forked from Archive/PX4-Autopilot
Add platform-specific IO firmware for HEX autopilots.
This commit is contained in:
Mirko Denecke
Daniel Agar
parent
2581badabd
commit
57968c6e27
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@ -0,0 +1,12 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR hex
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MODEL io-v2
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TOOLCHAIN arm-none-eabi
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CONSTRAINED_FLASH
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ARCHITECTURE cortex-m3
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DRIVERS
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MODULES
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px4iofirmware
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)
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@ -0,0 +1,13 @@
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{
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"board_id": 10,
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"magic": "PX4FWv2",
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"description": "Firmware for the PX4IOv2 board",
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"image": "",
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"build_time": 0,
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"summary": "PX4IOv2",
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"version": "2.0",
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"image_size": 0,
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"image_maxsize": 61440,
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"git_identity": "",
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"board_revision": 0
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}
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@ -0,0 +1,141 @@
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/************************************************************************************
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* nuttx-configs/px4io/include/board.h
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* include/arch/board/board.h
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*
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* Copyright (C) 2009 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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
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||||
* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#ifndef __ARCH_BOARD_BOARD_H
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#define __ARCH_BOARD_BOARD_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#ifndef __ASSEMBLY__
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# include <stdint.h>
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#endif
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#include <stm32.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* On-board crystal frequency is 24MHz (HSE) */
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#define STM32_BOARD_XTAL 24000000ul
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/* Use the HSE output as the system clock */
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#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE
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#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE
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#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL
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/* AHB clock (HCLK) is SYSCLK (24MHz) */
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#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
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#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
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#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
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/* APB2 clock (PCLK2) is HCLK (24MHz) */
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#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
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#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
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#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */
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/* APB2 timer 1 will receive PCLK2. */
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#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM15_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM16_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM17_CLKIN (STM32_PCLK2_FREQUENCY)
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/* APB1 clock (PCLK1) is HCLK (24MHz) */
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#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY)
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/* All timers run off PCLK */
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#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM5_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM6_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM7_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM12_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM13_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM14_CLKIN (STM32_PCLK1_FREQUENCY)
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
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* otherwise frequency is 2xAPBx.
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* Note: TIM1, 15-17 are on APB2, others on APB1
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*/
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
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#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
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#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
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#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
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#define BOARD_TIM15_FREQUENCY STM32_APB2_TIM15_CLKIN
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#define BOARD_TIM16_FREQUENCY STM32_APB2_TIM16_CLKIN
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#define BOARD_TIM17_FREQUENCY STM32_APB2_TIM17_CLKIN
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/*
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* Some of the USART pins are not available; override the GPIO
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* definitions with an invalid pin configuration.
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*/
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#undef GPIO_USART2_CTS
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#define GPIO_USART2_CTS 0xffffffff
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#undef GPIO_USART2_RTS
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#define GPIO_USART2_RTS 0xffffffff
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#undef GPIO_USART2_CK
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#define GPIO_USART2_CK 0xffffffff
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#undef GPIO_USART3_CK
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#define GPIO_USART3_CK 0xffffffff
