||
/* Check if we have already initialized */
|
||||
|
||||
if (!initialized) {
|
||||
/* Call stm32_caninitialize() to get an instance of the CAN interface */
|
||||
|
||||
can = stm32_caninitialize(CAN_PORT);
|
||||
|
||||
if (can == NULL) {
|
||||
candbg("ERROR: Failed to get CAN interface\n");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Register the CAN driver at "/dev/can0" */
|
||||
|
||||
ret = can_register("/dev/can0", can);
|
||||
|
||||
if (ret < 0) {
|
||||
candbg("ERROR: can_register failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Now we are initialized */
|
||||
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,266 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 px4fmu_init.c
|
||||
*
|
||||
* PX4FMU-specific early startup code. This file implements the
|
||||
* nsh_archinitialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialisation.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/spi.h>
|
||||
#include <nuttx/i2c.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu_internal.h"
|
||||
#include "stm32_uart.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message(...) lowsyslog(__VA_ARGS__)
|
||||
# else
|
||||
# define message(...) printf(__VA_ARGS__)
|
||||
# endif
|
||||
#else
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message lowsyslog
|
||||
# else
|
||||
# define message printf
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure LEDs */
|
||||
up_ledinit();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nsh_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Perform architecture specific initialization
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct spi_dev_s *spi1;
|
||||
static struct spi_dev_s *spi2;
|
||||
static struct spi_dev_s *spi3;
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
__EXPORT int matherr(struct __exception *e)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
#else
|
||||
__EXPORT int matherr(struct exception *e)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
__EXPORT int nsh_archinitialize(void)
|
||||
{
|
||||
int result;
|
||||
|
||||
// /* configure ADC pins */
|
||||
// stm32_configgpio(GPIO_ADC1_IN10);
|
||||
// stm32_configgpio(GPIO_ADC1_IN11);
|
||||
// stm32_configgpio(GPIO_ADC1_IN12);
|
||||
|
||||
// /* configure power supply control pins */
|
||||
// stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
|
||||
// stm32_configgpio(GPIO_VDD_2V8_SENSORS_EN);
|
||||
// stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
|
||||
// stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
/* configure CPU load estimation */
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
cpuload_initialize_once();
|
||||
#endif
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/*
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = 1000000;
|
||||
|
||||
hrt_call_every(&serial_dma_call,
|
||||
ts_to_abstime(&ts),
|
||||
ts_to_abstime(&ts),
|
||||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
// initial LED state
|
||||
// drv_led_start();
|
||||
up_ledoff(LED_BLUE);
|
||||
up_ledoff(LED_AMBER);
|
||||
up_ledon(LED_BLUE);
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
spi1 = up_spiinitialize(1);
|
||||
|
||||
if (!spi1) {
|
||||
message("[boot] FAILED to initialize SPI port 1\r\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
// Default SPI1 to 1MHz and de-assert the known chip selects.
|
||||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
|
||||
// SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
|
||||
// SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
message("[boot] Successfully initialized SPI port 1\r\n");
|
||||
|
||||
|
||||
spi2 = up_spiinitialize(2);
|
||||
|
||||
if (!spi2) {
|
||||
message("[boot] FAILED to initialize SPI port 2\r\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
// Default SPI1 to 1MHz and de-assert the known chip selects.
|
||||
SPI_SETFREQUENCY(spi2, 10000000);
|
||||
SPI_SETBITS(spi2, 8);
|
||||
SPI_SETMODE(spi2, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false);
|
||||
SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false);
|
||||
// SPI_SELECT(spi2, PX4_SPIDEV_ACCEL, false);
|
||||
// SPI_SELECT(spi2, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
message("[boot] Successfully initialized SPI port2\r\n");
|
||||
|
||||
/* Get the SPI port for the microSD slot */
|
||||
|
||||
message("[boot] Initializing SPI port 3\n");
|
||||
spi3 = up_spiinitialize(3);
|
||||
|
||||
if (!spi3) {
|
||||
message("[boot] FAILED to initialize SPI port 3\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
message("[boot] Successfully initialized SPI port 3\n");
|
||||
|
||||
/* Now bind the SPI interface to the MMCSD driver */
|
||||
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
|
||||
|
||||
if (result != OK) {
|
||||
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
|
||||
|
||||
stm32_configgpio(GPIO_ADC1_IN10);
|
||||
stm32_configgpio(GPIO_ADC1_IN11);
|
||||
// stm32_configgpio(GPIO_ADC1_IN12);
|
||||
// stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,162 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 px4fmu_internal.h
|
||||
*
|
||||
* PX4FMU internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/* these headers are not C++ safe */
|
||||
#include <stm32_internal.h>
|
||||
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
//#ifdef CONFIG_STM32_SPI2
|
||||
//# error "SPI2 is not supported on this board"
|
||||
//#endif
|
||||
|
||||
#if defined(CONFIG_STM32_CAN1)
|
||||
# warning "CAN1 is not supported on this board"
|
||||
#endif
|
||||
|
||||
/* PX4FMU GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
|
||||
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
|
||||
|
||||
/* External interrupts */
|
||||
#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
|
||||
// XXX MPU6000 DRDY?
