forked from Archive/PX4-Autopilot
boards: cubepilot/cubeyellow small fixes and improvements
- fix UART config (GPS1, etc) - TELEM2 enable TX DMA - init simplify (sync with CubeOrange) - amber LED use for armed state - manually start ak09916 (Here2) on I2C2 with proper rotation
This commit is contained in:
Daniel Agar
parent
d3a1225c98
commit
65ab7cef2e
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@ -11,13 +11,12 @@ px4_add_board(
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TESTING
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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# IO DEBUG:/dev/ttyS0
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TEL1:/dev/ttyS1
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TEL2:/dev/ttyS2
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GPS1:/dev/ttyS3
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GPS2:/dev/ttyS4
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# CONSOLE:/dev/tty5
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# PX4IO:/dev/ttyS6
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TEL1:/dev/ttyS0
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TEL2:/dev/ttyS1
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GPS1:/dev/ttyS2
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# PX4IO:/dev/ttyS3
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# CONSOLE:/dev/ttyS4
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GPS2:/dev/ttyS5
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DRIVERS
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adc
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barometer # all available barometer drivers
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@ -12,3 +12,6 @@ icm20649 -s -b 1 start
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ms5611 -s -b 4 start
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icm20602 -s -b 4 -R 12 start
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icm20948 -s -b 4 -R 10 -M start
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# standard Here/Here2 connected to GPS1
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ak09916 -X -b 2 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
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@ -60,7 +60,7 @@
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#define STM32_HSI_FREQUENCY 16000000ul
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#define STM32_LSI_FREQUENCY 32000
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#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
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#define STM32_LSE_FREQUENCY 0
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#define STM32_LSE_FREQUENCY 32768
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/* Main PLL Configuration.
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*
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@ -90,17 +90,17 @@
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/* Highest SYSCLK with USB OTG FS clock = 48 MHz
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*
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* PLL_VCO = (24,000,000 / 12) * 216 = 432 MHz
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* PLL_VCO = (24,000,000 / 24) * 432 = 432 MHz
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* SYSCLK = 432 MHz / 2 = 216 MHz
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* USB OTG FS, SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz
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*/
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#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(12)
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#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(216)
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#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
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#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(432)
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#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
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#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(9)
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#define STM32_VCO_FREQUENCY ((STM32_HSE_FREQUENCY / 12) * 216)
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#define STM32_VCO_FREQUENCY ((STM32_HSE_FREQUENCY / 24) * 432)
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#define STM32_SYSCLK_FREQUENCY (STM32_VCO_FREQUENCY / 2)
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#define STM32_OTGFS_FREQUENCY (STM32_VCO_FREQUENCY / 9)
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@ -239,27 +239,24 @@
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/* UART/USART */
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#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PB7 */
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#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PB6 */
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#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
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#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
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#define GPIO_USART2_CTS GPIO_USART2_CTS_2 /* PD3 */
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
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#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
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#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
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#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
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#define GPIO_USART2_CTS GPIO_USART2_CTS_2 /* PD3 */
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#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
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#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
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#define GPIO_USART3_CTS GPIO_USART3_CTS_2 /* PD11 */
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#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
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#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
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#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
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#define GPIO_USART3_RTS GPIO_USART3_RTS_2 /* PD12 */
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#define GPIO_USART3_CTS GPIO_USART3_CTS_2 /* PD11 */
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#define GPIO_UART4_TX GPIO_UART4_TX_1 /* PA0 */
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#define GPIO_UART4_RX GPIO_UART4_RX_1 /* PA1 */
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#define GPIO_UART4_RX GPIO_UART4_RX_1 /* PA1 */
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#define GPIO_UART4_TX GPIO_UART4_TX_1 /* PA0 */
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#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */
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#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
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#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
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#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */
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#define GPIO_UART7_RX GPIO_UART7_RX_1 /* PE7 */
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#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8 */
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#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE8 */
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#define GPIO_UART7_RX GPIO_UART7_RX_1 /* PE7 */
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/* USART8: has no remap
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*
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@ -269,11 +266,11 @@
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/* CAN */
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#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
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#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
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#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
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#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
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#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
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#define GPIO_CAN2_TX GPIO_CAN2_TX_2 /* PB6 */
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#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
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#define GPIO_CAN2_TX GPIO_CAN2_TX_2 /* PB6 */
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/* SPI */
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@ -79,12 +79,12 @@
