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px4-firmware
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Merged multirotor branch

This commit is contained in:
Lorenz Meier 2013-08-28 08:14:13 +02:00
parent e44d134c6c 66c61fbe96
commit 5fe3c49ba0
295 changed files with 20814 additions and 6660 deletions
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9
.gitignore vendored
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@ -19,14 +19,19 @@ Archives/*
Build/*
core
cscope.out
dot.gdbinit
Firmware.sublime-workspace
Images/*.bin
Images/*.px4
mavlink/include/mavlink/v0.9/
/nuttx-configs/px4io-v2/src/.depend
/nuttx-configs/px4io-v2/src/Make.dep
/nuttx-configs/px4io-v2/src/libboard.a
/nuttx-configs/px4io-v1/src/.depend
/nuttx-configs/px4io-v1/src/Make.dep
/nuttx-configs/px4io-v1/src/libboard.a
/NuttX
/Documentation/doxy.log
/Documentation/html/
/Documentation/doxygen*objdb*tmp
.tags
.tags_sorted_by_file
.tags_sorted_by_file

2
Debug/PX4
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@ -27,7 +27,7 @@ define _perf_print
# PC_COUNT
if $hdr->type == 0
set $count = (struct perf_ctr_count *)$hdr
printf "%llu events,\n", $count->event_count;
printf "%llu events\n", $count->event_count
end
# PC_ELPASED
if $hdr->type == 1

13
Debug/dot.gdbinit Normal file
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@ -0,0 +1,13 @@
# copy the file to .gdbinit in your Firmware tree, and adjust the path
# below to match your system
# For example:
# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00
# target extended /dev/ttyACM4
monitor swdp_scan
attach 1
monitor vector_catch disable hard
set mem inaccessible-by-default off
set print pretty
source Debug/PX4

22
Debug/olimex-px4fmu-debug.cfg Normal file
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@ -0,0 +1,22 @@
# program a bootable device load on a mavstation
# To run type openocd -f mavprogram.cfg
source [find interface/olimex-arm-usb-ocd-h.cfg]
source [find px4fmu-v1-board.cfg]
init
halt
# Find the flash inside this CPU
flash probe 0
# erase it (128 pages) then program and exit
#flash erase_sector 0 0 127
# stm32f1x mass_erase 0
# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around
#flash write_bank 0 fixed.bin 0
#flash write_image firmware.elf
#shutdown

21
Debug/openocd.gdbinit Normal file
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@ -0,0 +1,21 @@
target remote :3333
# Don't let GDB get confused while stepping
define hook-step
mon cortex_m maskisr on
end
define hookpost-step
mon cortex_m maskisr off
end
mon init
mon stm32_init
# mon reset halt
mon poll
mon cortex_m maskisr auto
set mem inaccessible-by-default off
set print pretty
source Debug/PX4
echo PX4 resumed, press ctrl-c to interrupt\n
continue

38
Debug/px4fmu-v1-board.cfg Normal file
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@ -0,0 +1,38 @@
# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
# increase working area to 32KB for faster flash programming
set WORKAREASIZE 0x8000
source [find target/stm32f4x.cfg]
# needed for px4
reset_config trst_only
proc stm32_reset {} {
reset halt
# FIXME - needed to init periphs on reset
# 0x40023800 RCC base
# 0x24 RCC_APB2 0x75933
# RCC_APB2 0
}
# perform init that is required on each connection to the target
proc stm32_init {} {
# force jtag to not shutdown during sleep
#uint32_t cr = getreg32(STM32_DBGMCU_CR);
#cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
#putreg32(cr, STM32_DBGMCU_CR);
mww 0xe0042004 00000007
}
# if srst is not fitted use SYSRESETREQ to
# perform a soft reset
cortex_m reset_config sysresetreq
# Let GDB directly program elf binaries
gdb_memory_map enable
# doesn't work yet
gdb_flash_program disable

5
Debug/runopenocd.sh Executable file
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@ -0,0 +1,5 @@
#!/bin/bash
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-v1-board.cfg

64
Debug/stm32f4x.cfg
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@ -1,64 +0,0 @@
# script for stm32f2xxx
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32f4xxx
}
if { [info exists ENDIAN] } {
set _ENDIAN $ENDIAN
} else {
set _ENDIAN little
}
# Work-area is a space in RAM used for flash programming
# By default use 64kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x10000
}
# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
#
# Since we may be running of an RC oscilator, we crank down the speed a
# bit more to be on the safe side. Perhaps superstition, but if are
# running off a crystal, we can run closer to the limit. Note
# that there can be a pretty wide band where things are more or less stable.
jtag_khz 1000
jtag_nsrst_delay 100
jtag_ntrst_delay 100
#jtag scan chain
if { [info exists CPUTAPID ] } {
set _CPUTAPID $CPUTAPID
} else {
# See STM Document RM0033
# Section 32.6.3 - corresponds to Cortex-M3 r2p0
set _CPUTAPID 0x4ba00477
}
jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
if { [info exists BSTAPID ] } {
set _BSTAPID $BSTAPID
} else {
# See STM Document RM0033
# Section 32.6.2
#
set _BSTAPID 0x06413041
}
jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME cortex_m3 -endian $_ENDIAN -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f2x 0 0 0 0 $_TARGETNAME
# if srst is not fitted use SYSRESETREQ to
# perform a soft reset
cortex_m3 reset_config sysresetreq

BIN
Documentation/flight_mode_state_machine.pdf
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BIN
Documentation/rc_mode_switch.odg
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Documentation/rc_mode_switch.pdf
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12
Images/px4fmu-v2.prototype Normal file
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@ -0,0 +1,12 @@
{
"board_id": 9,
"magic": "PX4FWv1",
"description": "Firmware for the PX4FMUv2 board",
"image": "",
"build_time": 0,
"summary": "PX4FMUv2",
"version": "0.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}

12
Images/px4io-v2.prototype Normal file
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@ -0,0 +1,12 @@
{
"board_id": 10,
"magic": "PX4FWv2",
"description": "Firmware for the PX4IOv2 board",
"image": "",
"build_time": 0,
"summary": "PX4IOv2",
"version": "2.0",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}

12
Images/px4iov2.prototype Normal file
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@ -0,0 +1,12 @@
{
"board_id": 10,
"magic": "PX4FWv2",
"description": "Firmware for the PX4IOv2 board",
"image": "",
"build_time": 0,
"summary": "PX4IOv2",
"version": "2.0",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}

55
Makefile
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@ -40,14 +40,16 @@ export PX4_BASE := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))/
include $(PX4_BASE)makefiles/setup.mk
#
# Canned firmware configurations that we build.
# Canned firmware configurations that we (know how to) build.
#
CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
KNOWN_CONFIGS := $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
CONFIGS ?= $(KNOWN_CONFIGS)
#
# Boards that we build NuttX export kits for.
# Boards that we (know how to) build NuttX export kits for.
#
BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
KNOWN_BOARDS := $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
BOARDS ?= $(KNOWN_BOARDS)
#
# Debugging
@ -87,10 +89,11 @@ endif
#
# Built products
#
STAGED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
all: $(STAGED_FIRMWARES)
all: $(DESIRED_FIRMWARES)
#
# Copy FIRMWARES into the image directory.
@ -114,13 +117,26 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
@$(ECHO) %%%%
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
$(Q) mkdir -p $(work_dir)
$(Q) make -r -C $(work_dir) \
$(Q) $(MKDIR) -p $(work_dir)
$(Q) $(MAKE) -r -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
CONFIG=$(config) \
WORK_DIR=$(work_dir) \
$(FIRMWARE_GOAL)
#
# Make FMU firmwares depend on the corresponding IO firmware.
#
# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
# and forces the _default config in all cases. There has to be a better way to do this...
#
FMU_VERSION = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
define FMU_DEP
$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
endef
FMU_CONFIGS := $(filter px4fmu%,$(CONFIGS))
$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
#
# Build the NuttX export archives.
#
@ -147,12 +163,12 @@ $(ARCHIVE_DIR)%.export: configuration = nsh
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(board)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
@$(ECHO) %% Exporting NuttX for $(board)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) mkdir -p $(dir $@)
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
$(Q) $(MKDIR) -p $(dir $@)
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
@ -168,11 +184,11 @@ BOARD = $(BOARDS)
menuconfig: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(BOARD)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
@$(ECHO) %% Running menuconfig for $(BOARD)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
$(Q) $(MAKE) -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
@$(ECHO) %% Saving configuration file
$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
else
@ -191,7 +207,7 @@ $(NUTTX_SRC):
# Testing targets
#
testbuild:
$(Q) (cd $(PX4_BASE) && make distclean && make archives && make -j8)
$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
#
# Cleanup targets. 'clean' should remove all built products and force
@ -206,7 +222,8 @@ clean:
.PHONY: distclean
distclean: clean
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) $(MAKE) -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && $(FIND) . -maxdepth 1 -type l -delete)
#
# Print some help text
@ -228,9 +245,9 @@ help:
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@$(ECHO) ""
@for config in $(CONFIGS); do \
echo " $$config"; \
echo " Build just the $$config firmware configuration."; \
echo ""; \
$(ECHO) " $$config"; \
$(ECHO) " Build just the $$config firmware configuration."; \
$(ECHO) ""; \
done
@$(ECHO) " clean"
@$(ECHO) " Remove all firmware build pieces."

81
ROMFS/px4fmu_common/init.d/01_fmu_quad_x
View File

@ -1,28 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU with PWM outputs.
#
# disable USB and autostart
set USB no
set MODE custom
echo "[init] doing PX4FMU Quad startup..."
#
# Start the ORB
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 01_fmu_quad_x: PX4FMU Quad X with PWM outputs"
#
# Load default params for this platform
@ -52,56 +30,35 @@ fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start the commander.
#
commander start
#
# Start GPS interface (depends on orb)
# Start PWM output
#
gps start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
echo "[init] starting PWM output"
fmu mode_pwm
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
pwm -u 400 -m 0xff
#
# Start attitude control
#
multirotor_att_control start
#
# Start logging
# Load mixer
#
sdlog2 start -r 50 -a -b 14
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm -u 400 -m 0xff
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

90
ROMFS/px4fmu_common/init.d/02_io_quad_x
View File

@ -1,26 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 02_io_quad_x: PX4FMU+PX4IO Quad X with PWM outputs"
#
# Load default params for this platform
@ -28,74 +8,40 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink (depends on orb)
# Start MAVLink
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
# Start and configure PX4IO interface
#
px4io limit 200
sh /etc/init.d/rc.io
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm -u 400 -m 0xff
multirotor_att_control start
#
# Start logging
# Start common for all multirotors apps
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi
sh /etc/init.d/rc.multirotor

92
ROMFS/px4fmu_common/init.d/08_ardrone
View File

@ -1,99 +1,45 @@
#!nsh
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE ardrone
echo "[init] doing PX4IOAR startup..."
echo "[init] 08_ardrone: PX4FMU on PX4IOAR carrier board"
#
# Start the ORB
# Load default params for this platform
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
if param compare SYS_AUTOCONFIG 1
then
param load /fs/microsd/params
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the commander.
#
commander start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Fire up the multi rotor attitude controller
#
multirotor_att_control start
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start logging
#
sdlog start -s 10
#
# Start GPS capture
#
gps start
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
# Start common for all multirotors apps
#
echo "[init] startup done"
sh /etc/init.d/rc.multirotor
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

62
ROMFS/px4fmu_common/init.d/09_ardrone_flow
View File

@ -1,55 +1,47 @@
#!nsh
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
echo "[init] 09_ardrone_flow: PX4FMU on PX4IOAR carrier board with PX4FLOW"
# Disable autostarting other apps
set MODE ardrone
echo "[init] doing PX4IOAR startup..."
#
# Start the ORB
# Load default params for this platform
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
if param compare SYS_AUTOCONFIG 1
then
param load /fs/microsd/params
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink and MAVLink Onboard (PX4FLOW Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink and MAVLink Onboard (Flow Sensor)
#
mavlink start -d /dev/ttyS0 -b 57600
mavlink_onboard start -d /dev/ttyS3 -b 115200
usleep 5000
#
# Start the commander.
#
@ -79,16 +71,6 @@ flow_position_control start
# Fire up the flow speed controller
#
flow_speed_control start
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
#
echo "[init] startup done"
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

91
ROMFS/px4fmu_common/init.d/10_io_f330
View File

@ -1,11 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
echo "[init] 10_io_f330: PX4FMU+PX4IO on a DJI F330 quad frame"
#
# Load default params for this platform
@ -15,27 +10,26 @@ then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.005
param set MC_ATTRATE_D 0.004
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.1
param set MC_ATTRATE_P 0.12
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 4.5
param set MC_ATT_P 7.0
param set MC_RCLOSS_THR 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.3
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.1
param set MC_YAWPOS_I 0.0
param set MC_YAWPOS_P 2.0
param set MC_YAWRATE_D 0.005
param set MC_YAWRATE_I 0.2
param set MC_YAWRATE_P 0.3
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
@ -44,73 +38,30 @@ param set MAV_TYPE 2
#
mavlink start
usleep 5000
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
pwm -u 400 -m 0xff
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
# Start and configure PX4IO interface
#
px4io limit 200
sh /etc/init.d/rc.io
#
# This sets a PWM right after startup (regardless of safety button)
# Set PWM values for DJI ESCs
#
px4io idle 900 900 900 900
#
# The values are for spinning motors when armed using DJI ESCs
#
px4io min 1200 1200 1200 1200
#
# Upper limits could be higher, this is on the safe side
#
px4io max 1800 1800 1800 1800
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
attitude_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
multirotor_att_control start
#
# Start logging
# Set PWM output frequency
#
sdlog2 start -r 20 -a -b 16
pwm -u 400 -m 0xff
#
# Start system state
# Start common for all multirotors apps
#
if blinkm start
then
blinkm systemstate
fi
sh /etc/init.d/rc.multirotor

