forked from Archive/PX4-Autopilot
Changes to px4io-v1 for upstream Nuttx
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17633c0714
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63f04c1236
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This directory contains header files unique to the PX4IO board.
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This directory contains header files unique to the
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PX4IO board.
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@ -1,5 +1,5 @@
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/************************************************************************************
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* configs/px4io/include/board.h
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* nuttx-configs/px4io-v1/include/board.h
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* include/arch/board/board.h
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*
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* Copyright (C) 2009 Gregory Nutt. All rights reserved.
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@ -82,7 +82,9 @@
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/* APB2 timer 1 will receive PCLK2. */
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#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM15_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM16_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM17_CLKIN (STM32_PCLK2_FREQUENCY)
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/* APB1 clock (PCLK1) is HCLK (24MHz) */
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@ -91,10 +93,35 @@
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/* All timers run off PCLK */
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#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM5_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM6_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM7_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM12_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM13_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM14_CLKIN (STM32_PCLK1_FREQUENCY)
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
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* otherwise frequency is 2xAPBx.
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* Note: TIM1, 15-17 are on APB2, others on APB1
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*/
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
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#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
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#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
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#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
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#define BOARD_TIM15_FREQUENCY STM32_APB2_TIM15_CLKIN
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#define BOARD_TIM16_FREQUENCY STM32_APB2_TIM16_CLKIN
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#define BOARD_TIM17_FREQUENCY STM32_APB2_TIM17_CLKIN
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/*
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* Some of the USART pins are not available; override the GPIO
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############################################################################
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# configs/px4io-v1/nsh/Make.defs
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# nuttx-configs/px4io-v1/nsh/Make.defs
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#
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# Copyright (C) 2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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include ${TOPDIR}/.config
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include ${TOPDIR}/tools/Config.mk
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include $(TOPDIR)/PX4_Warnings.mk
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include $(TOPDIR)/PX4_Config.mk
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#
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# We only support building with the ARM bare-metal toolchain from
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# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
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#
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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@ -60,12 +60,14 @@ ARCHCPUFLAGS = -mcpu=cortex-m3 \
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-mthumb \
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-march=armv7-m
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# enable precise stack overflow tracking
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# Enable precise stack overflow tracking
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ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
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INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
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endif
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# use our linker script
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# Use our linker script
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LDSCRIPT = ld.script
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ifeq ($(WINTOOL),y)
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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else
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# Linux/Cygwin-native toolchain
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MKDEP = $(TOPDIR)/tools/mkdeps.sh
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MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
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ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
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ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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endif
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endif
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# tool versions
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# Tool versions
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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'}
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ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
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# optimisation flags
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# Optimization flags
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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-fno-strict-aliasing \
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-fno-strength-reduce \
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ARCHDEFINES =
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ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
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# this seems to be the only way to add linker flags
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# This seems to be the only way to add linker flags
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EXTRA_LIBS += --warn-common \
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--gc-sections
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@ -139,8 +144,8 @@ OBJEXT = .o
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LIBEXT = .a
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EXEEXT =
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# Produce partially-linked $1 from files in $2
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# produce partially-linked $1 from files in $2
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define PRELINK
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@echo "PRELINK: $1"
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$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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Load Diff
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#!/bin/bash
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# configs/stm3210e-eval/dfu/setenv.sh
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# nuttx-configs/px4io-v1/nsh/setenv.sh
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#
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# Copyright (C) 2009 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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/****************************************************************************
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* configs/stm3210e-eval/nsh/ld.script
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* nuttx-configs/px4io-v1/scripts/ld.script
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*
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* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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############################################################################
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# configs/stm3210e-eval/src/Makefile
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#
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# Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <spudmonkey@racsa.co.cr>
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$(call DELFILE, Make.dep)
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$(call DELFILE, .depend)
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ifneq ($(BOARD_CONTEXT),y)
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context:
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endif
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-include Make.dep
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32.h>
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#include <arch/board/board.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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* @file px4io_init.c
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*
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* PX4IO-specific early startup code. This file implements the
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* nsh_archinitialize() function that is called early by nsh during startup.
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* stm32_boardinitialize() function that is called during cpu startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialisation.
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* subsystems and perform board-specific initialization.
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*/
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/****************************************************************************
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#include <errno.h>
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#include <nuttx/arch.h>
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#include <nuttx/board.h>
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#include "stm32.h"
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#include "board_config.h"
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__EXPORT void stm32_boardinitialize(void)
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{
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/* configure GPIOs */
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px4_arch_configgpio(GPIO_ACC1_PWR_EN);
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px4_arch_configgpio(GPIO_ACC2_PWR_EN);
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px4_arch_configgpio(GPIO_SERVO_PWR_EN);
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px4_arch_configgpio(GPIO_RELAY1_EN);
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px4_arch_configgpio(GPIO_RELAY2_EN);
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stm32_configgpio(GPIO_ACC1_PWR_EN);
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stm32_configgpio(GPIO_ACC2_PWR_EN);
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stm32_configgpio(GPIO_SERVO_PWR_EN);
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stm32_configgpio(GPIO_RELAY1_EN);
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stm32_configgpio(GPIO_RELAY2_EN);
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/* turn off - all leds are active low */
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px4_arch_gpiowrite(GPIO_LED1, true);
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px4_arch_gpiowrite(GPIO_LED2, true);
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px4_arch_gpiowrite(GPIO_LED3, true);
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stm32_gpiowrite(GPIO_LED1, true);
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stm32_gpiowrite(GPIO_LED2, true);
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stm32_gpiowrite(GPIO_LED3, true);
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/* LED config */
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px4_arch_configgpio(GPIO_LED1);
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px4_arch_configgpio(GPIO_LED2);
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px4_arch_configgpio(GPIO_LED3);
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stm32_configgpio(GPIO_LED1);
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stm32_configgpio(GPIO_LED2);
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stm32_configgpio(GPIO_LED3);
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px4_arch_configgpio(GPIO_ACC_OC_DETECT);
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px4_arch_configgpio(GPIO_SERVO_OC_DETECT);
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px4_arch_configgpio(GPIO_BTN_SAFETY);
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stm32_configgpio(GPIO_ACC_OC_DETECT);
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stm32_configgpio(GPIO_SERVO_OC_DETECT);
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stm32_configgpio(GPIO_BTN_SAFETY);
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px4_arch_configgpio(GPIO_ADC_VBATT);
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px4_arch_configgpio(GPIO_ADC_IN5);
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stm32_configgpio(GPIO_ADC_VBATT);
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stm32_configgpio(GPIO_ADC_IN5);
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}
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