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WIP: mRO CANnode m10025

This commit is contained in:
Daniel Agar 2021-02-06 17:49:51 -05:00
parent 96d0755afd
commit 6d6b72d4bf
36 changed files with 2536 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
.ci/Jenkinsfile-compile
View File

@ -60,6 +60,8 @@ pipeline {
"holybro_pix32v5_default",
"modalai_fc-v1_default",
"modalai_fc-v1_rtps",
"mro_cannode_canbootloader",
"mro_cannode_default",
"mro_ctrl-zero-f7_default",
"mro_ctrl-zero-f7-oem_default",
"mro_ctrl-zero-h7_default",

2
.github/workflows/compile_nuttx.yml vendored
View File

@ -43,6 +43,8 @@ jobs:
holybro_pix32v5_default,
modalai_fc-v1_default,
modalai_fc-v1_rtps,
mro_cannode_canbootloader,
mro_cannode_default,
mro_ctrl-zero-f7-oem_default,
mro_ctrl-zero-f7_default,
mro_ctrl-zero-h7-oem_default,

5
.vscode/cmake-variants.yaml vendored
View File

@ -126,6 +126,11 @@ CONFIG:
buildType: MinSizeRel
settings:
CONFIG: modalai_fc-v1_default
mro_cannode_default:
short: mro_cannode_default
buildType: MinSizeRel
settings:
CONFIG: mro_cannode_default
mro_ctrl-zero-f7_default:
short: mro_ctrl-zero-f7
buildType: MinSizeRel

13
boards/mro/cannode/canbootloader.cmake Normal file
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@ -0,0 +1,13 @@
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
px4_add_board(
PLATFORM nuttx
VENDOR ark
MODEL can-flow
LABEL canbootloader
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
CONSTRAINED_MEMORY
DRIVERS
bootloaders
)

25
boards/mro/cannode/default.cmake Normal file
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@ -0,0 +1,25 @@
include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
px4_add_board(
PLATFORM nuttx
VENDOR mro
MODEL cannode
LABEL default
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
CONSTRAINED_FLASH
CONSTRAINED_MEMORY
ROMFSROOT cannode
UAVCAN_INTERFACES 1
UAVCAN_TIMER_OVERRIDE 3
DRIVERS
barometer/dps310
bootloaders
#gps
lights/rgbled_ncp5623c
magnetometer/rm3100
uavcannode
MODULES
SYSTEMCMDS
param
)

13
boards/mro/cannode/firmware.prototype Normal file
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@ -0,0 +1,13 @@
{
"board_id": 1004,
"magic": "PX4FWv1",
"description": "Firmware for the mRO CANnode board",
"image": "",
"build_time": 0,
"summary": "mROCANNode",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2080768,
"git_identity": "",
"board_revision": 0
}

9
boards/mro/cannode/init/rc.board_defaults Normal file
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@ -0,0 +1,9 @@
#!/bin/sh
#
# board specific defaults
#------------------------------------------------------------------------------
if [ $AUTOCNF = yes ]
then
fi

8
boards/mro/cannode/init/rc.board_sensors Normal file
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@ -0,0 +1,8 @@
#!/bin/sh
#
# board sensors init
#------------------------------------------------------------------------------
rm3100 -s start
dps310 -I start

61
boards/mro/cannode/nuttx-config/canbootloader/defconfig Normal file
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@ -0,0 +1,61 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F303CC=y
CONFIG_ARCH_INTERRUPTSTACK=4096
CONFIG_ARMV7M_MEMCPY=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BINFMT_DISABLE=y
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_C99_BOOL8=y
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DISABLE_MOUNTPOINT=y
CONFIG_DISABLE_MQUEUE=y
CONFIG_DISABLE_PTHREAD=y
CONFIG_EXPERIMENTAL=y
CONFIG_FDCLONE_DISABLE=y
CONFIG_FDCLONE_STDIO=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=4096
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_LIB_BOARDCTL=y
CONFIG_MAX_TASKS=0
CONFIG_MM_REGIONS=2
CONFIG_NAME_MAX=0
CONFIG_NUNGET_CHARS=0
CONFIG_PREALLOC_TIMERS=0
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAM_SIZE=262144
CONFIG_RAM_START=0x20010000
CONFIG_RAW_BINARY=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SIG_DEFAULT=y
CONFIG_SIG_SIGALRM_ACTION=y
CONFIG_SIG_SIGUSR1_ACTION=y
CONFIG_SIG_SIGUSR2_ACTION=y
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_DISABLE_BUFFERING=y
CONFIG_STM32_NOEXT_VECTORS=y
CONFIG_STM32_TIM8=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=4096