67
ROMFS/px4fmu_common/init.d/15_io_tbs Normal file
View File

@ -0,0 +1,67 @@
#!nsh
echo "[init] 15_io_tbs: PX4FMU+PX4IO on a Team Blacksheep Discovery quad"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set SYS_AUTOCONFIG 0
param set MC_ATTRATE_D 0.006
param set MC_ATTRATE_I 0.0
param set MC_ATTRATE_P 0.17
param set MC_ATT_D 0.0
param set MC_ATT_I 0.0
param set MC_ATT_P 5.0
param set MC_RCLOSS_THR 0.0
param set MC_YAWPOS_D 0.0
param set MC_YAWPOS_I 0.15
param set MC_YAWPOS_P 0.5
param set MC_YAWRATE_D 0.0
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_P 0.2
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink (depends on orb)
#
mavlink start
usleep 5000
#
# Start and configure PX4IO interface
#
sh /etc/init.d/rc.io
#
# Set PWM values for DJI ESCs
#
px4io idle 900 900 900 900
px4io min 1180 1180 1180 1180
px4io max 1800 1800 1800 1800
#
# Load the mixer for a quad with wide arms
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_w.mix
#
# Set PWM output frequency
#
pwm -u 400 -m 0xff
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor

71
ROMFS/px4fmu_common/init.d/30_io_camflyer
View File

@ -1,26 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 30_io_camflyer: PX4FMU+PX4IO on Camflyer"
#
# Load default params for this platform
@ -28,39 +8,18 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
@ -90,6 +49,11 @@ px4io limit 100
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface (depends on orb)
@ -105,17 +69,4 @@ kalman_demo start
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi
fw_att_control start

102
ROMFS/px4fmu_common/init.d/31_io_phantom
View File

@ -1,26 +1,6 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
echo "[init] 31_io_phantom: PX4FMU+PX4IO on Phantom"
#
# Load default params for this platform
@ -28,76 +8,55 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 1 = fixed wing
#
param set MAV_TYPE 1
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
# Start and configure PX4IO interface
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
sh /etc/init.d/rc.io
#
# Set actuator limit to 100 Hz update (50 Hz PWM)
px4io limit 100
#
# Start the sensors (depends on orb, px4io)
# Start the commander
#
sh /etc/init.d/rc.sensors
commander start
#
# Start GPS interface (depends on orb)
# Start the sensors
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start GPS interface
#
gps start
#
# Start the attitude estimator (depends on orb)
# Start the attitude estimator
#
kalman_demo start
@ -105,17 +64,4 @@ kalman_demo start
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi
fw_att_control start

84
ROMFS/px4fmu_common/init.d/40_io_segway
View File

@ -1,26 +1,4 @@
#!nsh
#
# Flight startup script for PX4FMU+PX4IO
#
# disable USB and autostart
set USB no
set MODE custom
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
#
# Load default params for this platform
@ -28,65 +6,34 @@ fi
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
# TODO
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
# MAV_TYPE 10 = ground rover
#
param set MAV_TYPE 10
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start and configure PX4IO interface
#
sh /etc/init.d/rc.io
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
px4io limit 200
#
# Start the sensors (depends on orb, px4io)
#
@ -107,16 +54,3 @@ attitude_estimator_ekf start
#
md25 start 3 0x58
segway start
#
# Start logging
#
sdlog2 start -r 50 -a -b 14
#
# Start system state
#
if blinkm start
then
blinkm systemstate
fi

64
ROMFS/px4fmu_common/init.d/666_fmu_q_x550 Normal file
View File

@ -0,0 +1,64 @@
#!nsh
echo "[init] 666_fmu_q_x550: PX4FMU Quad X550 with PWM outputs"
#
# Load default params for this platform
#
if param compare SYS_AUTOCONFIG 1
then
# Set all params here, then disable autoconfig
param set MC_ATTRATE_P 0.14
param set MC_ATTRATE_I 0
param set MC_ATTRATE_D 0.006
param set MC_ATT_P 5.5
param set MC_ATT_I 0
param set MC_ATT_D 0
param set MC_YAWPOS_D 0
param set MC_YAWPOS_I 0
param set MC_YAWPOS_P 0.6
param set MC_YAWRATE_D 0
param set MC_YAWRATE_I 0
param set MC_YAWRATE_P 0.08
param set RC_SCALE_PITCH 1
param set RC_SCALE_ROLL 1
param set RC_SCALE_YAW 3
param set SYS_AUTOCONFIG 0
param save /fs/microsd/params
fi
#
# Force some key parameters to sane values
# MAV_TYPE 2 = quadrotor
#
param set MAV_TYPE 2
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start PWM output
#
fmu mode_pwm
#
# Load mixer
#
mixer load /dev/pwm_output /etc/mixers/FMU_quad_x.mix
#
# Set PWM output frequency
#
pwm -u 400 -m 0xff
#
# Start common for all multirotors apps
#
sh /etc/init.d/rc.multirotor
# Exit, because /dev/ttyS0 is needed for MAVLink
exit

12
ROMFS/px4fmu_common/init.d/rc.hil
View File

@ -8,7 +8,7 @@ echo "[HIL] starting.."
uorb start
# Tell MAVLink that this link is "fast"
mavlink start -b 230400 -d /dev/console
mavlink start -b 230400 -d /dev/ttyS1
# Create a fake HIL /dev/pwm_output interface
hil mode_pwm
@ -38,13 +38,13 @@ commander start
#
# Check if we got an IO
#
if [ px4io start ]
if px4io start
then
echo "IO started"
else
fmu mode_serial
echo "FMU started"
end
fi
#
# Start the sensors (depends on orb, px4io)
@ -60,9 +60,7 @@ att_pos_estimator_ekf start
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
fixedwing_backside start
fw_pos_control_l1 start
fw_att_control start
echo "[HIL] setup done, running"
# Exit shell to make it available to MAVLink
exit

23
ROMFS/px4fmu_common/init.d/rc.io Normal file
View File

@ -0,0 +1,23 @@
#
# Start PX4IO interface (depends on orb, commander)
#
if px4io start
then
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Disable px4io topic limiting
#
if [ $BOARD == fmuv1 ]
then
px4io limit 200
else
px4io limit 400
fi
else
# SOS
tone_alarm 6
fi

7
ROMFS/px4fmu_common/init.d/rc.logging
View File

@ -5,5 +5,10 @@
if [ -d /fs/microsd ]
then
sdlog start
if [ $BOARD == fmuv1 ]
then
sdlog2 start -r 50 -a -b 16
else
sdlog2 start -r 200 -a -b 16
fi
fi

44
ROMFS/px4fmu_common/init.d/rc.multirotor Normal file
View File

@ -0,0 +1,44 @@
#!nsh
#
# Standard everything needed for multirotors except mixer, output and mavlink
#
#
# Start the sensors and test them.
#
sh /etc/init.d/rc.sensors
#
# Start logging (depends on sensors)
#
sh /etc/init.d/rc.logging
#
# Start the commander.
#
commander start
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Start position estimator
#
position_estimator_inav start
#
# Start attitude control
#
multirotor_att_control start
#
# Start position control
#
multirotor_pos_control start

14
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -18,14 +18,21 @@ fi
ms5611 start
adc start
# mag might be external
if hmc5883 start
then
echo "using HMC5883"
fi
if mpu6000 start
then
echo "using MPU6000 and HMC5883L"
hmc5883 start
echo "using MPU6000"
set BOARD fmuv1
else
echo "using L3GD20 and LSM303D"
l3gd20 start
lsm303d start
set BOARD fmuv2
fi
#
@ -36,8 +43,5 @@ fi
#
if sensors start
then
#
# Check sensors - run AFTER 'sensors start'
#
preflight_check &
fi

14
ROMFS/px4fmu_common/init.d/rc.usb
View File

@ -16,12 +16,26 @@ fi
sleep 2
mavlink start -b 230400 -d /dev/ttyACM0
# Stop commander
if commander stop
then
echo "Commander stopped"
fi
sleep 1
# Start the commander
if commander start
then
echo "Commander started"
fi
# Stop px4io
if px4io stop
then
echo "PX4IO stopped"
fi
sleep 1
# Start px4io if present
if px4io start
then

234
ROMFS/px4fmu_common/init.d/rcS
View File

@ -57,90 +57,166 @@ fi
if [ $MODE == autostart ]
then
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if ramtron start
then
param select /ramtron/params
if [ -f /ramtron/params ]
#
# Start terminal
#
if sercon
then
param load /ramtron/params
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
fi
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
then
echo "No newer version, skipping upgrade."
echo "USB connected"
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
# second attempt
sercon &
fi
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
if ramtron start
then
param select /ramtron/params
if [ -f /ramtron/params ]
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
param load /ramtron/params
fi
else
param select /fs/microsd/params
if [ -f /fs/microsd/params ]
then
param load /fs/microsd/params
fi
fi
#
# Start system state indicator
#
if rgbled start
then
echo "Using external RGB Led"
else
if blinkm start
then
blinkm systemstate
fi
fi
fi
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 1
then
sh /etc/init.d/01_fmu_quad_x
fi
if param compare SYS_AUTOSTART 2
then
sh /etc/init.d/02_io_quad_x
fi
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_io_f330
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
fi
# Try to get an USB console
nshterm /dev/ttyACM0 &
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.cur
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io.log
echo "Failed to upgrade px4io firmware - check if px4io is in bootloader mode"
fi
fi
fi
#
# Check if auto-setup from one of the standard scripts is wanted
# SYS_AUTOSTART = 0 means no autostart (default)
#
if param compare SYS_AUTOSTART 1
then
sh /etc/init.d/01_fmu_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 2
then
sh /etc/init.d/02_io_quad_x
set MODE custom
fi
if param compare SYS_AUTOSTART 8
then
sh /etc/init.d/08_ardrone
set MODE custom
fi
if param compare SYS_AUTOSTART 9
then
sh /etc/init.d/09_ardrone_flow
set MODE custom
fi
if param compare SYS_AUTOSTART 10
then
sh /etc/init.d/10_io_f330
set MODE custom
fi
if param compare SYS_AUTOSTART 15
then
sh /etc/init.d/15_io_tbs
set MODE custom
fi
if param compare SYS_AUTOSTART 30
then
sh /etc/init.d/30_io_camflyer
set MODE custom
fi
if param compare SYS_AUTOSTART 31
then
sh /etc/init.d/31_io_phantom
set MODE custom
fi
# Start any custom extensions that might be missing
if [ -f /fs/microsd/etc/rc.local ]
then
sh /fs/microsd/etc/rc.local
fi
# If none of the autostart scripts triggered, get a minimal setup
if [ $MODE == autostart ]
then
# Telemetry port is on both FMU boards ttyS1
mavlink start -b 57600 -d /dev/ttyS1
usleep 5000
# Start commander
commander start
# Start px4io if present
if px4io start
then
echo "PX4IO driver started"
else
if fmu mode_serial
then
echo "FMU driver started"
fi
fi
# Start sensors
sh /etc/init.d/rc.sensors
# Start one of the estimators
attitude_estimator_ekf start
# Start GPS
gps start
fi
# End of autostart
fi

13
ROMFS/px4fmu_test/init.d/rc.standalone Normal file
View File

@ -0,0 +1,13 @@
#!nsh
#
# Flight startup script for PX4FMU standalone configuration.
#
echo "[init] doing standalone PX4FMU startup..."
#
# Start the ORB
#
uorb start
echo "[init] startup done"

4
ROMFS/px4fmu_test/init.d/rcS Executable file
View File

@ -0,0 +1,4 @@
#!nsh
#
# PX4FMU startup script for test hackery.
#

11
makefiles/board_px4fmu-v2.mk Normal file
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@ -0,0 +1,11 @@
#
# Board-specific definitions for the PX4FMUv2
#
#
# Configure the toolchain
#
CONFIG_ARCH = CORTEXM4F
CONFIG_BOARD = PX4FMU_V2
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk

11
makefiles/board_px4io-v2.mk Normal file
View File

@ -0,0 +1,11 @@
#
# Board-specific definitions for the PX4IOv2
#
#
# Configure the toolchain
#
CONFIG_ARCH = CORTEXM3
CONFIG_BOARD = PX4IO_V2
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk

30
makefiles/config_px4fmu-v1_default.mk
View File

@ -6,6 +6,7 @@
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
#
# Board support modules
@ -17,7 +18,7 @@ MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/px4io
MODULES += drivers/px4fmu
MODULES += drivers/boards/px4fmu
MODULES += drivers/boards/px4fmu-v1
MODULES += drivers/ardrone_interface
MODULES += drivers/l3gd20
MODULES += drivers/bma180
@ -30,6 +31,7 @@ MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
MODULES += drivers/rgbled
MODULES += drivers/mkblctrl
MODULES += drivers/md25
MODULES += drivers/airspeed
@ -50,10 +52,12 @@ MODULES += systemcmds/param
MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
#
# General system control
@ -67,18 +71,16 @@ MODULES += modules/gpio_led
# Estimation modules (EKF / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/attitude_estimator_so3_comp
MODULES += modules/position_estimator
MODULES += modules/att_pos_estimator_ekf
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
#
# Vehicle Control
#
MODULES += modules/segway
MODULES += modules/fixedwing_backside
MODULES += modules/fixedwing_att_control
MODULES += modules/fixedwing_pos_control
#MODULES += modules/segway # XXX needs state machine update
#MODULES += modules/fw_pos_control_l1
#MODULES += modules/fw_att_control
MODULES += modules/multirotor_att_control
MODULES += modules/multirotor_pos_control
MODULES += examples/flow_position_control
@ -89,20 +91,28 @@ MODULES += examples/flow_speed_control
#
MODULES += modules/sdlog2
#
# Unit tests
#
MODULES += modules/unit_test
MODULES += modules/commander/commander_tests
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/mathlib
MODULES += modules/mathlib/math/filter
MODULES += modules/controllib
MODULES += modules/uORB
#
# Libraries
#
LIBRARIES += modules/mathlib/CMSIS
LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
#MODULES += lib/ecl
MODULES += lib/geo
#
# Demo apps