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// DMA1 Channel/Stream Selections
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//--------------------------------------------//---------------------------//----------------
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// DMAMAP_UART8_TX // DMA1, Stream 0, Channel 5
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// DMAMAP_USART3_RX // DMA1, Stream 1, Channel 4
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// DMAMAP_UART4_RX // DMA1, Stream 2, Channel 4
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// DMAMAP_USART3_TX DMAMAP_USART3_TX_1 // DMA1, Stream 3, Channel 4
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// DMAMAP_USART2_RX // DMA1, Stream 5, Channel 4
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// DMAMAP_UART8_RX // DMA1, Stream 6, Channel 5
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// AVAILABLE // DMA1, Stream 0, Channel 5
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// DMAMAP_USART3_RX // DMA1, Stream 1, Channel 4 (TELEM2 RX)
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// DMAMAP_UART4_RX // DMA1, Stream 2, Channel 4 (GPS1 RX)
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#define DMAMAP_USART3_TX DMAMAP_USART3_TX_1 // DMA1, Stream 3, Channel 4 (TELEM2 TX)
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// DMAMAP_USART2_RX // DMA1, Stream 5, Channel 4 (TELEM1 RX)
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// DMAMAP_UART8_RX // DMA1, Stream 6, Channel 5 (GPS2 RX)
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// DMA2 Channel/Stream Selections
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@ -191,7 +191,6 @@ CONFIG_STM32F7_TIM11=y
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CONFIG_STM32F7_UART4=y
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CONFIG_STM32F7_UART7=y
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CONFIG_STM32F7_UART8=y
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CONFIG_STM32F7_USART1=y
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CONFIG_STM32F7_USART2=y
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CONFIG_STM32F7_USART3=y
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CONFIG_STM32F7_USART6=y
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@ -216,9 +215,6 @@ CONFIG_UART8_BAUD=57600
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CONFIG_UART8_RXBUFSIZE=600
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CONFIG_UART8_RXDMA=y
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CONFIG_UART8_TXBUFSIZE=1500
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CONFIG_USART1_BAUD=57600
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CONFIG_USART1_RXBUFSIZE=600
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CONFIG_USART1_TXBUFSIZE=1500
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CONFIG_USART2_BAUD=57600
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CONFIG_USART2_IFLOWCONTROL=y
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CONFIG_USART2_OFLOWCONTROL=y
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@ -231,11 +227,11 @@ CONFIG_USART3_OFLOWCONTROL=y
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CONFIG_USART3_RXBUFSIZE=600
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CONFIG_USART3_RXDMA=y
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CONFIG_USART3_TXBUFSIZE=3000
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CONFIG_USART3_TXDMA=y
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CONFIG_USART6_BAUD=57600
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CONFIG_USART6_RXBUFSIZE=600
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CONFIG_USART6_RXDMA=y
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CONFIG_USART6_TXBUFSIZE=1500
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CONFIG_USART6_TXDMA=y
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CONFIG_USBDEV=y
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CONFIG_USBDEV_BUSPOWERED=y
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CONFIG_USBDEV_MAXPOWER=500
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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# Copyright (c) 2020 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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@ -32,20 +32,16 @@
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############################################################################
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add_library(drivers_board
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can.c
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i2c.cpp
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init.c
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led.c
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sdio.c
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spi.cpp
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timer_config.cpp
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usb.c
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)
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add_dependencies(drivers_board arch_board_hw_info)
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target_link_libraries(drivers_board
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PRIVATE
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arch_board_hw_info
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arch_spi
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drivers__led # drv_led_start
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nuttx_arch # sdio
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@ -46,7 +46,7 @@
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/* PX4IO connection configuration */
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#define BOARD_USES_PX4IO_VERSION 2
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
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#define PX4IO_SERIAL_DEVICE "/dev/ttyS3"
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#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
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#define PX4IO_SERIAL_RX_GPIO GPIO_USART6_RX
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#define PX4IO_SERIAL_BASE STM32_USART6_BASE
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@ -61,6 +61,9 @@
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/* LEDs */
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#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
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#define BOARD_HAS_CONTROL_STATUS_LEDS 1
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#define BOARD_ARMED_STATE_LED LED_AMBER
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/* ADC channels */
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#define PX4_ADC_GPIO \
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/* PA2 */ GPIO_ADC1_IN2, \
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@ -86,6 +89,9 @@
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(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
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(1 << ADC_AIRSPEED_VOLTAGE_CHANNEL))
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/* HW has to large of R termination on ADC todo:change when HW value is chosen */
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#define BOARD_ADC_OPEN_CIRCUIT_V (5.6f)
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/* PWM */
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#define DIRECT_PWM_OUTPUT_CHANNELS 6
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#define GPIO_PWM_VOLT_SEL /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
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@ -164,17 +170,6 @@
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__BEGIN_DECLS
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#ifndef __ASSEMBLY__
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/****************************************************************************
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* Name: stm32_sdio_initialize
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*
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* Description:
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* Initialize SDIO-based MMC/SD card support
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*
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****************************************************************************/
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int stm32_sdio_initialize(void);
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extern void stm32_spiinitialize(void);
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extern void board_peripheral_reset(int ms);
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@ -1,134 +0,0 @@
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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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/**
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* @file can.c
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*
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* Board-specific CAN functions.