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#undef GPIO_USART3_CTS
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#define GPIO_USART3_CTS 0xffffffff
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#undef GPIO_USART3_RTS
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#define GPIO_USART3_RTS 0xffffffff
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#endif /* __ARCH_BOARD_BOARD_H */
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@ -0,0 +1,70 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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# CONFIG_DEV_NULL is not set
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD_CUSTOM=y
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
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CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
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CONFIG_ARCH_CHIP="stm32"
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CONFIG_ARCH_CHIP_STM32=y
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CONFIG_ARCH_CHIP_STM32F100C8=y
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CONFIG_ARMV7M_USEBASEPRI=y
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CONFIG_BOARD_LOOPSPERMSEC=2000
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CONFIG_C99_BOOL8=y
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_DEFAULT_SMALL=y
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CONFIG_DISABLE_MOUNTPOINT=y
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CONFIG_DISABLE_MQUEUE=y
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CONFIG_DISABLE_PTHREAD=y
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CONFIG_FDCLONE_DISABLE=y
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CONFIG_FDCLONE_STDIO=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_IDLETHREAD_STACKSIZE=280
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CONFIG_MAX_TASKS=2
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CONFIG_MAX_WDOGPARMS=2
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CONFIG_MM_FILL_ALLOCATIONS=y
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CONFIG_MM_SMALL=y
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CONFIG_NAME_MAX=12
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CONFIG_NFILE_DESCRIPTORS=3
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CONFIG_NFILE_STREAMS=0
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CONFIG_PREALLOC_TIMERS=0
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CONFIG_PREALLOC_WDOGS=1
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CONFIG_RAM_SIZE=8192
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CONFIG_RAM_START=0x20000000
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CONFIG_RAW_BINARY=y
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CONFIG_SDCLONE_DISABLE=y
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CONFIG_SERIAL_TERMIOS=y
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CONFIG_STACK_COLORATION=y
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CONFIG_START_DAY=30
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CONFIG_START_MONTH=11
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CONFIG_STDIO_DISABLE_BUFFERING=y
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CONFIG_STM32_ADC1=y
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CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
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CONFIG_STM32_DMA1=y
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CONFIG_STM32_JTAG_SW_ENABLE=y
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CONFIG_STM32_USART1=y
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CONFIG_STM32_USART2=y
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CONFIG_STM32_USART3=y
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CONFIG_STM32_USART_SINGLEWIRE=y
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CONFIG_TASK_NAME_SIZE=0
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CONFIG_USART1_RXBUFSIZE=64
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CONFIG_USART1_RXDMA=y
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CONFIG_USART1_SERIAL_CONSOLE=y
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CONFIG_USART1_TXBUFSIZE=32
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CONFIG_USART2_RXBUFSIZE=64
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CONFIG_USART2_TXBUFSIZE=64
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CONFIG_USART3_RXBUFSIZE=64
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CONFIG_USART3_RXDMA=y
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CONFIG_USART3_TXBUFSIZE=64
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CONFIG_USEC_PER_TICK=1000
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CONFIG_USERMAIN_STACKSIZE=1100
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CONFIG_USER_ENTRYPOINT="user_start"
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CONFIG_WDOG_INTRESERVE=0
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@ -0,0 +1,136 @@
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/****************************************************************************
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* configs/px4io-v2/scripts/ld.script
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*
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||||
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
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||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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||||
*
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||||
* 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 STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 8Kb of SRAM beginning at address 0x2000:0000. 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.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
|
||||
}
|
||||
|
||||
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.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.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
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
/* The STM32F100CB has 8Kb of SRAM beginning at the following address */
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
. = ALIGN(4);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_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) }
|
||||
}
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
add_library(drivers_board
|
||||
init.c
|
||||
timer_config.cpp
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch
|
||||
)
|
||||
|
|
@ -0,0 +1,170 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 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
|
||||
*
|
||||
* PX4IOV2 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/******************************************************************************
|
||||
* Included Files
|
||||
******************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
/******************************************************************************
|
||||
* Definitions
|
||||
******************************************************************************/
|
||||
/* Configuration **************************************************************/
|
||||
|
||||
/******************************************************************************