142
makefiles/config_px4fmu-v2_default.mk Normal file
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@ -0,0 +1,142 @@
#
# Makefile for the px4fmu_default configuration
#
#
# Use the configuration's ROMFS, copy the px4iov2 firmware into
# the ROMFS if it's available
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/stm32/adc
MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/px4fmu
MODULES += drivers/px4io
MODULES += drivers/boards/px4fmu-v2
MODULES += drivers/rgbled
MODULES += drivers/lsm303d
MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += modules/sensors
# Needs to be burned to the ground and re-written; for now,
# just don't build it.
#MODULES += drivers/mkblctrl
#
# System commands
#
MODULES += systemcmds/ramtron
MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo
MODULES += systemcmds/mixer
MODULES += systemcmds/param
MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
#
# General system control
#
MODULES += modules/commander
MODULES += modules/mavlink
MODULES += modules/mavlink_onboard
#
# Estimation modules (EKF / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/att_pos_estimator_ekf
MODULES += modules/position_estimator_inav
MODULES += examples/flow_position_estimator
#
# Vehicle Control
#
#MODULES += modules/fw_pos_control_l1
#MODULES += modules/fw_att_control
MODULES += modules/multirotor_att_control
MODULES += modules/multirotor_pos_control
#
# Logging
#
MODULES += modules/sdlog2
#
# Unit tests
#
MODULES += modules/unit_test
MODULES += modules/commander/commander_tests
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/controllib
MODULES += modules/uORB
#
# Libraries
#
LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
#MODULES += lib/ecl
MODULES += lib/geo
#
# Demo apps
#
#MODULES += examples/math_demo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/hello_sky
#MODULES += examples/px4_simple_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/daemon
#MODULES += examples/px4_daemon_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/debug_values
#MODULES += examples/px4_mavlink_debug
#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main )

41
makefiles/config_px4fmu-v2_test.mk Normal file
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@ -0,0 +1,41 @@
#
# Makefile for the px4fmu_default configuration
#
#
# Use the configuration's ROMFS.
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/led
MODULES += drivers/boards/px4fmu-v2
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/uORB
#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main )

2
makefiles/config_px4io-v1_default.mk
View File

@ -6,5 +6,5 @@
# Board support modules
#
MODULES += drivers/stm32
MODULES += drivers/boards/px4io
MODULES += drivers/boards/px4io-v1
MODULES += modules/px4iofirmware

10
makefiles/config_px4io-v2_default.mk Normal file
View File

@ -0,0 +1,10 @@
#
# Makefile for the px4iov2_default configuration
#
#
# Board support modules
#
MODULES += drivers/stm32
MODULES += drivers/boards/px4io-v2
MODULES += modules/px4iofirmware

27
makefiles/firmware.mk
View File

@ -177,6 +177,11 @@ GLOBAL_DEPS += $(MAKEFILE_LIST)
#
EXTRA_CLEANS =
#
# Append the per-board driver directory to the header search path.
#
INCLUDE_DIRS += $(PX4_MODULE_SRC)drivers/boards/$(BOARD)
################################################################################
# NuttX libraries and paths
################################################################################
@ -317,7 +322,7 @@ endif
# a root from several templates. That would be a nice feature.
#
# Add dependencies on anything in the ROMFS root
# Add dependencies on anything in the ROMFS root directory
ROMFS_FILES += $(wildcard \
$(ROMFS_ROOT)/* \
$(ROMFS_ROOT)/*/* \
@ -329,7 +334,14 @@ ifeq ($(ROMFS_FILES),)
$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
endif
ROMFS_DEPS += $(ROMFS_FILES)
# Extra files that may be copied into the ROMFS /extras directory
# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
ROMFS_EXTRA_FILES += $(wildcard $(ROMFS_OPTIONAL_FILES))
ROMFS_DEPS += $(ROMFS_EXTRA_FILES)
ROMFS_IMG = romfs.img
ROMFS_SCRATCH = romfs_scratch
ROMFS_CSRC = $(ROMFS_IMG:.img=.c)
ROMFS_OBJ = $(ROMFS_CSRC:.c=.o)
LIBS += $(ROMFS_OBJ)
@ -340,9 +352,18 @@ $(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
$(call BIN_TO_OBJ,$<,$@,romfs_img)
# Generate the ROMFS image from the root
$(ROMFS_IMG): $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
@$(ECHO) "ROMFS: $@"
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_ROOT) -V "NSHInitVol"
$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
# Construct the ROMFS scratch root from the canonical root
$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
ifneq ($(ROMFS_EXTRA_FILES),)
$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
endif
EXTRA_CLEANS += $(ROMGS_OBJ) $(ROMFS_IMG)

5
makefiles/setup.mk
View File

@ -43,6 +43,7 @@
#
export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
export PX4_LIB_DIR = $(abspath $(PX4_BASE)/src/lib)/
export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/
export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/NuttX/apps)/
@ -57,7 +58,8 @@ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/
#
export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
$(PX4_MODULE_SRC)/modules/ \
$(PX4_INCLUDE_DIR)
$(PX4_INCLUDE_DIR) \
$(PX4_LIB_DIR)
#
# Tools
@ -71,6 +73,7 @@ export RMDIR = rm -rf
export GENROMFS = genromfs
export TOUCH = touch
export MKDIR = mkdir
export FIND = find
export ECHO = echo
export UNZIP_CMD = unzip
export PYTHON = python

2
makefiles/upload.mk
View File

@ -27,6 +27,8 @@ all: upload-$(METHOD)-$(BOARD)
upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
#
# JTAG firmware uploading with OpenOCD

72
nuttx-configs/px4fmu-v1/include/board.h
View File

@ -156,11 +156,6 @@
#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
/* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/* 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.
@ -215,33 +210,6 @@
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* PWM
*
* Four PWM outputs can be configured on pins otherwise shared with
* USART2; two can take the flow control pins if they are not being used.
*
* Pins:
*
* CTS - PA0 - TIM2CH1
* RTS - PA1 - TIM2CH2
* TX - PA2 - TIM2CH3
* RX - PA3 - TIM2CH4
*
*/
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1
/*
* PPM
*
* PPM input is handled by the HRT timer.
*/
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
/*
* CAN
*
@ -273,25 +241,6 @@
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
/*
* I2C busses
*/
#define PX4_I2C_BUS_ESC 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_I2C_BUS_EXPANSION 3
/*
* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_HMC5883 0x1e
#define PX4_I2C_OBDEV_MS5611 0x76
#define PX4_I2C_OBDEV_EEPROM NOTDEFINED
#define PX4_I2C_OBDEV_PX4IO_BL 0x18
#define PX4_I2C_OBDEV_PX4IO 0x1a
/*
* SPI
*
@ -316,27 +265,6 @@
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
/*
* Use these in place of the spi_dev_e enumeration to
* select a specific SPI device on SPI1
*/
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL 2
#define PX4_SPIDEV_MPU 3
/*
* Optional devices on IO's external port
*/
#define PX4_SPIDEV_ACCEL_MAG 2
/*
* Tone alarm output
*/
#define TONE_ALARM_TIMER 3 /* timer 3 */
#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)
/************************************************************************************
* Public Data
************************************************************************************/

19
nuttx-configs/px4fmu-v1/nsh/defconfig
View File

@ -368,7 +368,7 @@ CONFIG_TASK_NAME_SIZE=24
CONFIG_START_YEAR=1970
CONFIG_START_MONTH=1
CONFIG_START_DAY=1
# CONFIG_DEV_CONSOLE is not set
CONFIG_DEV_CONSOLE=y
# CONFIG_MUTEX_TYPES is not set
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_SEM_PREALLOCHOLDERS=0
@ -406,7 +406,7 @@ CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=10
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=32
CONFIG_NFILE_STREAMS=25
CONFIG_NFILE_STREAMS=8
CONFIG_NAME_MAX=32
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_MQ_MAXMSGSIZE=32
@ -476,11 +476,11 @@ 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_USART1_SERIAL_CONSOLE=y
# CONFIG_USART2_SERIAL_CONSOLE is not set
# CONFIG_UART5_SERIAL_CONSOLE is not set
# CONFIG_USART6_SERIAL_CONSOLE is not set
CONFIG_NO_SERIAL_CONSOLE=y
# CONFIG_NO_SERIAL_CONSOLE is not set
#
# USART1 Configuration
@ -538,10 +538,9 @@ CONFIG_USBDEV=y
#
# CONFIG_USBDEV_ISOCHRONOUS is not set
# CONFIG_USBDEV_DUALSPEED is not set
# CONFIG_USBDEV_SELFPOWERED is not set
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_SELFPOWERED=y
# CONFIG_USBDEV_BUSPOWERED is not set
CONFIG_USBDEV_MAXPOWER=500
# CONFIG_USBDEV_REMOTEWAKEUP is not set
# CONFIG_USBDEV_DMA is not set
# CONFIG_USBDEV_TRACE is not set
@ -551,7 +550,7 @@ CONFIG_USBDEV_MAXPOWER=500
# CONFIG_USBDEV_COMPOSITE is not set
# CONFIG_PL2303 is not set
CONFIG_CDCACM=y
CONFIG_CDCACM_CONSOLE=y
CONFIG_CDCACM_CONSOLE=n
CONFIG_CDCACM_EP0MAXPACKET=64
CONFIG_CDCACM_EPINTIN=1
CONFIG_CDCACM_EPINTIN_FSSIZE=64
@ -565,8 +564,8 @@ CONFIG_CDCACM_EPBULKIN_HSSIZE=512
CONFIG_CDCACM_NWRREQS=4
CONFIG_CDCACM_NRDREQS=4
CONFIG_CDCACM_BULKIN_REQLEN=96
CONFIG_CDCACM_RXBUFSIZE=256
CONFIG_CDCACM_TXBUFSIZE=256
CONFIG_CDCACM_RXBUFSIZE=512
CONFIG_CDCACM_TXBUFSIZE=512
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_PRODUCTID=0x0010
CONFIG_CDCACM_VENDORSTR="3D Robotics"

306
nuttx-configs/px4fmu-v2/include/board.h Executable file
View File

@ -0,0 +1,306 @@
/************************************************************************************
* configs/px4fmu/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 __ARCH_BOARD_BOARD_H
#define __ARCH_BOARD_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <stm32.h>
/************************************************************************************
* Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* The PX4FMUV2 uses a 24MHz crystal connected to the HSE.
*
* This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
* 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) : 24000000 (STM32_BOARD_XTAL)
* PLLM : 24 (STM32_PLLCFG_PLLM)
* PLLN : 336 (STM32_PLLCFG_PLLN)
* PLLP : 2 (STM32_PLLCFG_PLLP)
* PLLQ : 7 (STM32_PLLCFG_PPQ)
* 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 24MHz
* LSE - not installed
*/
#define STM32_BOARD_XTAL 24000000ul
#define STM32_HSI_FREQUENCY 16000000ul
#define STM32_LSI_FREQUENCY 32000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
//#define STM32_LSE_FREQUENCY 32768
/* Main PLL Configuration.
*
* PLL source is HSE
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
* = (25,000,000 / 25) * 336
* = 336,000,000
* SYSCLK = PLL_VCO / PLLP
* = 336,000,000 / 2 = 168,000,000
* USB OTG FS, SDIO and RNG Clock
* = PLL_VCO / PLLQ
* = 48,000,000
*/
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
#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_PCLK1_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK1_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)
/* SDIO dividers. Note that slower clocking is required when DMA is disabled
* in order to avoid RX overrun/TX underrun errors due to delayed responses
* to service FIFOs in interrupt driven mode. These values have not been
* tuned!!!
*
* HCLK=72MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(178+2)=400 KHz
*/
#define SDIO_INIT_CLKDIV (178 << SDIO_CLKCR_CLKDIV_SHIFT)
/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(2+2)=18 MHz
* DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz
*/
#ifdef CONFIG_SDIO_DMA
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_MMCXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(1+2)=24 MHz
* DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz
*/
#ifdef CONFIG_SDIO_DMA
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_SDXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA Channl/Stream Selections *****************************************************/
/* Stream selections are arbitrary for now but might become important in the future
* is we set aside more DMA channels/streams.
*
* SDIO DMA
*   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
*   DMAMAP_SDIO_2 = Channel 4, Stream 6
*/
#define DMAMAP_SDIO DMAMAP_SDIO_1
/* Alternate function pin selections ************************************************/
/*
* UARTs.
*/
#define GPIO_USART1_RX GPIO_USART1_RX_1 /* console in from IO */
#define GPIO_USART1_TX 0 /* USART1 is RX-only */
#define GPIO_USART2_RX GPIO_USART2_RX_2
#define GPIO_USART2_TX GPIO_USART2_TX_2
#define GPIO_USART2_RTS GPIO_USART2_RTS_2
#define GPIO_USART2_CTS GPIO_USART2_CTS_2
#define GPIO_USART3_RX GPIO_USART3_RX_3
#define GPIO_USART3_TX GPIO_USART3_TX_3
#define GPIO_USART2_RTS GPIO_USART2_RTS_2
#define GPIO_USART2_CTS GPIO_USART2_CTS_2
#define GPIO_UART4_RX GPIO_UART4_RX_1
#define GPIO_UART4_TX GPIO_UART4_TX_1
#define GPIO_USART6_RX GPIO_USART6_RX_1
#define GPIO_USART6_TX GPIO_USART6_TX_1
#define GPIO_UART7_RX GPIO_UART7_RX_1
#define GPIO_UART7_TX GPIO_UART7_TX_1
/* UART8 has no alternate pin config */
/* UART RX DMA configurations */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* CAN
*
* CAN1 is routed to the onboard transceiver.
* CAN2 is routed to the expansion connector.
*/
#define GPIO_CAN1_RX GPIO_CAN1_RX_3
#define GPIO_CAN1_TX GPIO_CAN1_TX_3
#define GPIO_CAN2_RX GPIO_CAN2_RX_1
#define GPIO_CAN2_TX GPIO_CAN2_TX_2
/*
* I2C
*
* 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_SCL GPIO_I2C1_SCL_2
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
/*
* SPI
*
* There are sensors on SPI1, and SPI2 is connected to the FRAM.
*/
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
/************************************************************************************
* 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 intitialization -- 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 /* __ARCH_BOARD_BOARD_H */