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*/
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#if !defined(CONFIG_CAN)
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#include <stdint.h>
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#include "board_config.h"
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#else
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/can/can.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "up_arch.h"
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#include "chip.h"
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#include "stm32_can.h"
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#include "board_config.h"
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#ifdef CONFIG_CAN
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Configuration ********************************************************************/
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#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
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# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
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# undef CONFIG_STM32_CAN2
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#endif
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#ifdef CONFIG_STM32_CAN1
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# define CAN_PORT 1
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#else
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# define CAN_PORT 2
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#endif
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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int can_devinit(void);
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/************************************************************************************
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* Name: can_devinit
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*
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* Description:
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* All STM32 architectures must provide the following interface to work with
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* examples/can.
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*
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************************************************************************************/
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int can_devinit(void)
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{
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static bool initialized = false;
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struct can_dev_s *can;
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int ret;
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/* Check if we have already initialized */
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if (!initialized) {
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/* Call stm32_caninitialize() to get an instance of the CAN interface */
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can = stm32_caninitialize(CAN_PORT);
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if (can == NULL) {
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canerr("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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/* Register the CAN driver at "/dev/can0" */
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ret = can_register("/dev/can0", can);
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if (ret < 0) {
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canerr("ERROR: can_register failed: %d\n", ret);
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return ret;
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}
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/* Now we are initialized */
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initialized = true;
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}
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return OK;
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}
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#endif
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#endif /* CONFIG_CAN */
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@ -190,13 +190,22 @@ __EXPORT int board_app_initialize(uintptr_t arg)
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}
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#ifdef CONFIG_MMCSD
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int ret = stm32_sdio_initialize();
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||||
/* Mount the SDIO-based MMC/SD block driver */
|
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/* First, get an instance of the SDIO interface */
|
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struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot
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if (ret != OK) {
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led_on(LED_AMBER);
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return ret;
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if (!sdio_dev) {
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syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
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return ERROR;
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}
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if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
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syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
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return ERROR;
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}
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/* Assume that the SD card is inserted. What choice do we have? */
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sdio_mediachange(sdio_dev, true);
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#endif /* CONFIG_MMCSD */
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return OK;
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@ -1,171 +0,0 @@
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/****************************************************************************
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*
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* Copyright (C) 2014, 2016 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <board_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "board_config.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_sdmmc.h"
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Card detections requires card support and a card detection GPIO */
|
||||
|
||||
#define HAVE_NCD 1
|
||||
#if !defined(GPIO_SDMMC1_NCD)
|
||||
# undef HAVE_NCD
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
static FAR struct sdio_dev_s *sdio_dev;
|
||||
#ifdef HAVE_NCD
|
||||
static bool g_sd_inserted = 0xff; /* Impossible value */
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_ncd_interrupt
|
||||
*
|
||||
* Description:
|
||||
* Card detect interrupt handler.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
static int stm32_ncd_interrupt(int irq, FAR void *context)
|
||||
{
|
||||
bool present = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
|
||||
if (sdio_dev && present != g_sd_inserted) {
|
||||
sdio_mediachange(sdio_dev, present);
|
||||
g_sd_inserted = present;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
*
|
||||
* Description:
|
||||
* Initialize SDIO-based MMC/SD card support
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int stm32_sdio_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Card detect */
|
||||
bool cd_status;
|
||||
|
||||
/* Configure the card detect GPIO */
|
||||
stm32_configgpio(GPIO_SDMMC1_NCD);
|
||||
|
||||
/* Register an interrupt handler for the card detect pin */
|
||||
stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
|
||||
#endif
|
||||
|
||||
/* Mount the SDIO-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDIO interface */
|
||||
finfo("Initializing SDIO slot %d\n", 0);
|
||||
|
||||
sdio_dev = sdio_initialize(0);
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
|
||||
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", 0);
|
||||
|
||||
ret = mmcsd_slotinitialize(0, sdio_dev);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
finfo("Successfully bound SDIO to the MMC/SD driver\n");
|
||||
|
||||
#ifdef HAVE_NCD
|
||||
/* Use SD card detect pin to check if a card is g_sd_inserted */
|
||||
|
||||
cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
finfo("Card detect : %d\n", cd_status);
|
||||
|
||||
sdio_mediachange(sdio_dev, cd_status);
|
||||
#else
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
Loading…
Reference in New Issue