144
boards/mro/cannode/nuttx-config/include/board.h Normal file
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@ -0,0 +1,144 @@
/************************************************************************************
* 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
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <stm32.h>
/* Clocking *****************************************************************/
/* HSI - Internal 8 MHz RC Oscillator
* LSI - 32 KHz RC
* HSE - 8 MHz from MCO output of ST-LINK
* LSE - 32.768 kHz
*/
#define STM32_BOARD_XTAL 8000000ul /* X1 on board */
#define STM32_HSEBYP_ENABLE
#define STM32_HSI_FREQUENCY 8000000ul
#define STM32_LSI_FREQUENCY 40000 /* Between 30kHz and 60kHz */
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
#define STM32_LSE_FREQUENCY 0
/* PLL source is HSE/1, PLL multipler is 9: PLL frequency is 8MHz (XTAL) x 9 = 72MHz */
#define STM32_CFGR_PLLSRC RCC_CFGR_PLLSRC
#define STM32_CFGR_PLLXTPRE 0
#define STM32_CFGR_PLLMUL RCC_CFGR_PLLMUL_CLKx9
#define STM32_PLL_FREQUENCY (9*STM32_BOARD_XTAL)
/* Use the PLL and set the SYSCLK source to be the PLL */
#define STM32_SYSCLK_SW RCC_CFGR_SW_PLL
#define STM32_SYSCLK_SWS RCC_CFGR_SWS_PLL
#define STM32_SYSCLK_FREQUENCY STM32_PLL_FREQUENCY
/* AHB clock (HCLK) is SYSCLK (72MHz) */
#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 (72MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 1 and 8, 15-17 */
/* APB2 timers 1 and 8, 15-17 will receive PCLK2. */
/* Timers driven from APB2 will be PCLK2 */
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB1_TIM15_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB1_TIM16_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB1_TIM17_CLKIN (STM32_PCLK2_FREQUENCY)
/* APB1 clock (PCLK1) is HCLK/2 (36MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
/* APB1 timers 2-7 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_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
/* USB divider -- Divide PLL clock by 1.5 */
#define STM32_CFGR_USBPRE 0
/* 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 BOARD_TIM1_FREQUENCY STM32_HCLK_FREQUENCY
#define BOARD_TIM2_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
#define BOARD_TIM3_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
#define BOARD_TIM4_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
#define BOARD_TIM5_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
#define BOARD_TIM6_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
#define BOARD_TIM7_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
#define BOARD_TIM8_FREQUENCY STM32_HCLK_FREQUENCY
/* Alternate function pin selections ************************************************/
/* UARTs */
#define GPIO_USART1_TX GPIO_USART1_TX_1 /* PA9 */
#define GPIO_USART1_RX GPIO_USART1_RX_1 /* PA10 */
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PA2 */
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PA3 */
/* CAN */
#define GPIO_CAN1_RX GPIO_CAN_RX_2 /* PA11 */
#define GPIO_CAN1_TX GPIO_CAN_TX_2 /* PA12 */
/* I2C */
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB6 */
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB7 */
/* SPI */
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 /* PA5 */
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
#endif /* __ARCH_BOARD_BOARD_H */

45
boards/mro/cannode/nuttx-config/include/board_dma_map.h Normal file
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@ -0,0 +1,45 @@
/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
#pragma once
// DMA1 Channel/Stream Selections
//--------------------------------------------//---------------------------//----------------
// DMA2 Channel/Stream Selections
//--------------------------------------------//---------------------------//----------------
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX // DMA2, Stream 3, Channel 0
#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX // DMA2, Stream 4, Channel 0
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1 // DMA2, Stream 5, Channel 3