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/****************************************************************************
*
* Copyright (C) 2013 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;

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############################################################################
# configs/px4fmu-v2/nsh/Make.defs
#
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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
#
# 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 = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard
# enable precise stack overflow tracking
INSTRUMENTATIONDEFINES = -finstrument-functions \
-ffixed-r10
# pull in *just* libm from the toolchain ... this is grody
LIBM = "${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 = -Wall \
-Wextra \
-Wdouble-promotion \
-Wshadow \
-Wfloat-equal \
-Wframe-larger-than=1024 \
-Wpointer-arith \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wbad-function-cast \
-Wstrict-prototypes \
-Wold-style-declaration \
-Wmissing-parameter-type \
-Wmissing-prototypes \
-Wnested-externs \
-Wunsuffixed-float-constants
ARCHWARNINGSXX = $(ARCHWARNINGS) \
-Wno-psabi
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 =

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############################################################################
# configs/px4fmu/nsh/appconfig
#
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
# Path to example in apps/examples containing the user_start entry point
CONFIGURED_APPS += examples/nsh
# The NSH application library
CONFIGURED_APPS += nshlib
CONFIGURED_APPS += system/readline
ifeq ($(CONFIG_CAN),y)
#CONFIGURED_APPS += examples/can
endif
#ifeq ($(CONFIG_USBDEV),y)
#ifeq ($(CONFIG_CDCACM),y)
CONFIGURED_APPS += examples/cdcacm
#endif
#endif

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#!/bin/bash
# configs/stm3240g-eval/nsh/setenv.sh
#
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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="${PATH}"
fi
# This the Cygwin path to the location where I installed the RIDE
# toolchain under windows. You will also have to edit this if you install
# the RIDE toolchain in any other location
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
# This the Cygwin path to the location where I installed the CodeSourcery
# toolchain under windows. You will also have to edit this if you install
# the CodeSourcery toolchain in any other location
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
# This the Cygwin path to the location where I build the buildroot
# toolchain.
#export TOOLCHAIN_BIN="${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}"

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/****************************************************************************
* configs/px4fmu/common/ld.script
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
* 256Kb 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 SRAM beginning at address 0x2002:0000
* 4) 64Kb of TCM 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 0x4000 of flash is reserved for the bootloader.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
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) }
}

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############################################################################
# configs/px4fmu/src/Makefile
#
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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

4
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/*
* There are no source files here, but libboard.a can't be empty, so
* we have this empty source file to keep it company.
*/

16
nuttx-configs/px4io-v1/include/board.h
View File

@ -115,22 +115,6 @@
#undef GPIO_USART3_RTS
#define GPIO_USART3_RTS 0xffffffff
/*
* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
/*
* PPM
*
* PPM input is handled by the HRT timer.
*
* Pin is PA8, timer 1, channel 1
*/
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
/************************************************************************************
* Public Data
************************************************************************************/

149
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/************************************************************************************
* configs/px4io/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* 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 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 __ARCH_BOARD_BOARD_H
#define __ARCH_BOARD_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <stm32.h>
/************************************************************************************
* Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* On-board crystal frequency is 24MHz (HSE) */
#define STM32_BOARD_XTAL 24000000ul
/* Use the HSE output as the system clock */
#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE
#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE
#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL
/* AHB clock (HCLK) is SYSCLK (24MHz) */
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
/* APB2 clock (PCLK2) is HCLK (24MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */
/* APB2 timer 1 will receive PCLK2. */
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
/* APB1 clock (PCLK1) is HCLK (24MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY)
/* All timers run off PCLK */
#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
/*
* Some of the USART pins are not available; override the GPIO
* definitions with an invalid pin configuration.
*/
#undef GPIO_USART2_CTS
#define GPIO_USART2_CTS 0xffffffff
#undef GPIO_USART2_RTS
#define GPIO_USART2_RTS 0xffffffff
#undef GPIO_USART2_CK
#define GPIO_USART2_CK 0xffffffff
#undef GPIO_USART3_TX
#define GPIO_USART3_TX 0xffffffff
#undef GPIO_USART3_CK
#define GPIO_USART3_CK 0xffffffff
#undef GPIO_USART3_CTS
#define GPIO_USART3_CTS 0xffffffff
#undef GPIO_USART3_RTS
#define GPIO_USART3_RTS 0xffffffff
/************************************************************************************
* 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 intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
EXTERN void stm32_boardinitialize(void);
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __ARCH_BOARD_BOARD_H */

170
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############################################################################
# configs/px4io-v2/nsh/Make.defs
#
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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
#
# 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 = $(CROSSDEV)objdump
MAXOPTIMIZATION = -O3
ARCHCPUFLAGS = -mcpu=cortex-m3 \
-mthumb \
-march=armv7-m
# enable precise stack overflow tracking
#INSTRUMENTATIONDEFINES = -finstrument-functions \
# -ffixed-r10
# use our linker script
LDSCRIPT = ld.script
ifeq ($(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 = -Wall \
-Wextra \
-Wdouble-promotion \
-Wshadow \
-Wfloat-equal \
-Wframe-larger-than=1024 \
-Wpointer-arith \
-Wlogical-op \
-Wmissing-declarations \
-Wpacked \
-Wno-unused-parameter
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wbad-function-cast \
-Wstrict-prototypes \
-Wold-style-declaration \
-Wmissing-parameter-type \
-Wmissing-prototypes \
-Wnested-externs \
-Wunsuffixed-float-constants
ARCHWARNINGSXX = $(ARCHWARNINGS)
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 =

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nuttx-configs/px4io-v2/nsh/appconfig Normal file
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############################################################################
#
# 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.
#
############################################################################

