From 40ba3f5131c8fe0ed062ad698f139c9bacc3c51e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 5 Aug 2016 00:10:41 +0200 Subject: [PATCH] Initial config for ASC module --- Images/asc-v1.prototype | 12 + Makefile | 6 +- cmake/configs/nuttx_asc-v1_default.cmake | 129 +++ nuttx-configs/asc-v1/include/board.h | 432 ++++++++ nuttx-configs/asc-v1/include/nsh_romfsimg.h | 42 + nuttx-configs/asc-v1/nsh/Make.defs | 160 +++ nuttx-configs/asc-v1/nsh/defconfig | 982 +++++++++++++++++++ nuttx-configs/asc-v1/nsh/setenv.sh | 75 ++ nuttx-configs/asc-v1/scripts/ld.script | 150 +++ nuttx-configs/asc-v1/src/Makefile | 84 ++ nuttx-configs/asc-v1/src/empty.c | 4 + src/drivers/boards/asc-v1/CMakeLists.txt | 49 + src/drivers/boards/asc-v1/asc_init.c | 230 +++++ src/drivers/boards/asc-v1/asc_led.c | 107 ++ src/drivers/boards/asc-v1/asc_pwr.c | 167 ++++ src/drivers/boards/asc-v1/asc_spi.c | 88 ++ src/drivers/boards/asc-v1/asc_timer_config.c | 133 +++ src/drivers/boards/asc-v1/asc_usb.c | 105 ++ src/drivers/boards/asc-v1/board_config.h | 347 +++++++ src/drivers/drv_gpio.h | 6 +- 20 files changed, 3306 insertions(+), 2 deletions(-) create mode 100644 Images/asc-v1.prototype create mode 100644 cmake/configs/nuttx_asc-v1_default.cmake create mode 100644 nuttx-configs/asc-v1/include/board.h create mode 100644 nuttx-configs/asc-v1/include/nsh_romfsimg.h create mode 100644 nuttx-configs/asc-v1/nsh/Make.defs create mode 100644 nuttx-configs/asc-v1/nsh/defconfig create mode 100755 nuttx-configs/asc-v1/nsh/setenv.sh create mode 100644 nuttx-configs/asc-v1/scripts/ld.script create mode 100644 nuttx-configs/asc-v1/src/Makefile create mode 100644 nuttx-configs/asc-v1/src/empty.c create mode 100644 src/drivers/boards/asc-v1/CMakeLists.txt create mode 100644 src/drivers/boards/asc-v1/asc_init.c create mode 100644 src/drivers/boards/asc-v1/asc_led.c create mode 100644 src/drivers/boards/asc-v1/asc_pwr.c create mode 100644 src/drivers/boards/asc-v1/asc_spi.c create mode 100644 src/drivers/boards/asc-v1/asc_timer_config.c create mode 100644 src/drivers/boards/asc-v1/asc_usb.c create mode 100644 src/drivers/boards/asc-v1/board_config.h diff --git a/Images/asc-v1.prototype b/Images/asc-v1.prototype new file mode 100644 index 0000000000..8c188b9230 --- /dev/null +++ b/Images/asc-v1.prototype @@ -0,0 +1,12 @@ +{ + "board_id": 78, + "magic": "PX4FWv1", + "description": "Firmware for the ASCv1 board", + "image": "", + "build_time": 0, + "summary": "ASCv1", + "version": "0.1", + "image_size": 0, + "git_identity": "", + "board_revision": 0 +} diff --git a/Makefile b/Makefile index f80a24399c..bbc62cb10d 100644 --- a/Makefile +++ b/Makefile @@ -42,7 +42,7 @@ endif CMAKE_VER := $(shell Tools/check_cmake.sh; echo $$?) ifneq ($(CMAKE_VER),0) $(warning Not a valid CMake version or CMake not installed.) - $(warning On Ubuntu, install or upgrade via:) + $(warning On Ubuntu 16.04, install or upgrade via:) $(warning ) $(warning 3rd party PPA:) $(warning sudo add-apt-repository ppa:george-edison55/cmake-3.x -y) @@ -147,6 +147,9 @@ endef tap-v1_default: $(call cmake-build,nuttx_tap-v1_default) +asc-v1_default: + $(call cmake-build,nuttx_asc-v1_default) + px4fmu-v1_default: $(call cmake-build,nuttx_px4fmu-v1_default) @@ -254,6 +257,7 @@ checks_defaults: \ check_mindpx-v2_default \ check_px4-stm32f4discovery_default \ check_tap-v1_default \ + check_asc-v1_default checks_bootloaders: \ diff --git a/cmake/configs/nuttx_asc-v1_default.cmake b/cmake/configs/nuttx_asc-v1_default.cmake new file mode 100644 index 0000000000..11e50c3f75 --- /dev/null +++ b/cmake/configs/nuttx_asc-v1_default.cmake @@ -0,0 +1,129 @@ +include(nuttx/px4_impl_nuttx) + +set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake) + +set(config_module_list + # + # Board support modules + # + drivers/device + drivers/stm32 + drivers/stm32/adc + drivers/stm32/tone_alarm + drivers/led + #drivers/px4fmu + drivers/boards/asc-v1 + drivers/rgbled_pwm + drivers/tap_esc + #drivers/mpu6500 + drivers/ms5611 + drivers/hmc5883 + drivers/gps + drivers/airspeed + drivers/meas_airspeed + modules/sensors + drivers/camera_trigger + + # + # System commands + # + systemcmds/bl_update + systemcmds/mixer + systemcmds/param + systemcmds/perf + systemcmds/pwm + systemcmds/motor_test + systemcmds/reboot + systemcmds/top + systemcmds/config + systemcmds/nshterm + systemcmds/mtd + systemcmds/dumpfile + systemcmds/ver + systemcmds/topic_listener + + # + # General system control + # + modules/commander + modules/load_mon + modules/navigator + modules/mavlink + modules/land_detector + + # + # Estimation modules (EKF/ SO3 / other filters) + # + modules/ekf2 + + # + # Vehicle Control + # + modules/fw_pos_control_l1 + modules/fw_att_control + modules/mc_att_control + modules/mc_pos_control + modules/vtol_att_control + + # + # Logging + # + modules/logger + + # + # Library modules + # + modules/param + modules/systemlib + modules/systemlib/mixer + modules/uORB + modules/dataman + + # + # Libraries + # + lib/controllib + lib/mathlib + lib/mathlib/math/filter + lib/ecl + lib/external_lgpl + lib/geo + lib/geo_lookup + lib/conversion + lib/launchdetection + lib/terrain_estimation + lib/runway_takeoff + lib/tailsitter_recovery + lib/DriverFramework/framework + platforms/nuttx + + # had to add for cmake, not sure why wasn't in original config + platforms/common + platforms/nuttx/px4_layer +) + +set(config_extra_builtin_cmds + serdis + sercon + ) + +set(config_io_board + ) + +set(config_extra_libs + ) + +set(config_io_extra_libs + ) + +add_custom_target(sercon) +set_target_properties(sercon PROPERTIES + PRIORITY "SCHED_PRIORITY_DEFAULT" + MAIN "sercon" + STACK_MAIN "2048") + +add_custom_target(serdis) +set_target_properties(serdis PROPERTIES + PRIORITY "SCHED_PRIORITY_DEFAULT" + MAIN "serdis" + STACK_MAIN "2048") diff --git a/nuttx-configs/asc-v1/include/board.h b/nuttx-configs/asc-v1/include/board.h new file mode 100644 index 0000000000..5c7467f9d0 --- /dev/null +++ b/nuttx-configs/asc-v1/include/board.h @@ -0,0 +1,432 @@ +/************************************************************************************ + * configs/tap-v1/include/board.h + * include/arch/board/board.h + * + * Copyright (C) 2012-2016 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * David Sidrane + * + * 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 __CONFIG_TAP_V1_INCLUDE_BOARD_H +#define __CONFIG_TAP_V1_INCLUDE_BOARD_H + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#ifndef __ASSEMBLY__ +# include +#endif + +#include "stm32_rcc.h" +#include "stm32_sdio.h" +#include "stm32.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/* Clocking *************************************************************************/ +/* The TAP V1 uses a 16MHz crystal connected to the HSE. + * + * This is the canonical configuration: + * 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) : 16000000 (STM32_BOARD_XTAL) + * PLLM : 8 (STM32_PLLCFG_PLLM) + * PLLN : 168 (STM32_PLLCFG_PLLN) + * PLLP : 2 (STM32_PLLCFG_PLLP) + * PLLQ : 7 (STM32_PLLCFG_PLLQ) + * 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 16MHz + * LSE - not installed + */ + +#define STM32_BOARD_XTAL 16000000ul + +#define STM32_HSI_FREQUENCY 16000000ul +#define STM32_LSI_FREQUENCY 32000 +#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL + +/* Main PLL Configuration. + * + * PLL source is HSE + * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN + * = (16,000,000 / 8) * 168 + * = 336,000,000 + * SYSCLK = PLL_VCO / PLLP + * = 336,000,000 / 2 = 168,000,000 + * USB OTG FS, SDIO and RNG Clock + * = PLL_VCO / PLLQ + * = 336,000,000 / 7 + * = 48,000,000 + */ + +#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8) +#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(168) +#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2 +#define STM32_PLLCFG_PLLQ 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_PCLK2_FREQUENCY) +#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY) +#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_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) + +/* LED definitions ******************************************************************/ +/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any + * way. The following definitions are used to access individual LEDs. + */ + +/* LED index values for use with stm32_setled() + * + * PC4 BLUE_LED D4 Blue LED cathode + * PC5 RED_LED D5 Red LED cathode +*/ +#define BOARD_LED1 0 +#define BOARD_LED2 1 +#define BOARD_NLEDS 2 + +#define BOARD_LED_BLUE BOARD_LED1 +#define BOARD_LED_RED BOARD_LED2 + +/* LED bits for use with stm32_setleds() */ + +#define BOARD_LED1_BIT (1 << BOARD_LED1) +#define BOARD_LED2_BIT (1 << BOARD_LED2) + +/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board + * the tap-v1. The following definitions describe how NuttX controls + * the LEDs: + */ + +#define LED_STARTED 0 /* BLUE */ +#define LED_HEAPALLOCATE 1 /* LED2 */ +#define LED_IRQSENABLED 2 /* BLUE */ +#define LED_STACKCREATED 3 /* BLUE + RED */ +#define LED_INIRQ 4 /* BLUE */ +#define LED_SIGNAL 5 /* RED */ +#define LED_ASSERTION 6 /* BLUE + RED */ +#define LED_PANIC 7 /* BLUE + RED */ + +/* Alternate function pin selections ************************************************/ + +/* + * USARTs. + * + * + * Peripheral