148
boards/mro/cannode/nuttx-config/nsh/defconfig Normal file
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@ -0,0 +1,148 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_DISABLE_OS_API is not set
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
# CONFIG_NSH_DISABLEBG is not set
# CONFIG_NSH_DISABLESCRIPT is not set
# CONFIG_NSH_DISABLE_DF is not set
# CONFIG_NSH_DISABLE_EXEC is not set
# CONFIG_NSH_DISABLE_EXIT is not set
# CONFIG_NSH_DISABLE_GET is not set
# CONFIG_NSH_DISABLE_ITEF is not set
# CONFIG_NSH_DISABLE_LOOPS is not set
# CONFIG_NSH_DISABLE_SEMICOLON is not set
# CONFIG_NSH_DISABLE_TIME is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F303CC=y
CONFIG_ARCH_INTERRUPTSTACK=512
CONFIG_ARCH_STACKDUMP=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_LOOPSPERMSEC=6522
CONFIG_BOARD_RESET_ON_ASSERT=2
CONFIG_BUILTIN=y
CONFIG_C99_BOOL8=y
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DEV_FIFO_SIZE=0
CONFIG_DEV_PIPE_MAXSIZE=1024
CONFIG_DEV_PIPE_SIZE=70
CONFIG_FDCLONE_STDIO=y
CONFIG_FS_BINFS=y
CONFIG_FS_CROMFS=y
CONFIG_FS_FAT=y
CONFIG_FS_FATTIME=y
CONFIG_FS_PROCFS=y
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
CONFIG_FS_PROCFS_REGISTER=y
CONFIG_FS_ROMFS=y
CONFIG_GRAN=y
CONFIG_GRAN_INTR=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_I2C=y
CONFIG_I2C_RESET=y
CONFIG_IDLETHREAD_STACKSIZE=750
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIBC_STRERROR=y
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MTD=y
CONFIG_MTD_BYTE_WRITE=y
CONFIG_MTD_PARTITION=y
CONFIG_MTD_RAMTRON=y
CONFIG_NAME_MAX=40
CONFIG_NFILE_DESCRIPTORS=12
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_ARCHROMFS=y
CONFIG_NSH_ARGCAT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_CMDPARMS=y
CONFIG_NSH_CROMFSETC=y
CONFIG_NSH_DISABLE_IFCONFIG=y
CONFIG_NSH_DISABLE_IFUPDOWN=y
CONFIG_NSH_DISABLE_MB=y
CONFIG_NSH_DISABLE_MH=y
CONFIG_NSH_DISABLE_MW=y
CONFIG_NSH_DISABLE_TELNETD=y
CONFIG_NSH_LINELEN=128
CONFIG_NSH_MAXARGUMENTS=15
CONFIG_NSH_NESTDEPTH=8
CONFIG_NSH_QUOTE=y
CONFIG_NSH_ROMFSETC=y
CONFIG_NSH_ROMFSSECTSIZE=128
CONFIG_NSH_STRERROR=y
CONFIG_NSH_VARS=y
CONFIG_PIPES=y
CONFIG_PREALLOC_TIMERS=50
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_RAM_SIZE=65536
CONFIG_RAM_START=0x20000000
CONFIG_RAW_BINARY=y
CONFIG_RTC_DATETIME=y
CONFIG_SCHED_ATEXIT=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKPRIORITY=249
CONFIG_SCHED_HPWORKSTACKSIZE=1280
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKSTACKSIZE=1632
CONFIG_SCHED_WAITPID=y
CONFIG_SEM_NNESTPRIO=8
CONFIG_SEM_PREALLOCHOLDERS=0
CONFIG_SERIAL_TERMIOS=y
CONFIG_SIG_DEFAULT=y
CONFIG_SIG_SIGALRM_ACTION=y
CONFIG_SIG_SIGUSR1_ACTION=y
CONFIG_SIG_SIGUSR2_ACTION=y
CONFIG_SIG_SIGWORK=4
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=30
CONFIG_START_MONTH=11
CONFIG_STDIO_BUFFER_SIZE=32
CONFIG_STM32_ADC1=y
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
CONFIG_STM32_FLOWCONTROL_BROKEN=y
CONFIG_STM32_I2C1=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_PWR=y
CONFIG_STM32_RTC=y
CONFIG_STM32_RTC_HSECLOCK=y
CONFIG_STM32_RTC_MAGIC=0xfacefeee
CONFIG_STM32_RTC_MAGIC_REG=1
CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_SPI1=y
CONFIG_STM32_TIM8=y
CONFIG_STM32_USART1=y
CONFIG_STM32_USART2=y
CONFIG_STM32_USART_BREAKS=y
CONFIG_STM32_WWDG=y
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_USART2_BAUD=57600
CONFIG_USART2_SERIAL_CONSOLE=y
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2624
CONFIG_USER_ENTRYPOINT="nsh_main"

134
boards/mro/cannode/nuttx-config/scripts/canbootloader_script.ld Normal file
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@ -0,0 +1,134 @@
/****************************************************************************
* nuttx-config/scripts/canbootloader_script.ld
*
* Copyright (C) 2015 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 STM32F412 has 512Kb 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 0x10000 of flash is reserved for the bootloader.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
}
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(.);
} > 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(.);
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
_edata = ABSOLUTE(.);
} > sram AT > flash
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}