548
nuttx-configs/px4io-v2/nsh/defconfig Executable file
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############################################################################
# configs/px4io/nsh/defconfig
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
#
# architecture selection
#
# CONFIG_ARCH - identifies the arch subdirectory and, hence, the
# processor architecture.
# CONFIG_ARCH_family - for use in C code. This identifies the
# particular chip family that the architecture is implemented
# in.
# CONFIG_ARCH_architecture - for use in C code. This identifies the
# specific architecture within the chip family.
# CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
# CONFIG_ARCH_CHIP_name - For use in C code
# CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
# the board that supports the particular chip or SoC.
# CONFIG_ARCH_BOARD_name - for use in C code
# CONFIG_ENDIAN_BIG - define if big endian (default is little endian)
# CONFIG_BOARD_LOOPSPERMSEC - for delay loops
# CONFIG_DRAM_SIZE - Describes the installed DRAM.
# CONFIG_DRAM_START - The start address of DRAM (physical)
# CONFIG_ARCH_IRQPRIO - The ST32F100CB supports interrupt prioritization
# CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
# stack. If defined, this symbol is the size of the interrupt
# stack in bytes. If not defined, the user task stacks will be
# used during interrupt handling.
# CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
# CONFIG_ARCH_BOOTLOADER - Set if you are using a bootloader.
# CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture.
# CONFIG_ARCH_BUTTONS - Enable support for buttons. Unique to board architecture.
# CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
# cause a 100 second delay during boot-up. This 100 second delay
# serves no purpose other than it allows you to calibrate
# CONFIG_BOARD_LOOPSPERMSEC. You simply use a stop watch to measure
# the 100 second delay then adjust CONFIG_BOARD_LOOPSPERMSEC until
# the delay actually is 100 seconds.
# CONFIG_ARCH_DMA - Support DMA initialization
#
CONFIG_ARCH="arm"
CONFIG_ARCH_ARM=y
CONFIG_ARCH_CORTEXM3=y
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32F100C8=y
CONFIG_ARCH_BOARD="px4io-v2"
CONFIG_ARCH_BOARD_PX4IO_V2=y
CONFIG_BOARD_LOOPSPERMSEC=2000
CONFIG_DRAM_SIZE=0x00002000
CONFIG_DRAM_START=0x20000000
CONFIG_ARCH_IRQPRIO=y
CONFIG_ARCH_INTERRUPTSTACK=n
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARCH_BOOTLOADER=n
CONFIG_ARCH_LEDS=n
CONFIG_ARCH_BUTTONS=n
CONFIG_ARCH_CALIBRATION=n
CONFIG_ARCH_DMA=y
CONFIG_ARCH_MATH_H=y
CONFIG_ARMV7M_CMNVECTOR=y
#
# JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
#
# CONFIG_STM32_DFU - Use the DFU bootloader, not JTAG
#
# JTAG Enable options:
#
# CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
# CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
# but without JNTRST.
# CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
#
CONFIG_STM32_DFU=n
CONFIG_STM32_JTAG_FULL_ENABLE=y
CONFIG_STM32_JTAG_NOJNTRST_ENABLE=n
CONFIG_STM32_JTAG_SW_ENABLE=n
#
# Individual subsystems can be enabled:
#
# AHB:
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=n
CONFIG_STM32_CRC=n
# APB1:
# Timers 2,3 and 4 are owned by the PWM driver
CONFIG_STM32_TIM2=n
CONFIG_STM32_TIM3=n
CONFIG_STM32_TIM4=n
CONFIG_STM32_TIM5=n
CONFIG_STM32_TIM6=n
CONFIG_STM32_TIM7=n
CONFIG_STM32_WWDG=n
CONFIG_STM32_SPI2=n
CONFIG_STM32_USART2=y
CONFIG_STM32_USART3=y
CONFIG_STM32_I2C1=n
CONFIG_STM32_I2C2=n
CONFIG_STM32_BKP=n
CONFIG_STM32_PWR=n
CONFIG_STM32_DAC=n
# APB2:
# We use our own ADC driver, but leave this on for clocking purposes.
CONFIG_STM32_ADC1=y
CONFIG_STM32_ADC2=n
# TIM1 is owned by the HRT
CONFIG_STM32_TIM1=n
CONFIG_STM32_SPI1=n
CONFIG_STM32_TIM8=n
CONFIG_STM32_USART1=y
CONFIG_STM32_ADC3=n
#
# STM32F100 specific serial device driver settings
#
# CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
# console and ttys0 (default is the USART1).
# CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received.
# This specific the size of the receive buffer
# CONFIG_USARTn_TXBUFSIZE - Characters are buffered before
# being sent. This specific the size of the transmit buffer
# CONFIG_USARTn_BAUD - The configure BAUD of the UART. Must be
# CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8.
# CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
# CONFIG_USARTn_2STOP - Two stop bits
#
CONFIG_SERIAL_TERMIOS=y
CONFIG_STANDARD_SERIAL=y
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART2_SERIAL_CONSOLE=n
CONFIG_USART3_SERIAL_CONSOLE=n
CONFIG_USART1_TXBUFSIZE=64
CONFIG_USART2_TXBUFSIZE=64
CONFIG_USART3_TXBUFSIZE=64
CONFIG_USART1_RXBUFSIZE=64
CONFIG_USART2_RXBUFSIZE=64
CONFIG_USART3_RXBUFSIZE=64
CONFIG_USART1_BAUD=115200
CONFIG_USART2_BAUD=115200
CONFIG_USART3_BAUD=115200
CONFIG_USART1_BITS=8
CONFIG_USART2_BITS=8
CONFIG_USART3_BITS=8
CONFIG_USART1_PARITY=0
CONFIG_USART2_PARITY=0
CONFIG_USART3_PARITY=0
CONFIG_USART1_2STOP=0
CONFIG_USART2_2STOP=0
CONFIG_USART3_2STOP=0
CONFIG_USART1_RXDMA=y
SERIAL_HAVE_CONSOLE_DMA=y
# Conflicts with I2C1 DMA
CONFIG_USART2_RXDMA=n
CONFIG_USART3_RXDMA=y
#
# PX4IO specific driver settings
#
# CONFIG_HRT_TIMER
# Enables the high-resolution timer. The board definition must
# set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
# compare channels to be used.
# CONFIG_HRT_PPM
# Enables R/C PPM input using the HRT. The board definition must
# set HRT_PPM_CHANNEL to the timer capture/compare channel to be
# used, and define GPIO_PPM_IN to configure the appropriate timer
# GPIO.
# CONFIG_PWM_SERVO
# Enables the PWM servo driver. The driver configuration must be
# supplied by the board support at initialisation time.
# Note that USART2 must be disabled on the PX4 board for this to
# be available.
#
#
CONFIG_HRT_TIMER=y
CONFIG_HRT_PPM=y
#
# General build options
#
# CONFIG_RRLOAD_BINARY - make the rrload binary format used with
# BSPs from www.ridgerun.com using the tools/mkimage.sh script
# CONFIG_INTELHEX_BINARY - make the Intel HEX binary format
# used with many different loaders using the GNU objcopy program
# Should not be selected if you are not using the GNU toolchain.
# CONFIG_MOTOROLA_SREC - make the Motorola S-Record binary format
# used with many different loaders using the GNU objcopy program
# Should not be selected if you are not using the GNU toolchain.
# CONFIG_RAW_BINARY - make a raw binary format file used with many
# different loaders using the GNU objcopy program. This option
# should not be selected if you are not using the GNU toolchain.
# CONFIG_HAVE_LIBM - toolchain supports libm.a
#
CONFIG_RRLOAD_BINARY=n
CONFIG_INTELHEX_BINARY=n
CONFIG_MOTOROLA_SREC=n
CONFIG_RAW_BINARY=y
CONFIG_HAVE_LIBM=n
#
# General OS setup
#
# CONFIG_APPS_DIR - Identifies the relative path to the directory
# that builds the application to link with NuttX. Default: ../apps
# CONFIG_DEBUG - enables built-in debug options
# CONFIG_DEBUG_VERBOSE - enables verbose debug output
# CONFIG_DEBUG_SYMBOLS - build without optimization and with
# debug symbols (needed for use with a debugger).
# CONFIG_HAVE_CXX - Enable support for C++
# CONFIG_HAVE_CXXINITIALIZE - The platform-specific logic includes support
# for initialization of static C++ instances for this architecture
# and for the selected toolchain (via up_cxxinitialize()).
# CONFIG_MM_REGIONS - If the architecture includes multiple
# regions of memory to allocate from, this specifies the
# number of memory regions that the memory manager must
# handle and enables the API mm_addregion(start, end);
# CONFIG_ARCH_LOWPUTC - architecture supports low-level, boot
# time console output
# CONFIG_MSEC_PER_TICK - The default system timer is 100Hz
# or MSEC_PER_TICK=10. This setting may be defined to
# inform NuttX that the processor hardware is providing
# system timer interrupts at some interrupt interval other
# than 10 msec.
# CONFIG_RR_INTERVAL - The round robin timeslice will be set
# this number of milliseconds; Round robin scheduling can
# be disabled by setting this value to zero.
# CONFIG_SCHED_INSTRUMENTATION - enables instrumentation in
# scheduler to monitor system performance
# CONFIG_TASK_NAME_SIZE - Spcifies that maximum size of a
# task name to save in the TCB. Useful if scheduler
# instrumentation is selected. Set to zero to disable.
# CONFIG_START_YEAR, CONFIG_START_MONTH, CONFIG_START_DAY -
# Used to initialize the internal time logic.
# CONFIG_GREGORIAN_TIME - Enables Gregorian time conversions.
# You would only need this if you are concerned about accurate
# time conversions in the past or in the distant future.
# CONFIG_JULIAN_TIME - Enables Julian time conversions. You
# would only need this if you are concerned about accurate
# time conversion in the distand past. You must also define
# CONFIG_GREGORIAN_TIME in order to use Julian time.
# CONFIG_DEV_CONSOLE - Set if architecture-specific logic
# provides /dev/console. Enables stdout, stderr, stdin.
# CONFIG_DEV_LOWCONSOLE - Use the simple, low-level serial console
# driver (minimul support)
# CONFIG_MUTEX_TYPES: Set to enable support for recursive and
# errorcheck mutexes. Enables pthread_mutexattr_settype().
# CONFIG_PRIORITY_INHERITANCE : Set to enable support for priority
# inheritance on mutexes and semaphores.
# CONFIG_SEM_PREALLOCHOLDERS: This setting is only used if priority
# inheritance is enabled. It defines the maximum number of
# different threads (minus one) that can take counts on a
# semaphore with priority inheritance support. This may be
# set to zero if priority inheritance is disabled OR if you
# are only using semaphores as mutexes (only one holder) OR
# if no more than two threads participate using a counting
# semaphore.
# CONFIG_SEM_NNESTPRIO. If priority inheritance is enabled,
# then this setting is the maximum number of higher priority
# threads (minus 1) than can be waiting for another thread
# to release a count on a semaphore. This value may be set
# to zero if no more than one thread is expected to wait for
# a semaphore.
# CONFIG_FDCLONE_DISABLE. Disable cloning of all file descriptors
# by task_create() when a new task is started. If set, all
# files/drivers will appear to be closed in the new task.
# CONFIG_FDCLONE_STDIO. Disable cloning of all but the first
# three file descriptors (stdin, stdout, stderr) by task_create()
# when a new task is started. If set, all files/drivers will
# appear to be closed in the new task except for stdin, stdout,
# and stderr.
# CONFIG_SDCLONE_DISABLE. Disable cloning of all socket
# desciptors by task_create() when a new task is started. If
# set, all sockets will appear to be closed in the new task.
# CONFIG_SCHED_WORKQUEUE. Create a dedicated "worker" thread to
# handle delayed processing from interrupt handlers. This feature
# is required for some drivers but, if there are not complaints,
# can be safely disabled. The worker thread also performs
# garbage collection -- completing any delayed memory deallocations
# from interrupt handlers. If the worker thread is disabled,
# then that clean will be performed by the IDLE thread instead
# (which runs at the lowest of priority and may not be appropriate
# if memory reclamation is of high priority). If CONFIG_SCHED_WORKQUEUE
# is enabled, then the following options can also be used:
# CONFIG_SCHED_WORKPRIORITY - The execution priority of the worker
# thread. Default: 50
# CONFIG_SCHED_WORKPERIOD - How often the worker thread checks for
# work in units of microseconds. Default: 50*1000 (50 MS).
# CONFIG_SCHED_WORKSTACKSIZE - The stack size allocated for the worker
# thread. Default: CONFIG_IDLETHREAD_STACKSIZE.
# CONFIG_SIG_SIGWORK - The signal number that will be used to wake-up
# the worker thread. Default: 4
# CONFIG_SCHED_WAITPID - Enable the waitpid() API
# CONFIG_SCHED_ATEXIT - Enabled the atexit() API
#
CONFIG_USER_ENTRYPOINT="user_start"
#CONFIG_APPS_DIR=
CONFIG_DEBUG=n
CONFIG_DEBUG_VERBOSE=n
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEBUG_FS=n
CONFIG_DEBUG_GRAPHICS=n
CONFIG_DEBUG_LCD=n
CONFIG_DEBUG_USB=n
CONFIG_DEBUG_NET=n
CONFIG_DEBUG_RTC=n
CONFIG_DEBUG_ANALOG=n
CONFIG_DEBUG_PWM=n
CONFIG_DEBUG_CAN=n
CONFIG_DEBUG_I2C=n
CONFIG_DEBUG_INPUT=n
CONFIG_MSEC_PER_TICK=1
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_MM_REGIONS=1
CONFIG_MM_SMALL=y
CONFIG_ARCH_LOWPUTC=y
CONFIG_RR_INTERVAL=0
CONFIG_SCHED_INSTRUMENTATION=n
CONFIG_TASK_NAME_SIZE=8
CONFIG_START_YEAR=1970
CONFIG_START_MONTH=1
CONFIG_START_DAY=1
CONFIG_GREGORIAN_TIME=n
CONFIG_JULIAN_TIME=n
# this eats ~1KiB of RAM ... work out why
CONFIG_DEV_CONSOLE=y
CONFIG_DEV_LOWCONSOLE=n
CONFIG_MUTEX_TYPES=n
CONFIG_PRIORITY_INHERITANCE=n
CONFIG_SEM_PREALLOCHOLDERS=0
CONFIG_SEM_NNESTPRIO=0
CONFIG_FDCLONE_DISABLE=y
CONFIG_FDCLONE_STDIO=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SCHED_WORKQUEUE=n
CONFIG_SCHED_WORKPRIORITY=50
CONFIG_SCHED_WORKPERIOD=50000
CONFIG_SCHED_WORKSTACKSIZE=1024
CONFIG_SIG_SIGWORK=4
CONFIG_SCHED_WAITPID=n
CONFIG_SCHED_ATEXIT=n
#
# The following can be used to disable categories of
# APIs supported by the OS. If the compiler supports
# weak functions, then it should not be necessary to
# disable functions unless you want to restrict usage
# of those APIs.
#
# There are certain dependency relationships in these
# features.
#
# o mq_notify logic depends on signals to awaken tasks
# waiting for queues to become full or empty.
# o pthread_condtimedwait() depends on signals to wake
# up waiting tasks.
#
CONFIG_DISABLE_CLOCK=n
CONFIG_DISABLE_POSIX_TIMERS=y
CONFIG_DISABLE_PTHREAD=y
CONFIG_DISABLE_SIGNALS=y
CONFIG_DISABLE_MQUEUE=y
CONFIG_DISABLE_MOUNTPOINT=y
CONFIG_DISABLE_ENVIRON=y
CONFIG_DISABLE_POLL=y
#
# Misc libc settings
#
# CONFIG_NOPRINTF_FIELDWIDTH - sprintf-related logic is a
# little smaller if we do not support fieldwidthes
#
CONFIG_NOPRINTF_FIELDWIDTH=n
#
# Allow for architecture optimized implementations
#
# The architecture can provide optimized versions of the
# following to improve system performance
#
CONFIG_ARCH_MEMCPY=n
CONFIG_ARCH_MEMCMP=n
CONFIG_ARCH_MEMMOVE=n
CONFIG_ARCH_MEMSET=n
CONFIG_ARCH_STRCMP=n
CONFIG_ARCH_STRCPY=n
CONFIG_ARCH_STRNCPY=n
CONFIG_ARCH_STRLEN=n
CONFIG_ARCH_STRNLEN=n
CONFIG_ARCH_BZERO=n
#
# Sizes of configurable things (0 disables)
#
# CONFIG_MAX_TASKS - The maximum number of simultaneously
# active tasks. This value must be a power of two.
# CONFIG_MAX_TASK_ARGS - This controls the maximum number of
# of parameters that a task may receive (i.e., maxmum value
# of 'argc')
# CONFIG_NPTHREAD_KEYS - The number of items of thread-
# specific data that can be retained
# CONFIG_NFILE_DESCRIPTORS - The maximum number of file
# descriptors (one for each open)
# CONFIG_NFILE_STREAMS - The maximum number of streams that
# can be fopen'ed
# CONFIG_NAME_MAX - The maximum size of a file name.
# CONFIG_STDIO_BUFFER_SIZE - Size of the buffer to allocate
# on fopen. (Only if CONFIG_NFILE_STREAMS > 0)
# CONFIG_STDIO_LINEBUFFER - If standard C buffered I/O is enabled
# (CONFIG_STDIO_BUFFER_SIZE > 0), then this option may be added
# to force automatic, line-oriented flushing the output buffer
# for putc(), fputc(), putchar(), puts(), fputs(), printf(),
# fprintf(), and vfprintf(). When a newline is encountered in
# the output string, the output buffer will be flushed. This
# (slightly) increases the NuttX footprint but supports the kind
# of behavior that people expect for printf().
# CONFIG_NUNGET_CHARS - Number of characters that can be
# buffered by ungetc() (Only if CONFIG_NFILE_STREAMS > 0)
# CONFIG_PREALLOC_MQ_MSGS - The number of pre-allocated message
# structures. The system manages a pool of preallocated
# message structures to minimize dynamic allocations
# CONFIG_MQ_MAXMSGSIZE - Message structures are allocated with
# a fixed payload size given by this settin (does not include
# other message structure overhead.
# CONFIG_MAX_WDOGPARMS - Maximum number of parameters that
# can be passed to a watchdog handler
# CONFIG_PREALLOC_WDOGS - The number of pre-allocated watchdog
# structures. The system manages a pool of preallocated
# watchdog structures to minimize dynamic allocations
# CONFIG_PREALLOC_TIMERS - The number of pre-allocated POSIX
# timer structures. The system manages a pool of preallocated
# timer structures to minimize dynamic allocations. Set to
# zero for all dynamic allocations.
#
CONFIG_MAX_TASKS=4
CONFIG_MAX_TASK_ARGS=4
CONFIG_NPTHREAD_KEYS=2
CONFIG_NFILE_DESCRIPTORS=8
CONFIG_NFILE_STREAMS=0
CONFIG_NAME_MAX=12
CONFIG_STDIO_BUFFER_SIZE=32
CONFIG_STDIO_LINEBUFFER=n
CONFIG_NUNGET_CHARS=2
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_MQ_MAXMSGSIZE=32
CONFIG_MAX_WDOGPARMS=2
CONFIG_PREALLOC_WDOGS=4
CONFIG_PREALLOC_TIMERS=0
#
# Settings for apps/nshlib
#
# CONFIG_NSH_BUILTIN_APPS - Support external registered,
# "named" applications that can be executed from the NSH
# command line (see apps/README.txt for more information).
# CONFIG_NSH_FILEIOSIZE - Size of a static I/O buffer
# CONFIG_NSH_STRERROR - Use strerror(errno)
# CONFIG_NSH_LINELEN - Maximum length of one command line
# CONFIG_NSH_NESTDEPTH - Max number of nested if-then[-else]-fi
# CONFIG_NSH_DISABLESCRIPT - Disable scripting support
# CONFIG_NSH_DISABLEBG - Disable background commands
# CONFIG_NSH_ROMFSETC - Use startup script in /etc
# CONFIG_NSH_CONSOLE - Use serial console front end
# CONFIG_NSH_TELNET - Use telnetd console front end
# CONFIG_NSH_ARCHINIT - Platform provides architecture
# specific initialization (nsh_archinitialize()).
#
# Disable NSH completely
CONFIG_NSH_CONSOLE=n
#
# Stack and heap information
#
# CONFIG_BOOT_RUNFROMFLASH - Some configurations support XIP
# operation from FLASH but must copy initialized .data sections to RAM.
# (should also be =n for the STM3210E-EVAL which always runs from flash)
# CONFIG_BOOT_COPYTORAM - Some configurations boot in FLASH
# but copy themselves entirely into RAM for better performance.
# CONFIG_CUSTOM_STACK - The up_ implementation will handle
# all stack operations outside of the nuttx model.
# CONFIG_STACK_POINTER - The initial stack pointer (arm7tdmi only)
# CONFIG_IDLETHREAD_STACKSIZE - The size of the initial stack.
# This is the thread that (1) performs the inital boot of the system up
# to the point where user_start() is spawned, and (2) there after is the
# IDLE thread that executes only when there is no other thread ready to
# run.
# CONFIG_USERMAIN_STACKSIZE - The size of the stack to allocate
# for the main user thread that begins at the user_start() entry point.
# CONFIG_PTHREAD_STACK_MIN - Minimum pthread stack size
# CONFIG_PTHREAD_STACK_DEFAULT - Default pthread stack size
# CONFIG_HEAP_BASE - The beginning of the heap
# CONFIG_HEAP_SIZE - The size of the heap
#
CONFIG_BOOT_RUNFROMFLASH=n
CONFIG_BOOT_COPYTORAM=n
CONFIG_CUSTOM_STACK=n
CONFIG_STACK_POINTER=
CONFIG_IDLETHREAD_STACKSIZE=1024
CONFIG_USERMAIN_STACKSIZE=1200
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=1024
CONFIG_HEAP_BASE=
CONFIG_HEAP_SIZE=