|
||||
* Serial
|
||||
******************************************************************************/
|
||||
#define PX4FMU_SERIAL_BASE STM32_USART2_BASE
|
||||
#define PX4FMU_SERIAL_VECTOR STM32_IRQ_USART2
|
||||
#define PX4FMU_SERIAL_TX_GPIO GPIO_USART2_TX
|
||||
#define PX4FMU_SERIAL_RX_GPIO GPIO_USART2_RX
|
||||
#define PX4FMU_SERIAL_TX_DMA DMACHAN_USART2_TX
|
||||
#define PX4FMU_SERIAL_RX_DMA DMACHAN_USART2_RX
|
||||
#define PX4FMU_SERIAL_CLOCK STM32_PCLK1_FREQUENCY
|
||||
#define PX4FMU_SERIAL_BITRATE 1500000
|
||||
|
||||
/******************************************************************************
|
||||
* GPIOS
|
||||
******************************************************************************/
|
||||
|
||||
/* LEDS **********************************************************************/
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
|
||||
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
|
||||
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
|
||||
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN11)
|
||||
|
||||
#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
|
||||
|
||||
#define GPIO_PC14 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_PC15 (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
|
||||
|
||||
/* PixHawk 1:
|
||||
* PC14 Floating
|
||||
* PC15 Floating
|
||||
*
|
||||
* PixHawk 2:
|
||||
* PC14 3.3v
|
||||
* PC15 GND
|
||||
*/
|
||||
|
||||
#define GPIO_SENSE_PC14_DN (GPIO_INPUT|GPIO_CNF_INPULLDWN|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_SENSE_PC15_UP (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTC|GPIO_PIN15)
|
||||
# define SENSE_PH1 0b10 /* Floating pulled as set */
|
||||
# define SENSE_PH2 0b01 /* Driven as tied */
|
||||
|
||||
#define GPIO_HEATER_OFF (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
|
||||
|
||||
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)
|
||||
|
||||
/* Safety switch button *******************************************************/
|
||||
|
||||
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
|
||||
|
||||
/* Power switch controls ******************************************************/
|
||||
|
||||
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_on_true))
|
||||
|
||||
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
|
||||
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
|
||||
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
|
||||
|
||||
#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
/* Analog inputs **************************************************************/
|
||||
|
||||
#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
/* the same rssi signal goes to both an adc and a timer input */
|
||||
#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
|
||||
#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12)
|
||||
|
||||
/* PWM pins **************************************************************/
|
||||
|
||||
#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8)
|
||||
|
||||
#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
||||
#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
|
||||
#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
|
||||
#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
|
||||
#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
|
||||
/* SBUS pins *************************************************************/
|
||||
|
||||
/* XXX these should be UART pins */
|
||||
#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11)
|
||||
#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
|
||||
|
||||
/*
|
||||
* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
|
||||
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 PA8 */
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* PX4 has two LEDs that we will encode as: */
|
||||
|
||||
#define LED_STARTED 0 /* LED? */
|
||||
#define LED_HEAPALLOCATE 1 /* LED? */
|
||||
#define LED_IRQSENABLED 2 /* LED? + LED? */
|
||||
#define LED_STACKCREATED 3 /* LED? */
|
||||
#define LED_INIRQ 4 /* LED? + LED? */
|
||||
#define LED_SIGNAL 5 /* LED? + LED? */
|
||||
#define LED_ASSERTION 6 /* LED? + LED? + LED? */
|
||||
#define LED_PANIC 7 /* N/C + N/C + N/C + LED? */
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 3
|
||||
|
||||
#define BOARD_DISABLE_I2C_SPI
|
||||
|
|
@ -0,0 +1,165 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4iov2_init.c
|
||||
*
|
||||
* PX4FMU-specific early startup code. This file implements the
|
||||
* stm32_boardinitialize() function that is called during cpu startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
|
||||
/* configure GPIOs */
|
||||
|
||||
/* Set up for sensing HW */
|
||||
|
||||
stm32_configgpio(GPIO_SENSE_PC14_DN);
|
||||
stm32_configgpio(GPIO_SENSE_PC15_UP);
|
||||
|
||||
/* LEDS - default to off */
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
stm32_configgpio(GPIO_LED2);
|
||||
stm32_configgpio(GPIO_LED3);
|
||||
stm32_configgpio(GPIO_LED4);
|
||||
|
||||
/* PixHawk 1:
|
||||
* PC14 Floating
|
||||
* PC15 Floating
|
||||
*
|
||||
* PixHawk 2:
|
||||
* PC14 3.3v
|
||||
* PC15 GND
|
||||
*/
|
||||
|
||||
uint8_t sense = stm32_gpioread(GPIO_SENSE_PC15_UP) << 1 | stm32_gpioread(GPIO_SENSE_PC14_DN);
|
||||
|
||||
if (sense == SENSE_PH2) {
|
||||
stm32_configgpio(GPIO_HEATER_OFF);
|
||||
}
|
||||
|
||||
stm32_configgpio(GPIO_PC14);
|
||||
stm32_configgpio(GPIO_PC15);
|
||||
|
||||
|
||||
stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
|
||||
/* spektrum power enable is active high - enable it by default */
|
||||
stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
|
||||
|
||||
stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
|
||||
|
||||
/* RSSI inputs */
|
||||
stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
|
||||
stm32_configgpio(GPIO_ADC_RSSI);
|
||||
|
||||
/* servo rail voltage */
|
||||
stm32_configgpio(GPIO_ADC_VSERVO);
|
||||
|
||||
stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
|
||||
stm32_configgpio(GPIO_SBUS_OUTPUT);
|
||||
|
||||
/* sbus output enable is active low - disable it by default */
|
||||
stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
|
||||
stm32_configgpio(GPIO_SBUS_OENABLE);
|
||||
|
||||
stm32_configgpio(GPIO_PPM); /* xxx alternate function */
|
||||
|
||||
stm32_gpiowrite(GPIO_PWM1, true);
|
||||
stm32_configgpio(GPIO_PWM1);
|
||||
|
||||
stm32_gpiowrite(GPIO_PWM2, true);
|
||||
stm32_configgpio(GPIO_PWM2);
|
||||
|
||||
stm32_gpiowrite(GPIO_PWM3, true);
|
||||
stm32_configgpio(GPIO_PWM3);
|
||||
|
||||
stm32_gpiowrite(GPIO_PWM4, true);
|
||||
stm32_configgpio(GPIO_PWM4);
|
||||
|
||||
stm32_gpiowrite(GPIO_PWM5, true);
|
||||
stm32_configgpio(GPIO_PWM5);
|
||||
|
||||
stm32_gpiowrite(GPIO_PWM6, true);
|
||||
stm32_configgpio(GPIO_PWM6);
|
||||
|
||||
stm32_gpiowrite(GPIO_PWM7, true);
|
||||
stm32_configgpio(GPIO_PWM7);
|
||||
|
||||
stm32_gpiowrite(GPIO_PWM8, true);
|
||||
stm32_configgpio(GPIO_PWM8);
|
||||
}
|
||||
|
|
@ -0,0 +1,54 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer2),
|
||||
initIOTimer(Timer::Timer3),
|
||||
initIOTimer(Timer::Timer4),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortB, GPIO::Pin8}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortA, GPIO::Pin6}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortA, GPIO::Pin7}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
Loading…
Reference in New Issue