Port Signal Name CONN + * USART1_TX PB6 GPS_USART1_TX JP1-15,16 + * USART1_RX PB7 GPS_USART1_RX JP1-13,14 + * USART2_TX PA2 GB_USART2_TX JP2-19,20 + * USART2_RX PA3 GB_USART2_RX JP2-21,22 + * USART3_TX PC10 RF2_USART3_TX J3-2 + * USART3_RX PC11 RF2_USART3_RX J3-1 + * USART6_TX PC6 RF_USART6_TX JP2-15,16 + * USART6_RX PC7 RF_USART6_RX JP2-17,18 +*/ + +#define GPIO_USART1_TX GPIO_USART1_TX_2 +#define GPIO_USART1_RX GPIO_USART1_RX_2 + +#define GPIO_USART2_TX GPIO_USART2_TX_1 +#define GPIO_USART2_RX GPIO_USART2_RX_1 + +#define GPIO_USART3_TX GPIO_USART3_TX_2 +#define GPIO_USART3_RX GPIO_USART3_RX_2 + +#define GPIO_USART6_TX GPIO_USART6_TX_1 +#define GPIO_USART6_RX GPIO_USART6_RX_1 + +/* USART DMA configuration for USART 1 and 6 */ + +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2 +#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2 + +/* + * UARTs. + * + * N.B. The 's' is here to match the wrong labeling on Schematic + * + * Peripheral Port Signal Name CONN + * UART4_TX PA0 OFS_UsART4_TX JP1-19,20 + * UART4_RX PA1 OFS_UsART4_RX JP1-17,18 + * UART5_TX PC12 ESC_UsART5_TX U7-HCT244 etal ESC + * UART5_RX PD2 ESC_UsART5_RX U8-5 74HCT151 + * + * Note that UART5 has no optional pinout, so it is not listed here. + * +*/ + +#define GPIO_UART4_TX GPIO_UART4_TX_1 +#define GPIO_UART4_RX GPIO_UART4_RX_1 + +/* + * I2C + * + * Peripheral Port Signal Name CONN + * I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507 + * I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507 + * I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32 + * I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30 + * I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28 + * I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26 + * + * The optional _GPIO configurations allow the I2C driver to manually + * reset the bus to clear stuck slaves. They match the pin configuration, + * but are normally-high GPIOs. + */ +#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 +#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 +#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) +#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8) + +#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 +#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 +#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) +#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10) + +#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1 +#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 +#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9) +#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) + +/* + * SPI + * + * Peripheral Port Signal Name CONN + * SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS + * SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK + * SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0 + * SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI + * + */ + +#define GPIO_SPI2_NSS (GPIO_SPI2_NSS_1 | GPIO_SPEED_50MHz) +#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2 | GPIO_SPEED_50MHz) +#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1 | GPIO_SPEED_50MHz) +#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1 | GPIO_SPEED_50MHz) + +/* SPI DMA configuration for SPI2 (microSD) */ +#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX +#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX + +/* The following Pin Mapping is just for completeness */ +/* + * JTAG + * + * We will only enable SW-DP, JTAG-DP will be disabled + * + * Function Port Signal Name CONN + * SWDIO PA13 DAT J10-3,J7 + * SWCLK PA14 CLK J10-4,J8 + * + */ + +/* + * BOOT + * + * Function Port Signal Name CONN + * BOOT0 NA BOOT0 GND via 10 K + * BOOT1 PB2 BOOT1 V3.3 - 10 K + * + * As jumpered the device can only boot from FLASH. + * + * It can be booted to: + * + * SRAM if BOOT0 is pulled High with 1K. + * System memory if: + * BOOT0 is pulled High with 1K and + * BOOT1 is pulled Low with 1K +*/ + +/* + * Timer PWM + * + * Peripheral Port Signal Name CONN + * TIM3_CH1 PA6 LED_R JP2-23,24 + * TIM3_CH2 PA7 LED_G JP2-25,26 + * TIM3_CH3 PB0 LED_B JP2-27,28 + * TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22 + */ + +/* + * GPIO + * + * Port Signal Name CONN + * PA4 POWER JP1-23, - Must be held High to run w/o USB + * PB4 TEMP_CONT J2-2,11,14,23 - Gyro Heater + * PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105 + * PC1 KEY_AD JP1-31,32 - Low when Power button is depressed + * PC2 SD_SW SD-9 SW - Card Present + * PC3 PCON_RADIO JP1-29,30 + * PC13 S2 U8-9 74HCT151 + * PC14 S1 U8-10 74HCT151 + * PC15 S0 U8-11 74HCT151 + */ + +/* + * USB + * + * Port Signal Name CONN + * PA9 OTG_FS_VBUS J1-1 + * PA10 OTG_FS_ID J1-4 + * PA11 OTG_FS_DM J1-2 + * PA12 OTG_FS_DP J1-3 + */ + +/* + * UNUSED PINS - In an idle world - these would have been tied to pads to + * facilitate debugging probs. + * Port + * PA15 + * PB3 + * PB5 + * PC8 +*/ + +/* Board provides GPIO or other Hardware for signaling to timing analyzer */ + +#if defined(CONFIG_BOARD_USE_PROBES) +# define PROBE_N(n) (1<<((n)-1)) +# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) +# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3) +# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5) +# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8) + +# define PROBE_INIT(mask) \ + do { \ + if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \ + if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \ + if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \ + if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \ + } while(0) + +# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0) +# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true) +#else +# define PROBE_INIT(mask) +# define PROBE(n,s) +# define PROBE_MARK(n) +#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 initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +EXTERN void stm32_boardinitialize(void); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __CONFIG_TAP_V1_INCLUDE_BOARD_H */ diff --git a/nuttx-configs/asc-v1/include/nsh_romfsimg.h b/nuttx-configs/asc-v1/include/nsh_romfsimg.h new file mode 100644 index 0000000000..beb1a924cf --- /dev/null +++ b/nuttx-configs/asc-v1/include/nsh_romfsimg.h @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (C) 2016 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. + * + ****************************************************************************/ + +/** + * nsh_romfsetc.h + * + * This file is a stub for 'make export' purposes; the actual ROMFS + * must be supplied by the library client. + */ + +extern unsigned char romfs_img[]; +extern unsigned int romfs_img_len; diff --git a/nuttx-configs/asc-v1/nsh/Make.defs b/nuttx-configs/asc-v1/nsh/Make.defs new file mode 100644 index 0000000000..7601fcc095 --- /dev/null +++ b/nuttx-configs/asc-v1/nsh/Make.defs @@ -0,0 +1,160 @@ +############################################################################ +# configs/tap-v1/nsh/Make.defs +# +# Copyright (C) 2011 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. +# +############################################################################ + +include ${TOPDIR}/.config +include ${TOPDIR}/tools/Config.mk + +include $(TOPDIR)/PX4_Warnings.mk + +# +# We only support building with the ARM bare-metal toolchain from +# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS. +# +CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI + +include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs + +CC = $(CROSSDEV)gcc +CXX = $(CROSSDEV)g++ +CPP = $(CROSSDEV)gcc -E +LD = $(CROSSDEV)ld +AR = $(CROSSDEV)ar rcs +NM = $(CROSSDEV)nm +OBJCOPY = $(CROSSDEV)objcopy +OBJDUMP = $(CROSSDEV)objdump + +MAXOPTIMIZATION = -Os +ARCHCPUFLAGS = -mcpu=cortex-m4 \ + -mthumb \ + -march=armv7e-m \ + -mfpu=fpv4-sp-d16 \ + -mfloat-abi=hard + + +# enable precise stack overflow tracking +ifeq ($(CONFIG_ARMV7M_STACKCHECK),y) +INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10 +endif + +# pull in *just* libm from the toolchain ... this is grody +LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}" +EXTRA_LIBS += $(LIBM) + +# use our linker script +LDSCRIPT = ld.script + +ifeq ($(WINTOOL),y) + # Windows-native toolchains + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" + ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}" + ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}" +else + ifeq ($(PX4_WINTOOL),y) + # Windows-native toolchains (MSYS) + DIRLINK = $(TOPDIR)/tools/copydir.sh + DIRUNLINK = $(TOPDIR)/tools/unlink.sh + MKDEP = $(TOPDIR)/tools/mknulldeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + else + # Linux/Cygwin-native toolchain + MKDEP = $(TOPDIR)/tools/mkdeps.sh + ARCHINCLUDES = -I. -isystem $(TOPDIR)/include + ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx + ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT) + endif +endif + +# tool versions +ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'} +ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1} + +# optimisation flags +ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \ + -fno-strict-aliasing \ + -fno-strength-reduce \ + -fomit-frame-pointer \ + -funsafe-math-optimizations \ + -fno-builtin-printf \ + -ffunction-sections \ + -fdata-sections + +ifeq ("${CONFIG_DEBUG_SYMBOLS}","y") +ARCHOPTIMIZATION += -g +endif + +ARCHCFLAGS = -std=gnu99 +ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x +ARCHWARNINGS = $(PX4_ARCHWARNINGS) +ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS) +ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX) +ARCHDEFINES = +ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10 + +# this seems to be the only way to add linker flags +EXTRA_LIBS += --warn-common \ + --gc-sections + +CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common +CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS) +CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe +CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS) +CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ + +NXFLATLDFLAGS1 = -r -d -warn-common +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections +LDNXFLATFLAGS = -e main -s 2048 + +OBJEXT = .o +LIBEXT = .a +EXEEXT = + + +# produce partially-linked $1 from files in $2 +define PRELINK + @echo "PRELINK: $1" + $(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1 +endef + +HOSTCC = gcc +HOSTINCLUDES = -I. +HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe +HOSTLDFLAGS = + diff --git a/nuttx-configs/asc-v1/nsh/defconfig b/nuttx-configs/asc-v1/nsh/defconfig new file mode 100644 index 0000000000..576e39860d --- /dev/null +++ b/nuttx-configs/asc-v1/nsh/defconfig @@ -0,0 +1,982 @@ +# +# Automatically generated file; DO NOT EDIT. +# Nuttx/ Configuration +# +CONFIG_NUTTX_NEWCONFIG=y + +# +# Build Setup +# +# CONFIG_EXPERIMENTAL is not set +CONFIG_HOST_LINUX=y +# CONFIG_HOST_OSX is not set +# CONFIG_HOST_WINDOWS is not set +# CONFIG_HOST_OTHER is not set + +# +# Build Configuration +# +CONFIG_APPS_DIR="../apps" +# CONFIG_BUILD_2PASS is not set + +# +# Binary Output Formats +# +# CONFIG_RRLOAD_BINARY is not set +# CONFIG_INTELHEX_BINARY is not set +# CONFIG_MOTOROLA_SREC is not set +CONFIG_RAW_BINARY=y + +# +# Customize Header Files +# +# CONFIG_ARCH_STDBOOL_H is not set +CONFIG_ARCH_MATH_H=y +# CONFIG_ARCH_FLOAT_H is not set +# CONFIG_ARCH_STDARG_H is not set + +# +# Debug Options +# +# CONFIG_DEBUG is not set +CONFIG_DEBUG_SYMBOLS=y + +# +# System Type +# +# CONFIG_ARCH_8051 is not set +CONFIG_ARCH_ARM=y +# CONFIG_ARCH_AVR is not set +# CONFIG_ARCH_HC is not set +# CONFIG_ARCH_MIPS is not set +# CONFIG_ARCH_RGMP is not set +# CONFIG_ARCH_SH is not set +# CONFIG_ARCH_SIM is not set +# CONFIG_ARCH_X86 is not set +# CONFIG_ARCH_Z16 is not set +# CONFIG_ARCH_Z80 is not set +CONFIG_ARCH="arm" + +# +# ARM Options +# +# CONFIG_ARCH_CHIP_C5471 is not set +# CONFIG_ARCH_CHIP_CALYPSO is not set +# CONFIG_ARCH_CHIP_DM320 is not set +# CONFIG_ARCH_CHIP_IMX is not set +# CONFIG_ARCH_CHIP_KINETIS is not set +# CONFIG_ARCH_CHIP_KL is not set +# CONFIG_ARCH_CHIP_LM is not set +# CONFIG_ARCH_CHIP_LPC17XX is not set +# CONFIG_ARCH_CHIP_LPC214X is not set +# CONFIG_ARCH_CHIP_LPC2378 is not set +# CONFIG_ARCH_CHIP_LPC31XX is not set +# CONFIG_ARCH_CHIP_LPC43XX is not set +# CONFIG_ARCH_CHIP_NUC1XX is not set +# CONFIG_ARCH_CHIP_SAM34 is not set +CONFIG_ARCH_CHIP_STM32=y +# CONFIG_ARCH_CHIP_STR71X is not set +CONFIG_ARCH_CORTEXM4=y +CONFIG_ARCH_FAMILY="armv7-m" +CONFIG_ARCH_CHIP="stm32" +CONFIG_ARMV7M_USEBASEPRI=y +CONFIG_ARCH_HAVE_CMNVECTOR=y +CONFIG_ARMV7M_CMNVECTOR=y +CONFIG_ARCH_HAVE_FPU=y +CONFIG_ARCH_FPU=y +CONFIG_ARCH_HAVE_MPU=y +# CONFIG_ARMV7M_MPU is not set + +# +# ARMV7M Configuration Options +# +# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set +# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set +# CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL is not set +CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y +# CONFIG_ARMV7M_STACKCHECK is not set +CONFIG_SERIAL_TERMIOS=y + +# +# STM32 Configuration Options +# +# CONFIG_ARCH_CHIP_STM32L151C6 is not set +# CONFIG_ARCH_CHIP_STM32L151C8 is not set +# CONFIG_ARCH_CHIP_STM32L151CB is not set +# CONFIG_ARCH_CHIP_STM32L151R6 is not set +# CONFIG_ARCH_CHIP_STM32L151R8 is not set +# CONFIG_ARCH_CHIP_STM32L151RB is not set +# CONFIG_ARCH_CHIP_STM32L151V6 is not set +# CONFIG_ARCH_CHIP_STM32L151V8 is not set +# CONFIG_ARCH_CHIP_STM32L151VB is not set +# CONFIG_ARCH_CHIP_STM32L152C6 is not set +# CONFIG_ARCH_CHIP_STM32L152C8 is not set +# CONFIG_ARCH_CHIP_STM32L152CB is not set +# CONFIG_ARCH_CHIP_STM32L152R6 is not set +# CONFIG_ARCH_CHIP_STM32L152R8 is not set +# CONFIG_ARCH_CHIP_STM32L152RB is not set +# CONFIG_ARCH_CHIP_STM32L152V6 is not set +# CONFIG_ARCH_CHIP_STM32L152V8 is not set +# CONFIG_ARCH_CHIP_STM32L152VB is not set +# CONFIG_ARCH_CHIP_STM32F100C8 is not set +# CONFIG_ARCH_CHIP_STM32F100CB is not set +# CONFIG_ARCH_CHIP_STM32F100R8 is not set +# CONFIG_ARCH_CHIP_STM32F100RB is not set +# CONFIG_ARCH_CHIP_STM32F100RC is not set +# CONFIG_ARCH_CHIP_STM32F100RD is not set +# CONFIG_ARCH_CHIP_STM32F100RE is not set +# CONFIG_ARCH_CHIP_STM32F100V8 is not set +# CONFIG_ARCH_CHIP_STM32F100VB is not set +# CONFIG_ARCH_CHIP_STM32F100VC is not set +# CONFIG_ARCH_CHIP_STM32F100VD is not set +# CONFIG_ARCH_CHIP_STM32F100VE is not set +# CONFIG_ARCH_CHIP_STM32F102CB is not set +# CONFIG_ARCH_CHIP_STM32F103C4 is not set +# CONFIG_ARCH_CHIP_STM32F103C8 is not set +# CONFIG_ARCH_CHIP_STM32F103RET6 is not set +# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set +# CONFIG_ARCH_CHIP_STM32F103VET6 is not set +# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set +# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set +# CONFIG_ARCH_CHIP_STM32F107VC is not set +# CONFIG_ARCH_CHIP_STM32F207IG is not set +# CONFIG_ARCH_CHIP_STM32F302CB is not set +# CONFIG_ARCH_CHIP_STM32F302CC is not set +# CONFIG_ARCH_CHIP_STM32F302RB is not set +# CONFIG_ARCH_CHIP_STM32F302RC is not set +# CONFIG_ARCH_CHIP_STM32F302VB is not set +# CONFIG_ARCH_CHIP_STM32F302VC is not set +# CONFIG_ARCH_CHIP_STM32F303CB is not set +# CONFIG_ARCH_CHIP_STM32F303CC is not set +# CONFIG_ARCH_CHIP_STM32F303RB is not set +# CONFIG_ARCH_CHIP_STM32F303RC is not set +# CONFIG_ARCH_CHIP_STM32F303VB is not set +# CONFIG_ARCH_CHIP_STM32F303VC is not set +CONFIG_ARCH_CHIP_STM32F405RG=y +# CONFIG_ARCH_CHIP_STM32F405VG is not set +# CONFIG_ARCH_CHIP_STM32F405ZG is not set +# CONFIG_ARCH_CHIP_STM32F407VE is not set +# CONFIG_ARCH_CHIP_STM32F407VG is not set +# CONFIG_ARCH_CHIP_STM32F407ZE is not set +# CONFIG_ARCH_CHIP_STM32F407ZG is not set +# CONFIG_ARCH_CHIP_STM32F407IE is not set +# CONFIG_ARCH_CHIP_STM32F407IG is not set +# CONFIG_ARCH_CHIP_STM32F427V is not set +# CONFIG_ARCH_CHIP_STM32F427Z is not set +# CONFIG_ARCH_CHIP_STM32F427I is not set +# CONFIG_STM32_STM32L15XX is not set +# CONFIG_STM32_ENERGYLITE is not set +# CONFIG_STM32_STM32F10XX is not set +# CONFIG_STM32_VALUELINE is not set +# CONFIG_STM32_CONNECTIVITYLINE is not set +# CONFIG_STM32_PERFORMANCELINE is not set +# CONFIG_STM32_HIGHDENSITY is not set +# CONFIG_STM32_MEDIUMDENSITY is not set +# CONFIG_STM32_LOWDENSITY is not set +# CONFIG_STM32_STM32F20XX is not set +# CONFIG_STM32_STM32F30XX is not set +CONFIG_STM32_STM32F40XX=y +# CONFIG_STM32_DFU is not set + +# +# STM32 Peripheral Support +# +CONFIG_STM32_ADC1=y +# CONFIG_STM32_ADC2 is not set +# CONFIG_STM32_ADC3 is not set +CONFIG_STM32_BKPSRAM=y +# CONFIG_STM32_CAN1 is not set +# CONFIG_STM32_CAN2 is not set +CONFIG_STM32_CCMDATARAM=y +# CONFIG_STM32_CRC is not set +# CONFIG_STM32_CRYP is not set +CONFIG_STM32_DMA1=y +CONFIG_STM32_DMA2=y +# CONFIG_STM32_DAC1 is not set +# CONFIG_STM32_DAC2 is not set +# CONFIG_STM32_DCMI is not set +# CONFIG_STM32_ETHMAC is not set +# CONFIG_STM32_FSMC is not set +# CONFIG_STM32_HASH is not set +CONFIG_STM32_I2C1=y +CONFIG_STM32_I2C2=y +CONFIG_STM32_I2C3=y +CONFIG_STM32_OTGFS=y +# CONFIG_STM32_OTGHS is not set +CONFIG_STM32_PWR=y +# CONFIG_STM32_RNG is not set +# CONFIG_STM32_SDIO is not set +# CONFIG_STM32_SPI1 is not set +CONFIG_STM32_SPI2=y +# CONFIG_STM32_SPI3 is not set +CONFIG_STM32_SYSCFG=y +# CONFIG_STM32_TIM1 is not set +# CONFIG_STM32_TIM2 is not set +# CONFIG_STM32_TIM3 is not set +CONFIG_STM32_TIM4=y +CONFIG_STM32_TIM5=y +CONFIG_STM32_TIM6=y +CONFIG_STM32_TIM7=y +# CONFIG_STM32_TIM8 is not set +CONFIG_STM32_TIM9=y +CONFIG_STM32_TIM10=y +CONFIG_STM32_TIM11=y +CONFIG_STM32_TIM12=y +CONFIG_STM32_TIM13=y +CONFIG_STM32_TIM14=y +CONFIG_STM32_USART1=y +CONFIG_STM32_USART2=y +CONFIG_STM32_USART3=y +CONFIG_STM32_UART4=y +CONFIG_STM32_UART5=y +CONFIG_STM32_USART6=y +# CONFIG_STM32_IWDG is not set +CONFIG_STM32_WWDG=y +CONFIG_STM32_ADC=y +CONFIG_STM32_SPI=y +CONFIG_STM32_I2C=y + +# +# Alternate Pin Mapping +# +CONFIG_STM32_FLASH_PREFETCH=y +# CONFIG_STM32_JTAG_DISABLE is not set +# CONFIG_STM32_JTAG_FULL_ENABLE is not set +# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y +# CONFIG_STM32_FORCEPOWER is not set +# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set +# CONFIG_STM32_CCMEXCLUDE is not set +CONFIG_STM32_DMACAPABLE=y +# CONFIG_STM32_TIM4_PWM is not set +# CONFIG_STM32_TIM5_PWM is not set +# CONFIG_STM32_TIM9_PWM is not set +# CONFIG_STM32_TIM10_PWM is not set +# CONFIG_STM32_TIM11_PWM is not set +# CONFIG_STM32_TIM12_PWM is not set +# CONFIG_STM32_TIM13_PWM is not set +# CONFIG_STM32_TIM14_PWM is not set +# CONFIG_STM32_TIM4_ADC is not set +# CONFIG_STM32_TIM5_ADC is not