47
nuttx-configs/px4io-v2/nsh/setenv.sh Executable file
View File

@ -0,0 +1,47 @@
#!/bin/bash
# configs/stm3210e-eval/dfu/setenv.sh
#
# Copyright (C) 2009 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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 [ "$(basename $0)" = "setenv.sh" ] ; then
echo "You must source this script, not run it!" 1>&2
exit 1
fi
if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
WD=`pwd`
export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
echo "PATH : ${PATH}"

129
nuttx-configs/px4io-v2/scripts/ld.script Executable file
View File

@ -0,0 +1,129 @@
/****************************************************************************
* configs/stm3210e-eval/nsh/ld.script
*
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* 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(.);
} > 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(.);
} > 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) }
}

84
nuttx-configs/px4io-v2/src/Makefile Normal file
View File

@ -0,0 +1,84 @@
############################################################################
# configs/stm3210e-eval/src/Makefile
#
# Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <spudmonkey@racsa.co.cr>
#
# 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 $(SRCS)
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
@touch $@
depend: .depend
clean:
$(call DELFILE, libboard$(LIBEXT))
$(call CLEAN)
distclean: clean
$(call DELFILE, Make.dep)
$(call DELFILE, .depend)
-include Make.dep

4
nuttx-configs/px4io-v2/src/empty.c Normal file
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@ -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.
*/

9
src/drivers/airspeed/airspeed.cpp
View File

@ -146,7 +146,14 @@ out:
int
Airspeed::probe()
{
return measure();
/* on initial power up the device needs more than one retry
for detection. Once it is running then retries aren't
needed
*/
_retries = 4;
int ret = measure();
_retries = 0;
return ret;
}
int

10
src/drivers/ardrone_interface/ardrone_interface.c
View File

@ -53,8 +53,10 @@
#include <sys/prctl.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <systemlib/systemlib.h>
@ -243,16 +245,14 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int led_counter = 0;
/* declare and safely initialize all structs */
struct vehicle_status_s state;
memset(&state, 0, sizeof(state));
struct actuator_controls_s actuator_controls;
memset(&actuator_controls, 0, sizeof(actuator_controls));
struct actuator_armed_s armed;
//XXX is this necessairy?
armed.armed = false;
/* subscribe to attitude, motor setpoints and system state */
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int state_sub = orb_subscribe(ORB_ID(vehicle_status));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
printf("[ardrone_interface] Motors initialized - ready.\n");
@ -322,8 +322,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
} else {
/* MAIN OPERATION MODE */
/* get a local copy of the vehicle state */
orb_copy(ORB_ID(vehicle_status), state_sub, &state);
/* get a local copy of the actuator controls */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);

103
src/drivers/blinkm/blinkm.cpp
View File

@ -92,9 +92,6 @@
#include <nuttx/config.h>
#include <arch/board/board.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <string.h>
@ -104,18 +101,23 @@
#include <unistd.h>
#include <stdio.h>
#include <ctype.h>
#include <drivers/drv_blinkm.h>
#include <poll.h>
#include <nuttx/wqueue.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <poll.h>
#include <board_config.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_blinkm.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_gps_position.h>
static const float MAX_CELL_VOLTAGE = 4.3f;
@ -375,7 +377,9 @@ BlinkM::led()
{
static int vehicle_status_sub_fd;
static int vehicle_control_mode_sub_fd;
static int vehicle_gps_position_sub_fd;
static int actuator_armed_sub_fd;
static int num_of_cells = 0;
static int detected_cells_runcount = 0;
@ -386,6 +390,8 @@ BlinkM::led()
static int led_interval = 1000;
static int no_data_vehicle_status = 0;
static int no_data_vehicle_control_mode = 0;
static int no_data_actuator_armed = 0;
static int no_data_vehicle_gps_position = 0;
static bool topic_initialized = false;
@ -398,6 +404,12 @@ BlinkM::led()
vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(vehicle_status_sub_fd, 1000);
vehicle_control_mode_sub_fd = orb_subscribe(ORB_ID(vehicle_control_mode));
orb_set_interval(vehicle_control_mode_sub_fd, 1000);
actuator_armed_sub_fd = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(actuator_armed_sub_fd, 1000);
vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
orb_set_interval(vehicle_gps_position_sub_fd, 1000);
@ -452,12 +464,16 @@ BlinkM::led()
if (led_thread_runcount == 15) {
/* obtained data for the first file descriptor */
struct vehicle_status_s vehicle_status_raw;
struct vehicle_control_mode_s vehicle_control_mode;
struct actuator_armed_s actuator_armed;
struct vehicle_gps_position_s vehicle_gps_position_raw;
memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw));
memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw));
bool new_data_vehicle_status;
bool new_data_vehicle_control_mode;
bool new_data_actuator_armed;
bool new_data_vehicle_gps_position;
orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
@ -471,6 +487,28 @@ BlinkM::led()
no_data_vehicle_status = 3;
}
orb_check(vehicle_control_mode_sub_fd, &new_data_vehicle_control_mode);
if (new_data_vehicle_control_mode) {
orb_copy(ORB_ID(vehicle_control_mode), vehicle_control_mode_sub_fd, &vehicle_control_mode);
no_data_vehicle_control_mode = 0;
} else {
no_data_vehicle_control_mode++;
if(no_data_vehicle_control_mode >= 3)
no_data_vehicle_control_mode = 3;
}
orb_check(actuator_armed_sub_fd, &new_data_actuator_armed);
if (new_data_actuator_armed) {
orb_copy(ORB_ID(actuator_armed), actuator_armed_sub_fd, &actuator_armed);
no_data_actuator_armed = 0;
} else {
no_data_actuator_armed++;
if(no_data_actuator_armed >= 3)
no_data_actuator_armed = 3;
}
orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position);
if (new_data_vehicle_gps_position) {
@ -486,19 +524,19 @@ BlinkM::led()
/* get number of used satellites in navigation */
num_of_used_sats = 0;
//for(int satloop=0; satloop<20; satloop++) {
for(int satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); satloop++) {
for(unsigned satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); satloop++) {
if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
num_of_used_sats++;
}
}
if(new_data_vehicle_status || no_data_vehicle_status < 3){
if(num_of_cells == 0) {
if (new_data_vehicle_status || no_data_vehicle_status < 3) {
if (num_of_cells == 0) {
/* looking for lipo cells that are connected */
printf("<blinkm> checking cells\n");
for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
if(vehicle_status_raw.battery_voltage < num_of_cells * MAX_CELL_VOLTAGE) break;
}
printf("<blinkm> cells found:%d\n", num_of_cells);
@ -530,7 +568,7 @@ BlinkM::led()
} else {
/* no battery warnings here */
if(vehicle_status_raw.flag_system_armed == false) {
if(actuator_armed.armed == false) {
/* system not armed */
led_color_1 = LED_RED;
led_color_2 = LED_RED;
@ -554,27 +592,24 @@ BlinkM::led()
led_color_8 = LED_OFF;
led_blink = LED_BLINK;
/* handle 4th led - flightmode indicator */
switch((int)vehicle_status_raw.flight_mode) {
case VEHICLE_FLIGHT_MODE_MANUAL:
led_color_4 = LED_AMBER;
break;
if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
case VEHICLE_FLIGHT_MODE_STAB:
led_color_4 = LED_YELLOW;
break;
case VEHICLE_FLIGHT_MODE_HOLD:
led_color_4 = LED_BLUE;
break;
case VEHICLE_FLIGHT_MODE_AUTO:
//XXX please check
if (vehicle_control_mode.flag_control_position_enabled)
led_color_4 = LED_GREEN;
break;
else if (vehicle_control_mode.flag_control_velocity_enabled)
led_color_4 = LED_BLUE;
else if (vehicle_control_mode.flag_control_attitude_enabled)
led_color_4 = LED_YELLOW;
else if (vehicle_control_mode.flag_control_manual_enabled)
led_color_4 = LED_AMBER;
else
led_color_4 = LED_OFF;
}
if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
/* handling used sat´s */
/* handling used sat<EFBFBD>s */
if(num_of_used_sats >= 7) {
led_color_1 = LED_OFF;
led_color_2 = LED_OFF;
@ -831,11 +866,13 @@ BlinkM::get_firmware_version(uint8_t version[2])
return transfer(&msg, sizeof(msg), version, 2);
}
void blinkm_usage();
void blinkm_usage() {
fprintf(stderr, "missing command: try 'start', 'systemstate', 'ledoff', 'list' or a script name {options}\n");
fprintf(stderr, "options:\n");
fprintf(stderr, "\t-b --bus i2cbus (3)\n");
fprintf(stderr, "\t-a --blinkmaddr blinkmaddr (9)\n");
warnx("missing command: try 'start', 'systemstate', 'ledoff', 'list' or a script name {options}");
warnx("options:");
warnx("\t-b --bus i2cbus (3)");
warnx("\t-a --blinkmaddr blinkmaddr (9)");
}
int

2
src/drivers/bma180/bma180.cpp
View File

@ -59,7 +59,7 @@
#include <nuttx/clock.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <board_config.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>

93
src/drivers/boards/px4fmu/px4fmu_internal.h → src/drivers/boards/px4fmu-v1/board_config.h
View File

@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file px4fmu_internal.h
* @file board_config.h
*
* PX4FMU internal definitions
*/
@ -51,13 +51,16 @@ __BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* PX4IO connection configuration */
#define PX4IO_SERIAL_DEVICE "/dev/ttyS2"
//#ifdef CONFIG_STM32_SPI2
//# error "SPI2 is not supported on this board"
//#endif
@ -74,15 +77,47 @@ __BEGIN_DECLS
/* External interrupts */
#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
// XXX MPU6000 DRDY?
/* SPI chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
/*
* Use these in place of the spi_dev_e enumeration to
* select a specific SPI device on SPI1
*/
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL 2
#define PX4_SPIDEV_MPU 3
/*
* Optional devices on IO's external port
*/
#define PX4_SPIDEV_ACCEL_MAG 2
/*
* I2C busses
*/
#define PX4_I2C_BUS_ESC 1
#define PX4_I2C_BUS_ONBOARD 2
#define PX4_I2C_BUS_EXPANSION 3
#define PX4_I2C_BUS_LED 3
/*
* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_HMC5883 0x1e
#define PX4_I2C_OBDEV_MS5611 0x76
#define PX4_I2C_OBDEV_EEPROM NOTDEFINED
#define PX4_I2C_OBDEV_LED 0x55
#define PX4_I2C_OBDEV_PX4IO_BL 0x18
#define PX4_I2C_OBDEV_PX4IO 0x1a
/* User GPIOs
*
* GPIO0-1 are the buffered high-power GPIOs.
@ -107,31 +142,45 @@ __BEGIN_DECLS
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/*
* Tone alarm output
*/
#define TONE_ALARM_TIMER 3 /* timer 3 */
#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 otherwise shared with
* USART2; two can take the flow control pins if they are not being used.
*
* Pins:
*
* CTS - PA0 - TIM2CH1
* RTS - PA1 - TIM2CH2
* TX - PA2 - TIM2CH3
* RX - PA3 - TIM2CH4
*
*/
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_1
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* PWM
*
* The PX4FMU has five PWM outputs, of which only the output on
* pin PC8 is fixed assigned to this function. The other four possible
* pwm sources are the TX, RX, RTS and CTS pins of USART2
*
* Alternate function mapping:
* PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
/* High-resolution timer
*/
#ifdef CONFIG_PWM
# if defined(CONFIG_STM32_TIM3_PWM)
# define BUZZER_PWMCHANNEL 3
# define BUZZER_PWMTIMER 3
# elif defined(CONFIG_STM32_TIM8_PWM)
# define BUZZER_PWMCHANNEL 3
# define BUZZER_PWMTIMER 8
# endif
#endif
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
/****************************************************************************************************
* Public Types