|
||||
|
||||
/* SPI chip selects */
|
||||
|
||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
/* User GPIOs
|
||||
*
|
||||
* GPIO0-1 are the buffered high-power GPIOs.
|
||||
* GPIO2-5 are the USART2 pins.
|
||||
* GPIO6-7 are the CAN2 pins.
|
||||
*/
|
||||
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
|
||||
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
|
||||
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13)
|
||||
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
|
||||
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
|
||||
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
|
||||
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
|
||||
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
|
||||
#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
|
||||
/* 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)
|
||||
|
||||
/* PWM
|
||||
*
|
||||
* The PX4FMU has five PWM outputs, of which only the output on
|
||||
* pin PC8 is fixed assigned to this function. The other four possible
|
||||
* pwm sources are the TX, RX, RTS and CTS pins of USART2
|
||||
*
|
||||
* Alternate function mapping:
|
||||
* PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_PWM
|
||||
# if defined(CONFIG_STM32_TIM3_PWM)
|
||||
# define BUZZER_PWMCHANNEL 3
|
||||
# define BUZZER_PWMTIMER 3
|
||||
# elif defined(CONFIG_STM32_TIM8_PWM)
|
||||
# define BUZZER_PWMCHANNEL 3
|
||||
# define BUZZER_PWMTIMER 8
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/****************************************************************************************************
|
||||
* 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);
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
|
|
@ -0,0 +1,87 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 px4fmu_pwm_servo.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <drivers/stm32/drv_pwm_servo.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include <stm32_internal.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM2_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||
.clock_freq = STM32_APB1_TIM2_CLKIN
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH1OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH2OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH3OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH4OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1000,
|
||||
}
|
||||
};
|
||||
|
|
@ -0,0 +1,154 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 px4fmu_spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu_internal.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void weak_function stm32_spiinitialize(void)
|
||||
{
|
||||
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
||||
stm32_configgpio(GPIO_SPI_CS_ACCEL);
|
||||
stm32_configgpio(GPIO_SPI_CS_MPU);
|
||||
stm32_configgpio(GPIO_SPI_CS_SDCARD);
|
||||
|
||||
/* De-activate all peripherals,
|
||||
* required for some peripheral
|
||||
* state machines
|
||||
*/
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
switch (devid) {
|
||||
case PX4_SPIDEV_GYRO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_ACCEL:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_MPU:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
switch (devid) {
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* there can only be one device on this bus, so always select it */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
/* this is actually bogus, but PX4 has no way to sense the presence of an SD card */
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,108 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 px4fmu_usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu_internal.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
/* XXX We only support device mode
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
ulldbg("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#
|
||||
# LSM303D accel/mag driver
|
||||
#
|
||||
|
||||
MODULE_COMMAND = l3gd20
|
||||
SRCS = l3gd20.cpp
|
||||
|
|
@ -321,7 +321,15 @@ private:
|
|||
* Zero selects the highest bandwidth
|
||||
* @return OK if the value can be supported, -ERANGE otherwise.
|
||||
*/
|
||||
int set_antialias_filter_bandwidth(unsigned max_g);
|
||||
int set_antialias_filter_bandwidth(unsigned bandwith);
|
||||
|
||||
/**
|
||||
* Get the LSM303D accel anti-alias filter.
|
||||
*
|
||||
* @param bandwidth The anti-alias filter bandwidth in Hz
|
||||
* @return OK if the value was read and supported, ERROR otherwise.