set +CONFIG_STM32_USART=y + +# +# U[S]ART Configuration +# +# CONFIG_USART1_RS485 is not set +CONFIG_USART1_RXDMA=y +# CONFIG_USART2_RS485 is not set +CONFIG_USART2_RXDMA=y +# CONFIG_USART3_RS485 is not set +CONFIG_USART3_RXDMA=y +# CONFIG_UART4_RS485 is not set +CONFIG_UART4_RXDMA=y +# CONFIG_UART5_RS485 is not set +CONFIG_UART5_RXDMA=y +# CONFIG_USART6_RS485 is not set +CONFIG_USART6_RXDMA=y +CONFIG_SERIAL_DISABLE_REORDERING=y +CONFIG_STM32_USART_SINGLEWIRE=y + +# +# SPI Configuration +# +# CONFIG_STM32_SPI_INTERRUPTS is not set +# CONFIG_STM32_SPI_DMA is not set + +# +# I2C Configuration +# +# CONFIG_STM32_I2C_DYNTIMEO is not set +CONFIG_STM32_I2CTIMEOSEC=0 +CONFIG_STM32_I2CTIMEOMS=10 +# CONFIG_STM32_I2CTIMEOTICKS is not set (PX4 Codbase has this) +# CONFIG_STM32_I2C_DUTY16_9 is not set + +# +# USB Host Configuration +# + +# +# USB Device Configuration +# + +# +# External Memory Configuration +# + +# +# Architecture Options +# +# CONFIG_ARCH_NOINTC is not set +# CONFIG_ARCH_VECNOTIRQ is not set +CONFIG_ARCH_DMA=y +CONFIG_ARCH_IRQPRIO=y +# CONFIG_CUSTOM_STACK is not set +# CONFIG_ADDRENV is not set +CONFIG_ARCH_HAVE_VFORK=y +CONFIG_ARCH_STACKDUMP=y +# CONFIG_ENDIAN_BIG is not set +# CONFIG_ARCH_HAVE_RAMFUNCS is not set +CONFIG_ARCH_HAVE_RAMVECTORS=y +# CONFIG_ARCH_RAMVECTORS is not set + +# +# Board Settings +# +CONFIG_BOARD_LOOPSPERMSEC=16717 +# CONFIG_ARCH_CALIBRATION is not set +CONFIG_DRAM_START=0x20000000 +CONFIG_DRAM_SIZE=196608 +CONFIG_ARCH_HAVE_INTERRUPTSTACK=y +CONFIG_ARCH_INTERRUPTSTACK=750 + +# +# Boot options +# +# CONFIG_BOOT_RUNFROMEXTSRAM is not set +CONFIG_BOOT_RUNFROMFLASH=y +# CONFIG_BOOT_RUNFROMISRAM is not set +# CONFIG_BOOT_RUNFROMSDRAM is not set +# CONFIG_BOOT_COPYTORAM is not set + +# +# Board Selection +# +CONFIG_ARCH_BOARD_ASC_V1=y +CONFIG_ARCH_BOARD="asc-v1" + +# +# Common Board Options +# +# CONFIG_NSH_MMCSDMINOR=0 +# CONFIG_NSH_MMCSDSLOTNO=0 +# CONFIG_NSH_MMCSDSPIPORTNO=2 + +# +# Board-Specific Options +# + +# +# RTOS Features +# +# CONFIG_BOARD_INITIALIZE is not set +CONFIG_MSEC_PER_TICK=1 +CONFIG_RR_INTERVAL=0 +CONFIG_SCHED_INSTRUMENTATION=y +CONFIG_TASK_NAME_SIZE=24 +# CONFIG_SCHED_HAVE_PARENT is not set +# CONFIG_JULIAN_TIME is not set +CONFIG_START_YEAR=1970 +CONFIG_START_MONTH=1 +CONFIG_START_DAY=1 +CONFIG_DEV_CONSOLE=y +# CONFIG_MUTEX_TYPES is not set +CONFIG_PRIORITY_INHERITANCE=y +CONFIG_SEM_PREALLOCHOLDERS=0 +CONFIG_SEM_NNESTPRIO=8 +# CONFIG_FDCLONE_DISABLE is not set +CONFIG_FDCLONE_STDIO=y +CONFIG_SDCLONE_DISABLE=y +CONFIG_SCHED_WAITPID=y +# CONFIG_SCHED_STARTHOOK is not set +CONFIG_SCHED_ATEXIT=y +CONFIG_SCHED_ATEXIT_MAX=1 +# CONFIG_SCHED_ONEXIT is not set +CONFIG_USER_ENTRYPOINT="nsh_main" +# CONFIG_DISABLE_OS_API is not set + +# +# Signal Numbers +# +CONFIG_SIG_SIGUSR1=1 +CONFIG_SIG_SIGUSR2=2 +CONFIG_SIG_SIGALARM=3 +CONFIG_SIG_SIGCONDTIMEDOUT=16 +CONFIG_SIG_SIGWORK=4 + +# +# Sizes of configurable things (0 disables) +# +CONFIG_MAX_TASKS=32 +CONFIG_MAX_TASK_ARGS=10 +CONFIG_NPTHREAD_KEYS=4 +CONFIG_NFILE_DESCRIPTORS=46 +CONFIG_NFILE_STREAMS=8 +CONFIG_NAME_MAX=32 +CONFIG_PREALLOC_MQ_MSGS=4 +CONFIG_MQ_MAXMSGSIZE=32 +CONFIG_MAX_WDOGPARMS=2 +CONFIG_PREALLOC_WDOGS=50 +CONFIG_PREALLOC_TIMERS=50 + +# +# Stack and heap information +# +CONFIG_IDLETHREAD_STACKSIZE=1000 +CONFIG_USERMAIN_STACKSIZE=2500 +CONFIG_PTHREAD_STACK_MIN=512 +CONFIG_PTHREAD_STACK_DEFAULT=2048 + +# +# Device Drivers +# +# CONFIG_DISABLE_POLL is not set +CONFIG_DEV_NULL=y +# CONFIG_DEV_ZERO is not set +# CONFIG_LOOP is not set +# CONFIG_RAMDISK is not set +# CONFIG_CAN is not set +# CONFIG_PWM is not set +CONFIG_I2C=y +# CONFIG_I2C_SLAVE is not set +CONFIG_I2C_TRANSFER=y +# CONFIG_I2C_WRITEREAD is not set +# CONFIG_I2C_POLLED is not set +# CONFIG_I2C_TRACE is not set +CONFIG_ARCH_HAVE_I2CRESET=y +CONFIG_I2C_RESET=y +CONFIG_SPI=y +# CONFIG_SPI_OWNBUS is not set +CONFIG_SPI_EXCHANGE=y +# CONFIG_SPI_CMDDATA is not set +# CONFIG_RTC is not set +CONFIG_WATCHDOG=y +# CONFIG_ANALOG is not set +# CONFIG_AUDIO_DEVICES is not set +# CONFIG_BCH is not set +# CONFIG_INPUT is not set +# CONFIG_LCD is not set +# CONFIG_MMCSD is not set +# CONFIG_MMCSD_NSLOTS=1 +# CONFIG_MMCSD_READONLY is not set +# CONFIG_MMCSD_MULTIBLOCK_DISABLE is not set +# CONFIG_MMCSD_MMCSUPPORT is not set +# CONFIG_MMCSD_HAVECARDDETECT is not set +# CONFIG_MMCSD_HAVE_SDIOWAIT_WRCOMPLETE is not set +# CONFIG_MMCSD_SPI is not set +# CONFIG_MMCSD_SPICLOCK=24000000 +# CONFIG_MMCSD_SDIO is not set +# CONFIG_MTD is not set +CONFIG_PIPES=y +# CONFIG_PM is not set +# CONFIG_POWER is not set +# CONFIG_SENSORS is not set +CONFIG_SERIAL=y +# CONFIG_DEV_LOWCONSOLE is not set +CONFIG_SERIAL_REMOVABLE=y +# CONFIG_16550_UART is not set +CONFIG_ARCH_HAVE_UART4=y +CONFIG_ARCH_HAVE_UART5=y +CONFIG_ARCH_HAVE_USART1=y +CONFIG_ARCH_HAVE_USART2=y +CONFIG_ARCH_HAVE_USART3=y +CONFIG_ARCH_HAVE_USART6=y +CONFIG_MCU_SERIAL=y +CONFIG_STANDARD_SERIAL=y +CONFIG_SERIAL_NPOLLWAITERS=2 +# CONFIG_USART1_SERIAL_CONSOLE is not set +# CONFIG_USART2_SERIAL_CONSOLE is not set +CONFIG_USART3_SERIAL_CONSOLE=y +# CONFIG_UART4_SERIAL_CONSOLE is not set +# CONFIG_UART5_SERIAL_CONSOLE is not set +# CONFIG_USART6_SERIAL_CONSOLE is not set +# CONFIG_NO_SERIAL_CONSOLE is not set + +# +# USART1 Configuration +# +CONFIG_USART1_RXBUFSIZE=128 +CONFIG_USART1_TXBUFSIZE=128 +CONFIG_USART1_BAUD=57600 +CONFIG_USART1_BITS=8 +CONFIG_USART1_PARITY=0 +CONFIG_USART1_2STOP=0 +# CONFIG_USART1_IFLOWCONTROL is not set +# CONFIG_USART1_OFLOWCONTROL is not set + +# +# USART2 Configuration +# +CONFIG_USART2_RXBUFSIZE=300 +CONFIG_USART2_TXBUFSIZE=300 +CONFIG_USART2_BAUD=57600 +CONFIG_USART2_BITS=8 +CONFIG_USART2_PARITY=0 +CONFIG_USART2_2STOP=0 +# CONFIG_USART2_IFLOWCONTROL is not set +# CONFIG_USART2_OFLOWCONTROL is not set + +# +# USART3 Configuration +# +CONFIG_USART3_RXBUFSIZE=256 +CONFIG_USART3_TXBUFSIZE=256 +CONFIG_USART3_BAUD=57600 +CONFIG_USART3_BITS=8 +CONFIG_USART3_PARITY=0 +CONFIG_USART3_2STOP=0 +# CONFIG_USART3_IFLOWCONTROL is not set +# CONFIG_USART3_OFLOWCONTROL is not set + +# +# UART4 Configuration +# +CONFIG_UART4_RXBUFSIZE=256 +CONFIG_UART4_TXBUFSIZE=256 +CONFIG_UART4_BAUD=115200 +CONFIG_UART4_BITS=8 +CONFIG_UART4_PARITY=0 +CONFIG_UART4_2STOP=0 +# CONFIG_UART4_IFLOWCONTROL is not set +# CONFIG_UART4_OFLOWCONTROL is not set + +# +# UART5 Configuration +# +CONFIG_UART5_RXBUFSIZE=300 +CONFIG_UART5_TXBUFSIZE=300 +CONFIG_UART5_BAUD=57600 +CONFIG_UART5_BITS=8 +CONFIG_UART5_PARITY=0 +CONFIG_UART5_2STOP=0 +# CONFIG_UART5_IFLOWCONTROL is not set +# CONFIG_UART5_OFLOWCONTROL is not set + +# +# USART6 Configuration +# +CONFIG_USART6_RXBUFSIZE=128 +CONFIG_USART6_TXBUFSIZE=64 +CONFIG_USART6_BAUD=57600 +CONFIG_USART6_BITS=8 +CONFIG_USART6_PARITY=0 +CONFIG_USART6_2STOP=0 +# CONFIG_USART6_IFLOWCONTROL is not set +# CONFIG_USART6_OFLOWCONTROL is not set +# CONFIG_SERIAL_IFLOWCONTROL is not set +# CONFIG_SERIAL_OFLOWCONTROL is not set +CONFIG_USBDEV=y + +# +# USB Device Controller Driver Options +# +# CONFIG_USBDEV_ISOCHRONOUS is not set +# CONFIG_USBDEV_DUALSPEED is not set +# CONFIG_USBDEV_SELFPOWERED is not set +CONFIG_USBDEV_BUSPOWERED=y +CONFIG_USBDEV_MAXPOWER=500 +# CONFIG_USBDEV_DMA is not set +# CONFIG_USBDEV_TRACE is not set + +# +# USB Device Class Driver Options +# +# CONFIG_USBDEV_COMPOSITE is not set +# CONFIG_PL2303 is not set +CONFIG_CDCACM=y +# CONFIG_CDCACM_CONSOLE is not set +CONFIG_CDCACM_EP0MAXPACKET=64 +CONFIG_CDCACM_EPINTIN=1 +CONFIG_CDCACM_EPINTIN_FSSIZE=64 +CONFIG_CDCACM_EPINTIN_HSSIZE=64 +CONFIG_CDCACM_EPBULKOUT=3 +CONFIG_CDCACM_EPBULKOUT_FSSIZE=64 +CONFIG_CDCACM_EPBULKOUT_HSSIZE=512 +CONFIG_CDCACM_EPBULKIN=2 +CONFIG_CDCACM_EPBULKIN_FSSIZE=64 +CONFIG_CDCACM_EPBULKIN_HSSIZE=512 +CONFIG_CDCACM_NWRREQS=4 +CONFIG_CDCACM_NRDREQS=4 +CONFIG_CDCACM_BULKIN_REQLEN=96 +CONFIG_CDCACM_RXBUFSIZE=300 +CONFIG_CDCACM_TXBUFSIZE=1000 +CONFIG_CDCACM_VENDORID=0x26ac +CONFIG_CDCACM_PRODUCTID=0x0040 +CONFIG_CDCACM_VENDORSTR="The Autopilot" +CONFIG_CDCACM_PRODUCTSTR="PX4 ASC v1.x" +# CONFIG_USBMSC is not set +# CONFIG_USBHOST is not set +# CONFIG_WIRELESS is not set + +# +# System Logging Device Options +# + +# +# System Logging +# +# CONFIG_RAMLOG is not set + +# +# Networking Support +# +# CONFIG_NET is not set + +# +# File Systems +# + +# +# File system configuration +# +# CONFIG_DISABLE_MOUNTPOINT is not set +# CONFIG_FS_RAMMAP is not set +CONFIG_FS_FAT=y +CONFIG_FAT_LCNAMES=y +CONFIG_FAT_LFN=y +CONFIG_FAT_MAXFNAME=32 +CONFIG_FS_FATTIME=y +# CONFIG_FAT_DMAMEMORY is not set +# CONFIG_FS_NXFFS is not set +CONFIG_FS_ROMFS=y +# CONFIG_FS_SMARTFS is not set +CONFIG_FS_BINFS=y + +# +# System Logging +# +# CONFIG_SYSLOG_ENABLE is not set +# CONFIG_SYSLOG is not set + +# +# Graphics Support +# +# CONFIG_NX is not set + +# +# Memory Management +# +# CONFIG_MM_MULTIHEAP is not set +# CONFIG_MM_SMALL is not set +CONFIG_MM_REGIONS=2 +CONFIG_GRAN=y +# CONFIG_GRAN_SINGLE is not set +# CONFIG_GRAN_INTR is not set + +# +# Audio Support +# +# CONFIG_AUDIO is not set + +# +# Binary Formats +# +# CONFIG_BINFMT_DISABLE is not set +# CONFIG_BINFMT_EXEPATH is not set +# CONFIG_NXFLAT is not set +# CONFIG_ELF is not set +CONFIG_BUILTIN=y +# CONFIG_PIC is not set +# CONFIG_SYMTAB_ORDEREDBYNAME is not set + +# +# Library Routines +# + +# +# Standard C Library Options +# +CONFIG_STDIO_BUFFER_SIZE=180 +CONFIG_STDIO_LINEBUFFER=y +CONFIG_NUNGET_CHARS=2 +CONFIG_LIB_HOMEDIR="/" +# CONFIG_NOPRINTF_FIELDWIDTH is not set +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LIB_RAND_ORDER=1 +# CONFIG_EOL_IS_CR is not set +# CONFIG_EOL_IS_LF is not set +# CONFIG_EOL_IS_BOTH_CRLF is not set +CONFIG_EOL_IS_EITHER_CRLF=y +# CONFIG_LIBC_EXECFUNCS is not set +CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024 +CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048 +CONFIG_LIBC_STRERROR=y +# CONFIG_LIBC_STRERROR_SHORT is not set +# CONFIG_LIBC_PERROR_STDOUT is not set +CONFIG_ARCH_LOWPUTC=y +CONFIG_LIB_SENDFILE_BUFSIZE=512 +# CONFIG_ARCH_ROMGETC is not set +CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y +CONFIG_ARCH_MEMCPY=y +# CONFIG_ARCH_MEMCMP is not set +# CONFIG_ARCH_MEMMOVE is not set +# CONFIG_ARCH_MEMSET is not set +# CONFIG_MEMSET_OPTSPEED is not set +# CONFIG_ARCH_STRCHR is not set +# CONFIG_ARCH_STRCMP is not set +# CONFIG_ARCH_STRCPY is not set +# CONFIG_ARCH_STRNCPY is not set +# CONFIG_ARCH_STRLEN is not set +# CONFIG_ARCH_STRNLEN is not set +# CONFIG_ARCH_BZERO is not set + +# +# Non-standard Library Support +# +CONFIG_SCHED_WORKQUEUE=y +CONFIG_SCHED_HPWORK=y +CONFIG_SCHED_WORKPRIORITY=192 +CONFIG_SCHED_WORKPERIOD=5000 +CONFIG_SCHED_WORKSTACKSIZE=1600 +CONFIG_SCHED_LPWORK=y +CONFIG_SCHED_LPWORKPRIORITY=50 +CONFIG_SCHED_LPWORKPERIOD=50000 +CONFIG_SCHED_LPWORKSTACKSIZE=1600 +# CONFIG_LIB_KBDCODEC is not set +# CONFIG_LIB_SLCDCODEC is not set + +# +# Basic CXX Support +# +CONFIG_C99_BOOL8=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +# CONFIG_CXX_NEWLONG is not set + +# +# uClibc++ Standard C++ Library +# +# CONFIG_UCLIBCXX is not set + +# +# Application Configuration +# + +# +# Built-In Applications +# +CONFIG_BUILTIN_PROXY_STACKSIZE=1024 + +# +# Examples +# +# CONFIG_EXAMPLES_BUTTONS is not set +# CONFIG_EXAMPLES_CAN is not set +CONFIG_EXAMPLES_CDCACM=y +# CONFIG_EXAMPLES_COMPOSITE is not set +# CONFIG_EXAMPLES_CXXTEST is not set +# CONFIG_EXAMPLES_DHCPD is not set +# CONFIG_EXAMPLES_ELF is not set +# CONFIG_EXAMPLES_FTPC is not set +# CONFIG_EXAMPLES_FTPD is not set +# CONFIG_EXAMPLES_HELLO is not set +# CONFIG_EXAMPLES_HELLOXX is not set +# CONFIG_EXAMPLES_JSON is not set +# CONFIG_EXAMPLES_HIDKBD is not set +# CONFIG_EXAMPLES_KEYPADTEST is not set +# CONFIG_EXAMPLES_IGMP is not set +# CONFIG_EXAMPLES_LCDRW is not set +# CONFIG_EXAMPLES_MM is not set +# CONFIG_EXAMPLES_MODBUS is not set +CONFIG_EXAMPLES_MOUNT=y +# CONFIG_EXAMPLES_NRF24L01TERM is not set +CONFIG_EXAMPLES_NSH=y +# CONFIG_EXAMPLES_NULL is not set +# CONFIG_EXAMPLES_NX is not set +# CONFIG_EXAMPLES_NXCONSOLE is not set +# CONFIG_EXAMPLES_NXFFS is not set +# CONFIG_EXAMPLES_NXFLAT is not set +# CONFIG_EXAMPLES_NXHELLO is not set +# CONFIG_EXAMPLES_NXIMAGE is not set +# CONFIG_EXAMPLES_NXLINES is not set +# CONFIG_EXAMPLES_NXTEXT is not set +# CONFIG_EXAMPLES_OSTEST is not set +# CONFIG_EXAMPLES_PASHELLO is not set +# CONFIG_EXAMPLES_PIPE is not set +# CONFIG_EXAMPLES_POSIXSPAWN is not set +# CONFIG_EXAMPLES_QENCODER is not set +# CONFIG_EXAMPLES_RGMP is not set +# CONFIG_EXAMPLES_ROMFS is not set +# CONFIG_EXAMPLES_SENDMAIL is not set +# CONFIG_EXAMPLES_SERLOOP is not set +# CONFIG_EXAMPLES_SLCD is not set +# CONFIG_EXAMPLES_SMART_TEST is not set +# CONFIG_EXAMPLES_SMART is not set +# CONFIG_EXAMPLES_TCPECHO is not set +# CONFIG_EXAMPLES_TELNETD is not set +# CONFIG_EXAMPLES_THTTPD is not set +# CONFIG_EXAMPLES_TIFF is not set +# CONFIG_EXAMPLES_TOUCHSCREEN is not set +# CONFIG_EXAMPLES_UDP is not set +# CONFIG_EXAMPLES_UIP is not set +# CONFIG_EXAMPLES_USBSERIAL is not set +# CONFIG_EXAMPLES_USBMSC is not set +# CONFIG_EXAMPLES_USBTERM is not set +# CONFIG_EXAMPLES_WATCHDOG is not set + +# +# Graphics Support +# +# CONFIG_TIFF is not set + +# +# Interpreters +# +# CONFIG_INTERPRETERS_FICL is not set +# CONFIG_INTERPRETERS_PCODE is not set + +# +# Network Utilities +# + +# +# Networking Utilities +# +# CONFIG_NETUTILS_CODECS is not set +# CONFIG_NETUTILS_DHCPC is not set +# CONFIG_NETUTILS_DHCPD is not set +# CONFIG_NETUTILS_FTPC is not set +# CONFIG_NETUTILS_FTPD is not set +# CONFIG_NETUTILS_JSON is not set +# CONFIG_NETUTILS_RESOLV is not set +# CONFIG_NETUTILS_SMTP is not set +# CONFIG_NETUTILS_TELNETD is not set +# CONFIG_NETUTILS_TFTPC is not set +# CONFIG_NETUTILS_THTTPD is not set +# CONFIG_NETUTILS_UIPLIB is not set +# CONFIG_NETUTILS_WEBCLIENT is not set + +# +# FreeModBus +# +# CONFIG_MODBUS is not set + +# +# NSH Library +# +CONFIG_NSH_LIBRARY=y +CONFIG_NSH_BUILTIN_APPS=y + +# +# Disable Individual commands +# +# CONFIG_NSH_DISABLE_CAT is not set +# CONFIG_NSH_DISABLE_CD is not set +# CONFIG_NSH_DISABLE_CP is not set +# CONFIG_NSH_DISABLE_DD is not set +# CONFIG_NSH_DISABLE_ECHO is not set +# CONFIG_NSH_DISABLE_EXEC is not set +# CONFIG_NSH_DISABLE_EXIT is not set +# CONFIG_NSH_DISABLE_FREE is not set +# CONFIG_NSH_DISABLE_GET is not set +# CONFIG_NSH_DISABLE_HELP is not set +# CONFIG_NSH_DISABLE_HEXDUMP is not set +CONFIG_NSH_DISABLE_IFCONFIG=y +# CONFIG_NSH_DISABLE_KILL is not set +CONFIG_NSH_DISABLE_LOSETUP=y +# CONFIG_NSH_DISABLE_LS is not set +# CONFIG_NSH_DISABLE_MB is not set +# CONFIG_NSH_DISABLE_MKDIR is not set +# CONFIG_NSH_DISABLE_MKFATFS is not set +# CONFIG_NSH_DISABLE_MKFIFO is not set +# CONFIG_NSH_DISABLE_MKRD is not set +# CONFIG_NSH_DISABLE_MH is not set +# CONFIG_NSH_DISABLE_MOUNT is not set +# CONFIG_NSH_DISABLE_MW is not set +CONFIG_NSH_DISABLE_NSFMOUNT=y +# CONFIG_NSH_DISABLE_PS is not set +CONFIG_NSH_DISABLE_PING=y +CONFIG_NSH_DISABLE_PUT=y +# CONFIG_NSH_DISABLE_PWD is not set +# CONFIG_NSH_DISABLE_RM is not set +# CONFIG_NSH_DISABLE_RMDIR is not set +# CONFIG_NSH_DISABLE_SET is not set +# CONFIG_NSH_DISABLE_SH is not set +# CONFIG_NSH_DISABLE_SLEEP is not set +# CONFIG_NSH_DISABLE_TEST is not set +# CONFIG_NSH_DISABLE_UMOUNT is not set +# CONFIG_NSH_DISABLE_UNSET is not set +# CONFIG_NSH_DISABLE_USLEEP is not set +CONFIG_NSH_DISABLE_WGET=y +# CONFIG_NSH_DISABLE_XD is not set + +# +# Configure Command Options +# +# CONFIG_NSH_CMDOPT_DF_H is not set +CONFIG_NSH_CODECS_BUFSIZE=128 +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_STRERROR=y +CONFIG_NSH_LINELEN=128 +CONFIG_NSH_MAXARGUMENTS=12 +CONFIG_NSH_NESTDEPTH=8 +# CONFIG_NSH_DISABLESCRIPT is not set +# CONFIG_NSH_DISABLEBG is not set +CONFIG_NSH_ROMFSETC=y +# CONFIG_NSH_ROMFSRC is not set +CONFIG_NSH_ROMFSMOUNTPT="/etc" +CONFIG_NSH_INITSCRIPT="init.d/rcS" +CONFIG_NSH_ROMFSDEVNO=0 +CONFIG_NSH_ROMFSSECTSIZE=128 +CONFIG_NSH_ARCHROMFS=y +CONFIG_NSH_FATDEVNO=1 +CONFIG_NSH_FATSECTSIZE=512 +CONFIG_NSH_FATNSECTORS=1024 +CONFIG_NSH_FATMOUNTPT="/tmp" +CONFIG_NSH_CONSOLE=y +# CONFIG_NSH_USBCONSOLE is not set + +# +# USB Trace Support +# +# CONFIG_NSH_CONDEV is not set +CONFIG_NSH_ARCHINIT=y + +# +# NxWidgets/NxWM +# + +# +# System NSH Add-Ons +# + +# +# Custom Free Memory Command +# +# CONFIG_SYSTEM_FREE is not set + +# +# I2C tool +# +# CONFIG_SYSTEM_I2CTOOL is not set + +# +# FLASH Program Installation +# +# CONFIG_SYSTEM_INSTALL is not set + +# +# FLASH Erase-all Command +# + +# +# readline() +# +CONFIG_SYSTEM_READLINE=y +CONFIG_READLINE_ECHO=y + +# +# Power Off +# +# CONFIG_SYSTEM_POWEROFF is not set + +# +# RAMTRON +# +# CONFIG_SYSTEM_RAMTRON is not set + +# +# SD Card +# +# CONFIG_SYSTEM_SDCARD is not set + +# +# Sysinfo +# +CONFIG_SYSTEM_SYSINFO=y + +# +# USB Monitor +# diff --git a/nuttx-configs/asc-v1/nsh/setenv.sh b/nuttx-configs/asc-v1/nsh/setenv.sh new file mode 100755 index 0000000000..db372217cd --- /dev/null +++ b/nuttx-configs/asc-v1/nsh/setenv.sh @@ -0,0 +1,75 @@ +#!/bin/bash +# configs/px4fmu-v1/usbnsh/setenv.sh +# +# Copyright (C) 2013 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. +# + +if [ "$_" = "$0" ] ; then + echo "You must source this script, not run it!" 1>&2 + exit 1 +fi + +WD=`pwd` +if [ ! -x "setenv.sh" ]; then + echo "This script must be executed from the top-level NuttX build directory" + exit 1 +fi + +if [ -z "${PATH_ORIG}" ]; then + export PATH_ORIG="${PATH}" +fi + +# This is the Cygwin path to the location where I installed the RIDE +# toolchain under windows. You will also have to edit this if you install +# the RIDE toolchain in any other location +#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin" + +# This is the Cygwin path to the location where I installed the CodeSourcery +# toolchain under windows. You will also have to edit this if you install +# the CodeSourcery toolchain in any other location +export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin" + +# These are the Cygwin paths to the locations where I installed the Atollic +# toolchain under windows. You will also have to edit this if you install +# the Atollic toolchain in any other location. /usr/bin is added before +# the Atollic bin path because there is are binaries named gcc.exe and g++.exe +# at those locations as well. +#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin" +#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin" + +# This is the Cygwin path to the location where I build the buildroot +# toolchain. +#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin" + +# Add the path to the toolchain to the PATH varialble +export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}" + +echo "PATH : ${PATH}" diff --git a/nuttx-configs/asc-v1/scripts/ld.script b/nuttx-configs/asc-v1/scripts/ld.script new file mode 100644 index 0000000000..c1ded8f3df --- /dev/null +++ b/nuttx-configs/asc-v1/scripts/ld.script @@ -0,0 +1,150 @@ +/**************************************************************************** + * configs/tap-v1/scripts/ld.script + * + * Copyright (C) 2011 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. + * + ****************************************************************************/ + +/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and + * 192Kb of SRAM. SRAM is split up into three blocks: + * + * 1) 112Kb of SRAM beginning at address 0x2000:0000 + * 2) 16Kb of SRAM beginning at address 0x2001:c000 + * 3) 64Kb of CCM SRAM beginning at address 0x1000:0000 + * + * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000 + * where the code expects to begin execution by jumping to the entry point in + * the 0x0800:0000 address range. + * + * The first 16 KiB of flash is reserved for the bootloader. + * Paramater storage will use the next 2 16KiB Sectors. + */ + +MEMORY +{ + flash (rx) : ORIGIN = 0x0800C000, LENGTH = 976K + sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K + ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K +} + +OUTPUT_ARCH(arm) + +ENTRY(__start) /* treat __start as the anchor for dead code stripping */ +EXTERN(_vectors) /* force the vectors to be included in the output */ + +/* + * Ensure that abort() is present in the final object. The exception handling + * code pulled in by libgcc.a requires it (and that code cannot be easily avoided). + */ +EXTERN(abort) + +SECTIONS +{ + .text : { + _stext = ABSOLUTE(.); + *(.vectors) + *(.text .text.*) + *(.fixup) + *(.gnu.warning) + *(.rodata .rodata.*) + *(.gnu.linkonce.t.*) + *(.got) + *(.gcc_except_table) + *(.gnu.linkonce.r.*) + _etext = ABSOLUTE(.); + + /* + * This is a hack to make the newlib libm __errno() call + * use the NuttX get_errno_ptr() function. + */ + __errno = get_errno_ptr; + } > flash + + /* + * Init functions (static constructors and the like) + */ + .init_section : { + _sinit = ABSOLUTE(.); + KEEP(*(.init_array .init_array.*)) + _einit = ABSOLUTE(.); + } > flash + + /* + * Construction data for parameters. + */ + __param ALIGN(4): { + __param_start = ABSOLUTE(.); + KEEP(*(__param*)) + __param_end = ABSOLUTE(.); + } > flash + + .ARM.extab : { + *(.ARM.extab*) + } > flash + + __exidx_start = ABSOLUTE(.); + .ARM.exidx : { + *(.ARM.exidx*) + } > flash + __exidx_end = ABSOLUTE(.); + + _eronly = ABSOLUTE(.); + + .data : { + _sdata = ABSOLUTE(.); + *(.data .data.*) + *(.gnu.linkonce.d.*) + CONSTRUCTORS + _edata = ABSOLUTE(.); + } > sram AT > flash + + .bss : { + _sbss = ABSOLUTE(.); + *(.bss .bss.*) + *(.gnu.linkonce.b.*) + *(COMMON) + _ebss = ABSOLUTE(.); + } > sram + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_info 0 : { *(.debug_info) } + .debug_line 0 : { *(.debug_line) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_aranges 0 : { *(.debug_aranges) } +} diff --git a/nuttx-configs/asc-v1/src/Makefile b/nuttx-configs/asc-v1/src/Makefile new file mode 100644 index 0000000000..8f86d0ada1 --- /dev/null +++ b/nuttx-configs/asc-v1/src/Makefile @@ -0,0 +1,84 @@ +############################################################################ +# configs/tap-v1/src/Makefile +# +# Copyright (C) 2013 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. +# +############################################################################ + +-include $(TOPDIR)/Make.defs + +CFLAGS += -I$(TOPDIR)/sched + +ASRCS = +AOBJS = $(ASRCS:.S=$(OBJEXT)) + +CSRCS = empty.c +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src +ifeq ($(WINTOOL),y) + CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \ + -I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}" +else + CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m +endif + +all: libboard$(LIBEXT) + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +libboard$(LIBEXT): $(OBJS) + $(call ARCHIVE, $@, $(OBJS)) + +.depend: Makefile $(SRCS) + $(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + $(Q) touch $@ + +depend: .depend + +clean: + $(call DELFILE, libboard$(LIBEXT)) + $(call CLEAN) + +distclean: clean + $(call DELFILE, Make.dep) + $(call DELFILE, .depend) + +-include Make.dep + diff --git a/nuttx-configs/asc-v1/src/empty.c b/nuttx-configs/asc-v1/src/empty.c new file mode 100644 index 0000000000..5de10699fb --- /dev/null +++ b/nuttx-configs/asc-v1/src/empty.c @@ -0,0 +1,4 @@ +/* + * There are no source files here, but libboard.a can't be empty, so + * we have this empty source file to keep it company. + */ diff --git a/src/drivers/boards/asc-v1/CMakeLists.txt b/src/drivers/boards/asc-v1/CMakeLists.txt new file mode 100644 index 0000000000..b2558c05ca --- /dev/null +++ b/src/drivers/boards/asc-v1/CMakeLists.txt @@ -0,0 +1,49 @@ +############################################################################ +# +# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# Author: David Sidrane +# +# 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. +# +############################################################################ +px4_add_module( + MODULE drivers__boards__asc-v1 + COMPILE_FLAGS + -Os + SRCS + ../common/board_name.c + asc_init.c + asc_pwr.c + asc_timer_config.c + asc_spi.c + asc_usb.c + asc_led.c + DEPENDS + platforms__common + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/drivers/boards/asc-v1/asc_init.c b/src/drivers/boards/asc-v1/asc_init.c new file mode 100644 index 0000000000..2d7f07df3d --- /dev/null +++ b/src/drivers/boards/asc-v1/asc_init.c @@ -0,0 +1,230 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * 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 tap-v1_init.c + * + * tap-v1-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 + +#include +#include +#include +#include + +#include +#include +#include + + + +#include "stm32.h" +#include "board_config.h" +#include "stm32_uart.h" + +#include + +#include +#include + +#include + +# if defined(FLASH_BASED_PARAMS) +# include +#endif + +/**************************************************************************** + * 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 + +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + +/**************************************************************************** + * 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) +{ + /* Hold power state */ + + board_pwr_init(0); + + /* TEMP ctrl Off (active high, init is clear) */ + + stm32_configgpio(GPIO_TEMP_CONT); + + + /* Select 0 */ + + stm32_configgpio(GPIO_S0); + stm32_configgpio(GPIO_S1); + stm32_configgpio(GPIO_S2); + + /* Radio Off (active low, init is set) */ + + stm32_configgpio(GPIO_PCON_RADIO); + + + /* configure always-on ADC pins */ + + stm32_configgpio(GPIO_ADC1_IN10); + + + /* configure SPI interfaces */ + + stm32_spiinitialize(); + + /* configure LEDs (empty call to NuttX' ledinit) */ + + up_ledinit(); +} + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization + * + ****************************************************************************/ + +__EXPORT int nsh_archinitialize(void) +{ + int result; + + /* 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); + + board_pwr_init(1); + + /* initial LED state */ + drv_led_start(); + led_off(LED_AMBER); + led_off(LED_BLUE); + +#if defined(FLASH_BASED_PARAMS) + static sector_descriptor_t sector_map[] = { + {1, 16 * 1024, 0x08004000}, + {2, 16 * 1024, 0x08008000}, + {0, 0, 0}, + }; + + /* Initalizee the flashfs layer to use heap allocated memory */ + + result = parameter_flashfs_init(sector_map, NULL, 0); + + if (result != OK) { + message("[boot] FAILED to init params in FLASH %d\n", result); + up_ledon(LED_AMBER); + return -ENODEV; + } + +#endif + + return OK; +} diff --git a/src/drivers/boards/asc-v1/asc_led.c b/src/drivers/boards/asc-v1/asc_led.c new file mode 100644 index 0000000000..b09d04216c --- /dev/null +++ b/src/drivers/boards/asc-v1/asc_led.c @@ -0,0 +1,107 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * 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 tap-v1_led.c + * + * TAP_V1 LED backend. + */ + +#include + +#include + +#include "stm32.h" +#include "board_config.h" + +#include + +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(void); +extern void led_on(int led); +extern void led_off(int led); +extern void led_toggle(int led); +__END_DECLS + +__EXPORT void led_init(void) +{ + /* Configure LED1-2 GPIOs for output */ + + stm32_configgpio(GPIO_BLUE_LED); + stm32_configgpio(GPIO_RED_LED); +} + +__EXPORT void led_on(int led) +{ + if (led == 0) { + /* Pull down to switch on */ + stm32_gpiowrite(GPIO_BLUE_LED, false); + } + + if (led == 1) { + /* Pull down to switch on */ + stm32_gpiowrite(GPIO_RED_LED, false); + } +} + +__EXPORT void led_off(int led) +{ + if (led == 0) { + /* Pull up to switch off */ + stm32_gpiowrite(GPIO_BLUE_LED, true); + } + + if (led == 1) { + /* Pull up to switch off */ + stm32_gpiowrite(GPIO_RED_LED, true); + } +} + +__EXPORT void led_toggle(int led) +{ + if (led == 0) { + stm32_gpiowrite(GPIO_BLUE_LED, !stm32_gpioread(GPIO_BLUE_LED)); + } + + if (led == 1) { + stm32_gpiowrite(GPIO_RED_LED, !stm32_gpioread(GPIO_RED_LED)); + } +} diff --git a/src/drivers/boards/asc-v1/asc_pwr.c b/src/drivers/boards/asc-v1/asc_pwr.c new file mode 100644 index 0000000000..04b232a223 --- /dev/null +++ b/src/drivers/boards/asc-v1/asc_pwr.c @@ -0,0 +1,167 @@ +/**************************************************************************** + * + * Copyright (c) 2016 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * 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 tap-v1_pwr.c + * + * Board-specific SPI functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include + +#include "up_arch.h" +#include "board_config.h" +#include + +extern void led_on(int led); +extern void led_off(int led); + +/************************************************************************************ + * Private Data + ************************************************************************************/ + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +static int board_button_irq(int irq, FAR void *context) +{ + static struct timespec time_down; + + if (board_pwr_button_down()) { + + led_on(BOARD_LED_RED); + + clock_gettime(CLOCK_REALTIME, &time_down); + + } else { + + led_off(BOARD_LED_RED); + + struct timespec now; + + clock_gettime(CLOCK_REALTIME, &now); + + uint64_t tdown_ms = time_down.tv_sec * 1000 + time_down.tv_nsec / 1000000; + + uint64_t tnow_ms = now.tv_sec * 1000 + now.tv_nsec / 1000000; + + if (tdown_ms != 0 && (tnow_ms - tdown_ms) >= MS_PWR_BUTTON_DOWN) { + + led_on(BOARD_LED_BLUE); + + up_mdelay(750); + stm32_pwr_enablebkp(); + /* XXX wow, this is evil - write a magic number into backup register zero */ + *(uint32_t *)0x40002850 = 0xdeaddead; + up_mdelay(750); + up_systemreset(); + + while (1); + } + } + + return OK; +} + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: board_pwr_init() + * + * Description: + * Called to configure power control for the tap-v1 board. + * + * Input Parameters: + * stage- 0 for boot, 1 for board init + * + ************************************************************************************/ + +void board_pwr_init(int stage) +{ + if (stage == 0) { + stm32_configgpio(POWER_ON_GPIO); + stm32_configgpio(KEY_AD_GPIO); + } + + if (stage == 1) { + stm32_gpiosetevent(KEY_AD_GPIO, true, true, true, board_button_irq); + } +} + +/**************************************************************************** + * Name: board_pwr_button_down + * + * Description: + * Called to Read the logical state of the active low power button. + * + ****************************************************************************/ + +bool board_pwr_button_down(void) +{ + return 0 == stm32_gpioread(KEY_AD_GPIO); +} + +/**************************************************************************** + * Name: board_pwr + * + * Description: + * Called to turn on or off the TAP + * + ****************************************************************************/ + +void board_pwr(bool on_not_off) +{ + if (on_not_off) { + stm32_configgpio(POWER_ON_GPIO); + + } else { + + stm32_configgpio(POWER_OFF_GPIO); + } +} diff --git a/src/drivers/boards/asc-v1/asc_spi.c b/src/drivers/boards/asc-v1/asc_spi.c new file mode 100644 index 0000000000..b7a6c2c59e --- /dev/null +++ b/src/drivers/boards/asc-v1/asc_spi.c @@ -0,0 +1,88 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * 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 tap-v1_spi.c + * + * Board-specific SPI functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include + +#include +#include + +#include "up_arch.h" +#include "chip.h" +#include "stm32.h" +#include "board_config.h" + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_spiinitialize + * + * Description: + * Called to configure SPI chip select GPIO pins for the tap-v1 board. + * + ************************************************************************************/ + +__EXPORT void stm32_spiinitialize(void) +{ + stm32_configgpio(GPIO_SPI_CS_SDCARD); + stm32_configgpio(GPIO_SPI_SD_SW); +} + + +__EXPORT void stm32_spi2select(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_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid) +{ + return !stm32_gpioread(GPIO_SPI_SD_SW); +} + diff --git a/src/drivers/boards/asc-v1/asc_timer_config.c b/src/drivers/boards/asc-v1/asc_timer_config.c new file mode 100644 index 0000000000..0d43e7931c --- /dev/null +++ b/src/drivers/boards/asc-v1/asc_timer_config.c @@ -0,0 +1,133 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * 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 tap-v1_timer_config.c + * + * Configuration data for the stm32 pwm_servo, input capture and pwm input driver. + * + * Note that these arrays must always be fully-sized. + */ + +#include + +#include +#include +#include + +#include +#include + +#include "board_config.h" + +__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = { + { + .base = STM32_TIM3_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM3EN, + .clock_freq = STM32_APB1_TIM3_CLKIN, + .first_channel_index = 0, + .last_channel_index = 3, + .handler = io_timer_handler0, + .vectorno = STM32_IRQ_TIM3, + } +}; + +__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { + { + .gpio_out = GPIO_TIM3_CH1OUT, + .gpio_in = 0, + .timer_index = 0, + .timer_channel = 1, + .ccr_offset = STM32_GTIM_CCR1_OFFSET, + .masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF + }, + { + .gpio_out = GPIO_TIM3_CH2OUT, + .gpio_in = 0, + .timer_index = 0, + .timer_channel = 2, + .ccr_offset = STM32_GTIM_CCR2_OFFSET, + .masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF + }, + { + .gpio_out = GPIO_TIM3_CH3OUT, + .gpio_in = 0, + .timer_index = 0, + .timer_channel = 3, + .ccr_offset = STM32_GTIM_CCR3_OFFSET, + .masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF + }, + { + .gpio_out = GPIO_TIM3_CH4OUT, + .gpio_in = 0, + .timer_index = 0, + .timer_channel = 4, + .ccr_offset = STM32_GTIM_CCR4_OFFSET, + .masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF + } +}; + +__EXPORT const struct io_timers_t led_pwm_timers[1] = { + { + .base = STM32_TIM3_BASE, + .clock_register = STM32_RCC_APB1ENR, + .clock_bit = RCC_APB1ENR_TIM3EN, + .clock_freq = STM32_APB1_TIM3_CLKIN, + .vectorno = STM32_IRQ_TIM3, + .first_channel_index = 0, + .last_channel_index = 2, + } +}; + +__EXPORT const struct timer_io_channels_t led_pwm_channels[3] = { + { + .gpio_out = LED_TIM3_CH1OUT, + .gpio_in = 0, + .timer_index = 0, + .timer_channel = 1, + }, + { + .gpio_out = LED_TIM3_CH2OUT, + .gpio_in = 0, + .timer_index = 0, + .timer_channel = 2, + }, + { + .gpio_out = LED_TIM3_CH3OUT, + .gpio_in = 0, + .timer_index = 0, + .timer_channel = 3, + } +}; diff --git a/src/drivers/boards/asc-v1/asc_usb.c b/src/drivers/boards/asc-v1/asc_usb.c new file mode 100644 index 0000000000..2afd1e44e4 --- /dev/null +++ b/src/drivers/boards/asc-v1/asc_usb.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. + * Author: David Sidrane + * + * 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 tap-v1_usb.c + * + * Board-specific USB functions. + */ + +/************************************************************************************ + * Included Files + ************************************************************************************/ + +#include + +#include +#include +#include +#include + +#include +#include + +#include "up_arch.h" +#include "stm32.h" +#include "board_config.h" + +/************************************************************************************ + * Definitions + ************************************************************************************/ + +/************************************************************************************ + * Private Functions + ************************************************************************************/ + +/************************************************************************************ + * Public Functions + ************************************************************************************/ + +/************************************************************************************ + * Name: stm32_usbinitialize + * + * Description: + * Called to setup USB-related GPIO pins for the tap-v1 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); +#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); +} + diff --git a/src/drivers/boards/asc-v1/board_config.h b/src/drivers/boards/asc-v1/board_config.h new file mode 100644 index 0000000000..dda097b231 --- /dev/null +++ b/src/drivers/boards/asc-v1/board_config.h @@ -0,0 +1,347 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2016 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 board_config.h + * + * @author David Sidrane + * @author Lorenz Meier + * + * TAP_V1 internal definitions + */ + +#pragma once + +/**************************************************************************************************** + * Included Files + ****************************************************************************************************/ + +#include +#include +#include + +__BEGIN_DECLS + +/* these headers are not C++ safe */ +#include +#include + +/**************************************************************************************************** + * Definitions + ****************************************************************************************************/ +/* Configuration ************************************************************************************/ + +#define UDID_START 0x1FFF7A10 + +/* PX4FMU GPIOs ***********************************************************************************/ +/* LEDs + * + * PC4 BLUE_LED D4 Blue LED cathode + * PC5 RED_LED D5 Red LED cathode +*/ + +#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4) +#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5) +#define GPIO_BLUE_LED GPIO_LED1 +#define GPIO_RED_LED GPIO_LED2 +/* + * SPI + * + * Peripheral Port Signal Name CONN + * SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS + * SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK + * SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0 + * SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI + * + * PC2 SD_SW SD-9 SW + * + */ +#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12) +#define GPIO_SPI_SD_SW (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN2) + + +/* + * I2C busses + * + * Peripheral Port Signal Name CONN + * I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507 + * I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507 + * + * I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32 + * I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30 + * + * I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28 + * I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26 + * + */ +#define PX4_I2C_BUS_ONBOARD 1 +#define PX4_I2C_BUS_SONAR 2 +#define PX4_I2C_BUS_EXPANSION 3 + +#define PX4_I2C_OBDEV_HMC5883 0x1e + +/* + * Devices on the onboard bus. + * + * Note that these are unshifted addresses (not includinf R/W). + */ + +/* todo: + * Cannot tell from the schematic if there is one or 2 MPU6050 + * The slave address of the MPU-60X0 is b110100X which is 7 bits long. + * The LSB bit of the 7 bit address is determined by the logic level + * on pin AD0. This allows two MPU-60X0s to be connected to the same I2C bus. + * When used in this configuration, the address of the one of the devices + * should be b1101000 (pin AD0 is logic low) and the address of the other + * should be b1101001 (pin AD0 is logic high). + */ +#define PX4_I2C_ON_BOARD_MPU6050_ADDRS {0x68,0x69} + + +/* + * ADC channels + * + * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver + * PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105 + * + */ +#define ADC_CHANNELS (1 << 10) +/* todo:Revisit - cannnot tell from schematic - some could be ADC */ + +// ADC defines to be used in sensors.cpp to read from a particular channel +#define ADC_BATTERY_VOLTAGE_CHANNEL 10 +#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1)) + + +/* User GPIOs + * + * TIM3_CH1 PA6 LED_R JP2-23,24 + * TIM3_CH2 PA7 LED_G JP2-25,26 + * TIM3_CH3 PB0 LED_B JP2-27,28 + * TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22 + * + * I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32 + * I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30 + * + */ +#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN6) +#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN7) +#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1) +#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN10) +#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN11) + +#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6) +#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7) +#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0) +#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1) +#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10) +#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11) + +/* + * Tone alarm output + */ +/* todo:Revisit - cannnot tell from schematic - one could be tone alarm*/ +#define TONE_ALARM_TIMER 8 /* timer 8 */ +#define TONE_ALARM_CHANNEL 3 /* channel 3 */ +#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8) +#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8) + +/* + * PWM + * + * Four PWM outputs can be configured on pins + * + * + * Peripheral Port Signal Name CONN + * TIM3_CH1 PA6 LED_R JP2-23,24 + * TIM3_CH2 PA7 LED_G JP2-25,26 + * TIM3_CH3 PB0 LED_B JP2-27,28 + * TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22 + * + */ +#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_1 +#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_1 +#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1 +#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1 +#define DIRECT_PWM_OUTPUT_CHANNELS 4 + +#define BOARD_HAS_LED_PWM +#define LED_TIM3_CH1OUT GPIO_TIM3_CH1OUT +#define LED_TIM3_CH2OUT GPIO_TIM3_CH2OUT +#define LED_TIM3_CH3OUT GPIO_TIM3_CH3OUT + + +/* 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) + +/* High-resolution timer + */ +#define HRT_TIMER 1 /* use timer1 for the HRT */ +#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */ + +#define BOARD_NAME "TAP_V1" + +/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC + * system_power interface, and herefore provides the true logic + * GPIO BOARD_ADC_xxxx macros. + */ +#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS)) +#define BOARD_ADC_BRICK_VALID (1) +#define BOARD_ADC_SERVO_VALID (1) +#define BOARD_ADC_PERIPH_5V_OC (0) +#define BOARD_ADC_HIPOWER_5V_OC (0) + +#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS + +#define BOARD_FMU_GPIO_TAB { \ + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \ + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \ + {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \ + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, \ + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, 0}, \ + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, 0}, } + + +#define MS_PWR_BUTTON_DOWN 750 +#define KEY_AD_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN1) +#define POWER_ON_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) +#define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN4) + +#define GPIO_S0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15) +#define GPIO_S1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14) +#define GPIO_S2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13) + +#define GPIO_PCON_RADIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3) +#define RF_RADIO_CONTOL(_on_true) px4_arch_gpiowrite(GPIO_PCON_RADIO, !(_on_true)) + +#define GPIO_TEMP_CONT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4) +#define TEMP_CONTROL(_on_true) px4_arch_gpiowrite(GPIO_TEMP_CONT, (_on_true)) + +#define FLASH_BASED_PARAMS +/**************************************************************************************************** + * 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); + +#define board_spi_reset(ms) +#define board_peripheral_reset(ms) + +extern void stm32_usbinitialize(void); + +/************************************************************************************ + * Name: board_sdio_initialize + * + * Description: + * Called to configure SDIO. + * + ************************************************************************************/ + +extern int board_sdio_initialize(void); + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization for NSH. + * + * CONFIG_NSH_ARCHINIT=y : + * Called from the NSH library + * + * CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, && + * CONFIG_NSH_ARCHINIT=n : + * Called from board_initialize(). + * + ****************************************************************************/ + +#ifdef CONFIG_NSH_LIBRARY +int nsh_archinitialize(void); +#endif + + +/************************************************************************************ + * Name: board_pwr_init() + * + * Description: + * Called to configure power control for the tap-v1 board. + * + * Input Parameters: + * stage- 0 for boot, 1 for board init + * + ************************************************************************************/ + +void board_pwr_init(int stage); + +/**************************************************************************** + * Name: board_pwr_button_down + * + * Description: + * Called to Read the logical state of the power button + ****************************************************************************/ + +bool board_pwr_button_down(void); + +/**************************************************************************** + * Name: board_pwr + * + * Description: + * Called to turn on or off the TAP + * + ****************************************************************************/ + +void board_pwr(bool on_not_off); + +#endif /* __ASSEMBLY__ */ +__END_DECLS diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h index 6b600fbe2d..27ae59bd02 100644 --- a/src/drivers/drv_gpio.h +++ b/src/drivers/drv_gpio.h @@ -155,6 +155,10 @@ /* no GPIO driver on the PX4_STM32F4DISCOVERY board */ #endif +#ifdef CONFIG_ARCH_BOARD_ASC_V1 +/* no GPIO driver on the ASC board */ +#endif + #ifdef CONFIG_ARCH_BOARD_SITL /* no GPIO driver on the SITL configuration */ #endif @@ -164,7 +168,7 @@ !defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \ !defined(CONFIG_ARCH_BOARD_MINDPX_V2) && \ !defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && !defined(CONFIG_ARCH_BOARD_SITL) && \ - !defined(CONFIG_ARCH_BOARD_TAP_V1) + !defined(CONFIG_ARCH_BOARD_TAP_V1) && !defined(CONFIG_ARCH_BOARD_ASC_V1) # error No CONFIG_ARCH_BOARD_xxxx set #endif /*