0
src/drivers/boards/px4fmu/module.mk → src/drivers/boards/px4fmu-v1/module.mk
View File

2
src/drivers/boards/px4fmu/px4fmu_can.c → src/drivers/boards/px4fmu-v1/px4fmu_can.c
View File

@ -54,7 +54,7 @@
#include "stm32.h"
#include "stm32_can.h"
#include "px4fmu_internal.h"
#include "board_config.h"
#ifdef CONFIG_CAN

2
src/drivers/boards/px4fmu/px4fmu_init.c → src/drivers/boards/px4fmu-v1/px4fmu_init.c
View File

@ -59,7 +59,7 @@
#include <nuttx/analog/adc.h>
#include "stm32.h"
#include "px4fmu_internal.h"
#include "board_config.h"
#include "stm32_uart.h"
#include <arch/board/board.h>

21
src/drivers/boards/px4fmu/px4fmu_led.c → src/drivers/boards/px4fmu-v1/px4fmu_led.c
View File

@ -42,7 +42,7 @@
#include <stdbool.h>
#include "stm32.h"
#include "px4fmu_internal.h"
#include "board_config.h"
#include <arch/board/board.h>
@ -57,6 +57,7 @@ __BEGIN_DECLS
extern void led_init();
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
__EXPORT void led_init()
@ -94,3 +95,21 @@ __EXPORT void led_off(int led)
stm32_gpiowrite(GPIO_LED2, true);
}
}
__EXPORT void led_toggle(int led)
{
if (led == 0)
{
if (stm32_gpioread(GPIO_LED1))
stm32_gpiowrite(GPIO_LED1, false);
else
stm32_gpiowrite(GPIO_LED1, true);
}
if (led == 1)
{
if (stm32_gpioread(GPIO_LED2))
stm32_gpiowrite(GPIO_LED2, false);
else
stm32_gpiowrite(GPIO_LED2, true);
}
}

10
src/drivers/boards/px4fmu/px4fmu_pwm_servo.c → src/drivers/boards/px4fmu-v1/px4fmu_pwm_servo.c
View File

@ -41,15 +41,15 @@
#include <stdint.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include "board_config.h"
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
{
.base = STM32_TIM2_BASE,

2
src/drivers/boards/px4fmu/px4fmu_spi.c → src/drivers/boards/px4fmu-v1/px4fmu_spi.c
View File

@ -53,7 +53,7 @@
#include "up_arch.h"
#include "chip.h"
#include "stm32.h"
#include "px4fmu_internal.h"
#include "board_config.h"
/************************************************************************************
* Public Functions

2
src/drivers/boards/px4fmu/px4fmu_usb.c → src/drivers/boards/px4fmu-v1/px4fmu_usb.c
View File

@ -53,7 +53,7 @@
#include "up_arch.h"
#include "stm32.h"
#include "px4fmu_internal.h"
#include "board_config.h"
/************************************************************************************
* Definitions

192
src/drivers/boards/px4fmu-v2/board_config.h Normal file
View File

@ -0,0 +1,192 @@
/****************************************************************************
*
* 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 board_config.h
*
* PX4FMU internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
__BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* PX4IO connection configuration */
#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
#define PX4IO_SERIAL_BASE STM32_USART6_BASE /* hardwired on the board */
#define PX4IO_SERIAL_VECTOR STM32_IRQ_USART6
#define PX4IO_SERIAL_TX_DMAMAP DMAMAP_USART6_TX_2
#define PX4IO_SERIAL_RX_DMAMAP DMAMAP_USART6_RX_2
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
/* PX4FMU GPIOs ***********************************************************************************/
/* LEDs */
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
/* External interrupts */
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN0)
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
/* SPI chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO 1
#define PX4_SPIDEV_ACCEL_MAG 2
#define PX4_SPIDEV_BARO 3
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_LED 2
/* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_LED 0x55
#define PX4_I2C_OBDEV_HMC5883 0x1e
/* User GPIOs
*
* GPIO0-5 are the PWM servo outputs.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
/* Power supply control and monitoring GPIOs */
#define GPIO_VDD_5V_PERIPH_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define GPIO_VDD_BRICK_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
#define GPIO_VDD_SERVO_VALID (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
#define GPIO_VDD_3V3_SENSORS_EN (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
#define GPIO_VDD_5V_HIPOWER_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
#define GPIO_VDD_5V_PERIPH_OC (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
/* Tone alarm output */
#define TONE_ALARM_TIMER 2 /* timer 2 */
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
/* PWM
*
* Six PWM outputs are configured.
*
* Pins:
*
* CH1 : PE14 : TIM1_CH4
* CH2 : PE13 : TIM1_CH3
* CH3 : PE11 : TIM1_CH2
* CH4 : PE9 : TIM1_CH1
* CH5 : PD13 : TIM4_CH2
* CH6 : PD14 : TIM4_CH3
*/
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
/* 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 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
#endif /* __ASSEMBLY__ */
__END_DECLS

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#
# Board-specific startup code for the PX4FMUv2
#
SRCS = px4fmu_can.c \
px4fmu2_init.c \
px4fmu_pwm_servo.c \
px4fmu_spi.c \
px4fmu_usb.c \
px4fmu2_led.c

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_init.c
*
* PX4FMU-specific early startup code. This file implements the
* nsh_archinitialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialisation.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <nuttx/spi.h>
#include <nuttx/i2c.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <stm32.h>
#include "board_config.h"
#include <stm32_uart.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>
#include <systemlib/cpuload.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lowsyslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lowsyslog
# else
# define message printf
# endif
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure LEDs */
up_ledinit();
}
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization
*
****************************************************************************/
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi2;
static struct sdio_dev_s *sdio;
#include <math.h>
#ifdef __cplusplus
__EXPORT int matherr(struct __exception *e)
{
return 1;
}
#else
__EXPORT int matherr(struct exception *e)
{
return 1;
}
#endif
__EXPORT int nsh_archinitialize(void)
{
/* configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
stm32_configgpio(GPIO_ADC1_IN10); /* unrouted */
stm32_configgpio(GPIO_ADC1_IN11); /* unrouted */
stm32_configgpio(GPIO_ADC1_IN12); /* unrouted */
stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_SERVO_VALID);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\n");
/* Get the SPI port for the FRAM */
spi2 = up_spiinitialize(2);
if (!spi2) {
message("[boot] FAILED to initialize SPI port 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi2, 375000000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH, false);
message("[boot] Successfully initialized SPI port 2\n");
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
sdio_mediachange(sdio, true);
message("[boot] Initialized SDIO\n");
#endif
return OK;
}

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/****************************************************************************
*
* Copyright (c) 2013 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 px4fmu2_led.c
*
* PX4FMU LED backend.
*/
#include <nuttx/config.h>
#include <stdbool.h>
#include "stm32.h"
#include "board_config.h"
#include <arch/board/board.h>
/*
* 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();
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
__EXPORT void led_init()
{
/* Configure LED1 GPIO for output */
stm32_configgpio(GPIO_LED1);
}
__EXPORT void led_on(int led)
{
if (led == 1)
{
/* Pull down to switch on */
stm32_gpiowrite(GPIO_LED1, false);
}
}
__EXPORT void led_off(int led)
{
if (led == 1)
{
/* Pull up to switch off */
stm32_gpiowrite(GPIO_LED1, true);
}
}
__EXPORT void led_toggle(int led)
{
if (led == 1)
{
if (stm32_gpioread(GPIO_LED1))
stm32_gpiowrite(GPIO_LED1, false);
else
stm32_gpiowrite(GPIO_LED1, true);
}
}

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "stm32.h"
#include "stm32_can.h"
#include "board_config.h"
#ifdef CONFIG_CAN
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
# undef CONFIG_STM32_CAN2
#endif
#ifdef CONFIG_STM32_CAN1
# define CAN_PORT 1
#else
# define CAN_PORT 2
#endif
/* Debug ***************************************************************************/
/* Non-standard debug that may be enabled just for testing CAN */
#ifdef CONFIG_DEBUG_CAN
# define candbg dbg
# define canvdbg vdbg
# define canlldbg lldbg
# define canllvdbg llvdbg
#else
# define candbg(x...)
# define canvdbg(x...)
# define canlldbg(x...)
# define canllvdbg(x...)
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: can_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/can.
*
************************************************************************************/
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL) {
candbg("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
if (ret < 0) {
candbg("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
initialized = true;
}
return OK;
}
#endif

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file px4fmu_pwm_servo.c
*
* Configuration data for the stm32 pwm_servo driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <drivers/drv_pwm_output.h>
#include "board_config.h"
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
{
.base = STM32_TIM1_BASE,
.clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM1EN,
.clock_freq = STM32_APB2_TIM1_CLKIN
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
{
.gpio = GPIO_TIM1_CH4OUT,
.timer_index = 0,
.timer_channel = 4,
.default_value = 1000,
},
{
.gpio = GPIO_TIM1_CH3OUT,
.timer_index = 0,
.timer_channel = 3,
.default_value = 1000,
},
{
.gpio = GPIO_TIM1_CH2OUT,
.timer_index = 0,
.timer_channel = 2,
.default_value = 1000,
},
{
.gpio = GPIO_TIM1_CH1OUT,
.timer_index = 0,
.timer_channel = 1,
.default_value = 1000,
},
{
.gpio = GPIO_TIM4_CH2OUT,
.timer_index = 1,
.timer_channel = 2,
.default_value = 1000,
},
{
.gpio = GPIO_TIM4_CH3OUT,
.timer_index = 1,
.timer_channel = 3,
.default_value = 1000,
}
};

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/spi.h>
#include <arch/board/board.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void weak_function stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
stm32_configgpio(GPIO_SPI_CS_BARO);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
#endif
#ifdef CONFIG_STM32_SPI2
stm32_configgpio(GPIO_SPI_CS_FRAM);
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
#endif
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
break;
case PX4_SPIDEV_ACCEL_MAG:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
break;
case PX4_SPIDEV_BARO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
return SPI_STATUS_PRESENT;
}
#ifdef CONFIG_STM32_SPI2
__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_FRAM, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
#endif

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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include <up_arch.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}
/************************************************************************************
* Name: stm32_usbsuspend
*
* Description:
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
* used. This function is called whenever the USB enters or leaves suspend mode.
* This is an opportunity for the board logic to shutdown clocks, power, etc.
* while the USB is suspended.
*
************************************************************************************/
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
ulldbg("resume: %d\n", resume);
}

12
src/drivers/boards/px4io/px4io_internal.h → src/drivers/boards/px4io-v1/board_config.h
View File

@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file px4io_internal.h
* @file board_config.h
*
* PX4IO hardware definitions.
*/
@ -47,7 +47,9 @@
#include <nuttx/compiler.h>
#include <stdint.h>
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.h>
/************************************************************************************
* Definitions
@ -83,3 +85,11 @@
#define GPIO_ADC_VBATT (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
#define GPIO_ADC_IN5 (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
/*
* 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 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN

0
src/drivers/boards/px4io/module.mk → src/drivers/boards/px4io-v1/module.mk
View File

2
src/drivers/boards/px4io/px4io_init.c → src/drivers/boards/px4io-v1/px4io_init.c
View File

@ -55,7 +55,7 @@
#include <nuttx/arch.h>
#include "stm32.h"
#include "px4io_internal.h"
#include "board_config.h"
#include "stm32_uart.h"
#include <arch/board/board.h>

0
src/drivers/boards/px4io/px4io_pwm_servo.c → src/drivers/boards/px4io-v1/px4io_pwm_servo.c
View File

138
src/drivers/boards/px4io-v2/board_config.h Normal file
View File

@ -0,0 +1,138 @@
/****************************************************************************
*
* 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_internal.h
*
* PX4IOV2 internal definitions
*/
#pragma once
/******************************************************************************
* Included Files
******************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/* these headers are not C++ safe */
#include <stm32.h>
#include <arch/board/board.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_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN13)
/* 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_CLEAR|GPIO_PORTC|GPIO_PIN13)
#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)
/* 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_CLEAR|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 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
/* 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? */

6
src/drivers/boards/px4io-v2/module.mk Normal file
View File

@ -0,0 +1,6 @@
#
# Board-specific startup code for the PX4IOv2
#
SRCS = px4iov2_init.c \
px4iov2_pwm_servo.c

162
src/drivers/boards/px4io-v2/px4iov2_init.c Normal file
View File

@ -0,0 +1,162 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4iov2_init.c
*
* PX4FMU-specific early startup code. This file implements the
* nsh_archinitialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialisation.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <stm32.h>
#include "board_config.h"
#include <arch/board/board.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lowsyslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lowsyslog
# else
# define message printf
# endif
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
/* configure GPIOs */
/* LEDS - default to off */
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
stm32_configgpio(GPIO_LED3);
stm32_configgpio(GPIO_BTN_SAFETY);
/* spektrum power enable is active high - disable it by default */
/* XXX might not want to do this on warm restart? */
stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, false);
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_gpiowrite(GPIO_SBUS_OUTPUT, false);
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, false);
stm32_configgpio(GPIO_PWM1);
stm32_gpiowrite(GPIO_PWM2, false);
stm32_configgpio(GPIO_PWM2);
stm32_gpiowrite(GPIO_PWM3, false);
stm32_configgpio(GPIO_PWM3);
stm32_gpiowrite(GPIO_PWM4, false);
stm32_configgpio(GPIO_PWM4);
stm32_gpiowrite(GPIO_PWM5, false);
stm32_configgpio(GPIO_PWM5);
stm32_gpiowrite(GPIO_PWM6, false);
stm32_configgpio(GPIO_PWM6);
stm32_gpiowrite(GPIO_PWM7, false);
stm32_configgpio(GPIO_PWM7);
stm32_gpiowrite(GPIO_PWM8, false);
stm32_configgpio(GPIO_PWM8);
}