|
||||
*/
|
||||
int get_antialias_filter_bandwidth(unsigned &bandwidth);
|
||||
|
||||
/**
|
||||
* Set the LSM303D internal accel sampling frequency.
|
||||
|
|
@ -477,10 +485,10 @@ LSM303D::init()
|
|||
/* XXX should we enable FIFO? */
|
||||
|
||||
set_range(8); /* XXX 16G mode seems wrong (shows 6 instead of 9.8m/s^2, therefore use 8G for now */
|
||||
set_antialias_filter_bandwidth(194); /* XXX: choose bandwidth: 50, 194, 362 or 773 Hz */
|
||||
set_antialias_filter_bandwidth(50); /* available bandwidths: 50, 194, 362 or 773 Hz */
|
||||
set_samplerate(400); /* max sample rate */
|
||||
|
||||
mag_set_range(12); /* XXX: take highest sensor range of 12GA? */
|
||||
mag_set_range(4); /* XXX: take highest sensor range of 12GA? */
|
||||
mag_set_samplerate(100);
|
||||
|
||||
/* XXX test this when another mag is used */
|
||||
|
|
@ -687,6 +695,17 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
/* XXX implement */
|
||||
return -EINVAL;
|
||||
|
||||
// case ACCELIOCSLOWPASS:
|
||||
case ACCELIOCGLOWPASS:
|
||||
|
||||
unsigned bandwidth;
|
||||
|
||||
if (OK == get_antialias_filter_bandwidth(bandwidth))
|
||||
return bandwidth;
|
||||
else
|
||||
return -EINVAL;
|
||||
|
||||
|
||||
default:
|
||||
/* give it to the superclass */
|
||||
return SPI::ioctl(filp, cmd, arg);
|
||||
|
|
@ -942,6 +961,25 @@ LSM303D::set_antialias_filter_bandwidth(unsigned bandwidth)
|
|||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
LSM303D::get_antialias_filter_bandwidth(unsigned &bandwidth)
|
||||
{
|
||||
uint8_t readbits = read_reg(ADDR_CTRL_REG2);
|
||||
|
||||
if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_50HZ_A)
|
||||
bandwidth = 50;
|
||||
else if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_194HZ_A)
|
||||
bandwidth = 194;
|
||||
else if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_362HZ_A)
|
||||
bandwidth = 362;
|
||||
else if ((readbits & REG2_ANTIALIAS_FILTER_BW_BITS_A) == REG2_AA_FILTER_BW_773HZ_A)
|
||||
bandwidth = 773;
|
||||
else
|
||||
return ERROR;
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
LSM303D::set_samplerate(unsigned frequency)
|
||||
{
|
||||
|
|
@ -1305,6 +1343,7 @@ test()
|
|||
int fd_accel = -1;
|
||||
struct accel_report a_report;
|
||||
ssize_t sz;
|
||||
int filter_bandwidth;
|
||||
|
||||
/* get the driver */
|
||||
fd_accel = open(ACCEL_DEVICE_PATH, O_RDONLY);
|
||||
|
|
@ -1318,14 +1357,19 @@ test()
|
|||
if (sz != sizeof(a_report))
|
||||
err(1, "immediate read failed");
|
||||
|
||||
|
||||
warnx("accel x: \t% 9.5f\tm/s^2", (double)a_report.x);
|
||||
warnx("accel y: \t% 9.5f\tm/s^2", (double)a_report.y);
|
||||
warnx("accel z: \t% 9.5f\tm/s^2", (double)a_report.z);
|
||||
warnx("accel x: \t%d\traw", (int)a_report.x_raw);
|
||||
warnx("accel y: \t%d\traw", (int)a_report.y_raw);
|
||||
warnx("accel z: \t%d\traw", (int)a_report.z_raw);
|
||||
warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2);
|
||||
|
||||
warnx("accel range: %8.4f m/s^2", (double)a_report.range_m_s2);
|
||||
if (ERROR == (filter_bandwidth = ioctl(fd_accel, ACCELIOCGLOWPASS, 0)))
|
||||
warnx("accel antialias filter bandwidth: fail");
|
||||
else
|
||||
warnx("accel antialias filter bandwidth: %d Hz", filter_bandwidth);
|
||||
|
||||
int fd_mag = -1;
|
||||
struct mag_report m_report;
|
||||
|
|
|
|||
Loading…
Reference in New Issue