123
src/drivers/boards/px4io-v2/px4iov2_pwm_servo.c Normal file
View File

@ -0,0 +1,123 @@
/****************************************************************************
*
* 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_pwm_servo.c
*
* Configuration data for the stm32 pwm_servo driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN
},
{
.base = STM32_TIM3_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM3EN,
.clock_freq = STM32_APB1_TIM3_CLKIN
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
{
.gpio = GPIO_TIM2_CH1OUT,
.timer_index = 0,
.timer_channel = 1,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH2OUT,
.timer_index = 0,
.timer_channel = 2,
.default_value = 1000,
},
{
.gpio = GPIO_TIM4_CH3OUT,
.timer_index = 2,
.timer_channel = 3,
.default_value = 1000,
},
{
.gpio = GPIO_TIM4_CH4OUT,
.timer_index = 2,
.timer_channel = 4,
.default_value = 1000,
},
{
.gpio = GPIO_TIM3_CH1OUT,
.timer_index = 1,
.timer_channel = 1,
.default_value = 1000,
},
{
.gpio = GPIO_TIM3_CH2OUT,
.timer_index = 1,
.timer_channel = 2,
.default_value = 1000,
},
{
.gpio = GPIO_TIM3_CH3OUT,
.timer_index = 1,
.timer_channel = 3,
.default_value = 1000,
},
{
.gpio = GPIO_TIM3_CH4OUT,
.timer_index = 1,
.timer_channel = 4,
.default_value = 1000,
}
};

42
src/drivers/drv_gpio.h
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* 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
@ -59,17 +59,47 @@
# define GPIO_CAN_RX (1<<7) /**< CAN2 RX */
/**
* Default GPIO device - other devices may also support this protocol if
* they also export GPIO-like things. This is always the GPIOs on the
* main board.
* Device paths for things that support the GPIO ioctl protocol.
*/
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
# define PX4IO_DEVICE_PATH "/dev/px4io"
#endif
#ifndef PX4IO_DEVICE_PATH
# error No GPIO support for this board.
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
/*
* PX4FMUv2 GPIO numbers.
*
* There are no alternate functions on this board.
*/
# define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
# define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
# define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
# define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
# define GPIO_SERVO_5 (1<<4) /**< servo 5 output */
# define GPIO_SERVO_6 (1<<5) /**< servo 6 output */
# define GPIO_5V_PERIPH_EN (1<<6) /**< PA8 - !VDD_5V_PERIPH_EN */
# define GPIO_3V3_SENSORS_EN (1<<7) /**< PE3 - VDD_3V3_SENSORS_EN */
# define GPIO_BRICK_VALID (1<<8) /**< PB5 - !VDD_BRICK_VALID */
# define GPIO_SERVO_VALID (1<<9) /**< PB7 - !VDD_SERVO_VALID */
# define GPIO_5V_HIPOWER_OC (1<<10) /**< PE10 - !VDD_5V_HIPOWER_OC */
# define GPIO_5V_PERIPH_OC (1<<11) /**< PE10 - !VDD_5V_PERIPH_OC */
/**
* Device paths for things that support the GPIO ioctl protocol.
*/
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
# define PX4IO_DEVICE_PATH "/dev/px4io"
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
/* no GPIO driver on the PX4IOv1 board */
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
/* no GPIO driver on the PX4IOv2 board */
#endif
/*

3
src/drivers/drv_led.h
View File

@ -54,12 +54,13 @@
#define LED_ON _IOC(_LED_BASE, 0)
#define LED_OFF _IOC(_LED_BASE, 1)
#define LED_TOGGLE _IOC(_LED_BASE, 2)
__BEGIN_DECLS
/*
* Initialise the LED driver.
*/
__EXPORT extern void drv_led_start(void);
__EXPORT void drv_led_start(void);
__END_DECLS

26
src/drivers/drv_mag.h
View File

@ -90,25 +90,37 @@ ORB_DECLARE(sensor_mag);
/** set the mag internal sample rate to at least (arg) Hz */
#define MAGIOCSSAMPLERATE _MAGIOC(0)
/** return the mag internal sample rate in Hz */
#define MAGIOCGSAMPLERATE _MAGIOC(1)
/** set the mag internal lowpass filter to no lower than (arg) Hz */
#define MAGIOCSLOWPASS _MAGIOC(1)
#define MAGIOCSLOWPASS _MAGIOC(2)
/** return the mag internal lowpass filter in Hz */
#define MAGIOCGLOWPASS _MAGIOC(3)
/** set the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCSSCALE _MAGIOC(2)
#define MAGIOCSSCALE _MAGIOC(4)
/** copy the mag scaling constants to the structure pointed to by (arg) */
#define MAGIOCGSCALE _MAGIOC(3)
#define MAGIOCGSCALE _MAGIOC(5)
/** set the measurement range to handle (at least) arg Gauss */
#define MAGIOCSRANGE _MAGIOC(4)
#define MAGIOCSRANGE _MAGIOC(6)
/** return the current mag measurement range in Gauss */
#define MAGIOCGRANGE _MAGIOC(7)
/** perform self-calibration, update scale factors to canonical units */
#define MAGIOCCALIBRATE _MAGIOC(5)
#define MAGIOCCALIBRATE _MAGIOC(8)
/** excite strap */
#define MAGIOCEXSTRAP _MAGIOC(6)
#define MAGIOCEXSTRAP _MAGIOC(9)
/** perform self test and report status */
#define MAGIOCSELFTEST _MAGIOC(7)
#define MAGIOCSELFTEST _MAGIOC(10)
/** determine if mag is external or onboard */
#define MAGIOCGEXTERNAL _MAGIOC(11)
#endif /* _DRV_MAG_H */

126
src/drivers/drv_rgbled.h Normal file
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@ -0,0 +1,126 @@
/****************************************************************************
*
* Copyright (C) 2012-2013 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 drv_rgbled.h
*
* RGB led device API
*/
#pragma once
#include <stdint.h>
#include <sys/ioctl.h>
/* more devices will be 1, 2, etc */
#define RGBLED_DEVICE_PATH "/dev/rgbled0"
/*
* ioctl() definitions
*/
#define _RGBLEDIOCBASE (0x2900)
#define _RGBLEDIOC(_n) (_IOC(_RGBLEDIOCBASE, _n))
/** play the named script in *(char *)arg, repeating forever */
#define RGBLED_PLAY_SCRIPT_NAMED _RGBLEDIOC(1)
/** play the numbered script in (arg), repeating forever */
#define RGBLED_PLAY_SCRIPT _RGBLEDIOC(2)
/**
* Set the user script; (arg) is a pointer to an array of script lines,
* where each line is an array of four bytes giving <duration>, <command>, arg[0-2]
*
* The script is terminated by a zero command.
*/
#define RGBLED_SET_USER_SCRIPT _RGBLEDIOC(3)
/** set constant RGB values */
#define RGBLED_SET_RGB _RGBLEDIOC(4)
/** set color */
#define RGBLED_SET_COLOR _RGBLEDIOC(5)
/** set blink speed */
#define RGBLED_SET_MODE _RGBLEDIOC(6)
/** set pattern */
#define RGBLED_SET_PATTERN _RGBLEDIOC(7)
/*
structure passed to RGBLED_SET_RGB ioctl()
Note that the driver scales the brightness to 0 to 255, regardless
of the hardware scaling
*/
typedef struct {
uint8_t red;
uint8_t green;
uint8_t blue;
} rgbled_rgbset_t;
/* enum passed to RGBLED_SET_COLOR ioctl()*/
typedef enum {
RGBLED_COLOR_OFF,
RGBLED_COLOR_RED,
RGBLED_COLOR_YELLOW,
RGBLED_COLOR_PURPLE,
RGBLED_COLOR_GREEN,
RGBLED_COLOR_BLUE,
RGBLED_COLOR_WHITE,
RGBLED_COLOR_AMBER,
RGBLED_COLOR_DIM_RED,
RGBLED_COLOR_DIM_YELLOW,
RGBLED_COLOR_DIM_PURPLE,
RGBLED_COLOR_DIM_GREEN,
RGBLED_COLOR_DIM_BLUE,
RGBLED_COLOR_DIM_WHITE,
RGBLED_COLOR_DIM_AMBER
} rgbled_color_t;
/* enum passed to RGBLED_SET_MODE ioctl()*/
typedef enum {
RGBLED_MODE_OFF,
RGBLED_MODE_ON,
RGBLED_MODE_BLINK_SLOW,
RGBLED_MODE_BLINK_NORMAL,
RGBLED_MODE_BLINK_FAST,
RGBLED_MODE_PATTERN
} rgbled_mode_t;
#define RGBLED_PATTERN_LENGTH 20
typedef struct {
rgbled_color_t color[RGBLED_PATTERN_LENGTH];
unsigned duration[RGBLED_PATTERN_LENGTH];
} rgbled_pattern_t;

2
src/drivers/ets_airspeed/ets_airspeed.cpp
View File

@ -59,7 +59,7 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <board_config.h>
#include <systemlib/airspeed.h>
#include <systemlib/err.h>

1
src/drivers/hil/hil.cpp
View File

@ -75,6 +75,7 @@
#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_outputs.h>
#include <systemlib/err.h>

153
src/drivers/hmc5883/hmc5883.cpp
View File

@ -58,7 +58,7 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <board_config.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@ -77,8 +77,8 @@
#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883
/* Max measurement rate is 160Hz */
#define HMC5883_CONVERSION_INTERVAL (1000000 / 160) /* microseconds */
/* Max measurement rate is 160Hz, however with 160 it will be set to 166 Hz, therefore workaround using 150 */
#define HMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */
#define ADDR_CONF_A 0x00
#define ADDR_CONF_B 0x01
@ -167,6 +167,8 @@ private:
bool _sensor_ok; /**< sensor was found and reports ok */
bool _calibrated; /**< the calibration is valid */
int _bus; /**< the bus the device is connected to */
/**
* Test whether the device supported by the driver is present at a
* specific address.
@ -189,6 +191,11 @@ private:
*/
void stop();
/**
* Reset the device
*/
int reset();
/**
* Perform the on-sensor scale calibration routine.
*
@ -326,7 +333,8 @@ HMC5883::HMC5883(int bus) :
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
_sensor_ok(false),
_calibrated(false)
_calibrated(false),
_bus(bus)
{
// enable debug() calls
_debug_enabled = false;
@ -362,6 +370,9 @@ HMC5883::init()
if (I2C::init() != OK)
goto out;
/* reset the device configuration */
reset();
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct mag_report[_num_reports];
@ -378,9 +389,6 @@ HMC5883::init()
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
/* set range */
set_range(_range_ga);
ret = OK;
/* sensor is ok, but not calibrated */
_sensor_ok = true;
@ -539,68 +547,67 @@ int
HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
start();
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
}
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* zero would be bad */
case 0:
return -EINVAL;
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* check against maximum rate */
if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL))
return -EINVAL;
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(HMC5883_CONVERSION_INTERVAL);
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(HMC5883_CONVERSION_INTERVAL))
return -EINVAL;
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
return 1000000/TICK2USEC(_measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* add one to account for the sentinel in the ring */
@ -630,17 +637,24 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
return _num_reports - 1;
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
return reset();
case MAGIOCSSAMPLERATE:
/* not supported, always 1 sample per poll */
return -EINVAL;
/* same as pollrate because device is in single measurement mode*/
return ioctl(filp, SENSORIOCSPOLLRATE, arg);
case MAGIOCGSAMPLERATE:
/* same as pollrate because device is in single measurement mode*/
return 1000000/TICK2USEC(_measure_ticks);
case MAGIOCSRANGE:
return set_range(arg);
case MAGIOCGRANGE:
return _range_ga;
case MAGIOCSLOWPASS:
case MAGIOCGLOWPASS:
/* not supported, no internal filtering */
return -EINVAL;
@ -665,6 +679,12 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case MAGIOCSELFTEST:
return check_calibration();
case MAGIOCGEXTERNAL:
if (_bus == PX4_I2C_BUS_EXPANSION)
return 1;
else
return 0;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
@ -688,6 +708,13 @@ HMC5883::stop()
work_cancel(HPWORK, &_work);
}
int
HMC5883::reset()
{
/* set range */
return set_range(_range_ga);
}
void
HMC5883::cycle_trampoline(void *arg)
{
@ -851,10 +878,11 @@ HMC5883::collect()
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
} else {
#endif
/* XXX axis assignment of external sensor is yet unknown */
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down,
* therefore switch x and y and invert y */
_reports[_next_report].x = ((((report.y == -32768) ? 32767 : -report.y) * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
_reports[_next_report].y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
#ifdef PX4_I2C_BUS_ONBOARD
@ -1293,6 +1321,11 @@ test()
warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
warnx("time: %lld", report.timestamp);
/* check if mag is onboard or external */
if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0)
errx(1, "failed to get if mag is onboard or external");
warnx("device active: %s", ret ? "external" : "onboard");
/* set the queue depth to 10 */
if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10))
errx(1, "failed to set queue depth");

2
src/drivers/hott/messages.cpp
View File

@ -42,7 +42,7 @@
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <systemlib/geo/geo.h>
#include <geo/geo.h>
#include <unistd.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>

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