146
boards/mro/cannode/nuttx-config/scripts/script.ld Normal file
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/****************************************************************************
* scripts/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 STM32F412 has 512Kb 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 0x10000 of flash is reserved for the bootloader.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08010000, LENGTH = 256K
sram (rwx) : ORIGIN = 0x20000000, 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)
EXTERN(_bootdelay_signature)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
. = ALIGN(8);
/*
* This section positions the app_descriptor_t used
* by the make_can_boot_descriptor.py tool to set
* the application image's descriptor so that the
* uavcan bootloader has the ability to validate the
* image crc, size etc
*/
KEEP(*(.app_descriptor))
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.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(.);
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
_edata = ABSOLUTE(.);
} > sram AT > flash
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}

63
boards/mro/cannode/src/CMakeLists.txt Normal file
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############################################################################
#
# Copyright (c) 2020 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.
#
############################################################################
if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
add_library(drivers_board
boot_config.h
boot.c
led.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch
nuttx_drivers
canbootloader
)
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
else()
add_library(drivers_board
i2c.cpp
init.c
spi.cpp
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch
nuttx_drivers
px4_layer
arch_spi
)
endif()

70
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/****************************************************************************
*
* Copyright (c) 2021 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
*
* board internal definitions
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/* Boot config */
#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
#define GPIO_LED_BLUE /* PA4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN13)
//#define FLASH_BASED_PARAMS
/* High-resolution timer */
#define HRT_TIMER 3 /* use timer 3 for the HRT */
#define HRT_TIMER_CHANNEL 4 /* use capture/compare channel 4 */
__BEGIN_DECLS
#ifndef __ASSEMBLY__
extern void stm32_spiinitialize(void);
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS

197
boards/mro/cannode/src/boot.c Normal file
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/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include "boot_config.h"
#include "board.h"
#include <debug.h>
#include <string.h>
#include <arch/board/board.h>
#include <nuttx/board.h>
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
#endif
}
/************************************************************************************
* Name: board_deinitialize
*
* Description:
* This function is called by the bootloader code prior to booting
* the application. Is should place the HW into an benign initialized state.
*
************************************************************************************/
void board_deinitialize(void)
{
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
}
/****************************************************************************
* Name: board_get_product_name
*
* Description:
* Called to retrieve the product name. The returned value is a assumed
* to be written to a pascal style string that will be length prefixed
* and not null terminated
*
* Input Parameters:
* product_name - A pointer to a buffer to write the name.
* maxlen - The maximum number of charter that can be written
*
* Returned Value:
* The length of characters written to the buffer.
*
****************************************************************************/
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
{
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
}
/****************************************************************************
* Name: board_get_hardware_version
*
* Description:
* Called to retrieve the hardware version information. The function
* will first initialize the the callers struct to all zeros.
*
* Input Parameters:
* hw_version - A pointer to a uavcan_hardwareversion_t.
*
* Returned Value:
* Length of the unique_id
*
****************************************************************************/
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
{
memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
hw_version->major = HW_VERSION_MAJOR;
hw_version->minor = HW_VERSION_MINOR;
return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
}
/****************************************************************************
* Name: board_indicate
*
* Description:
* Provides User feedback to indicate the state of the bootloader
* on board specific hardware.
*
* Input Parameters:
* indication - A member of the uiindication_t
*
* Returned Value:
* None
*
****************************************************************************/
// #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
// typedef begin_packed_struct struct led_t {
// uint8_t red;
// uint8_t green;
// uint8_t blue;
// uint8_t hz;
// } end_packed_struct led_t;
// static const led_t i2l[] = {
// led(0, off, 0, 0, 0, 0),
// led(1, reset, 128, 128, 128, 30),
// led(2, autobaud_start, 0, 128, 0, 1),
// led(3, autobaud_end, 0, 128, 0, 2),
// led(4, allocation_start, 0, 0, 64, 2),
// led(5, allocation_end, 0, 128, 64, 3),
// led(6, fw_update_start, 32, 128, 64, 3),
// led(7, fw_update_erase_fail, 32, 128, 32, 3),
// led(8, fw_update_invalid_response, 64, 0, 0, 1),
// led(9, fw_update_timeout, 64, 0, 0, 2),
// led(a, fw_update_invalid_crc, 64, 0, 0, 4),
// led(b, jump_to_app, 0, 128, 0, 10),
// };
void board_indicate(uiindication_t indication)
{
// switch(indication) {
// case off:
// led_off(GPIO_nLED_RED);
// led_off(GPIO_nLED_BLUE);
// break;
// case reset:
// led_on(GPIO_nLED_RED);
// led_on(GPIO_nLED_BLUE);
// break;
// case jump_to_app:
// led_on(GPIO_nLED_RED);
// led_off(GPIO_nLED_BLUE);
// break;
// default:
// break;
// }
}

130
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/****************************************************************************
*
* Copyright (c) 2021 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 boot_config.h
*
* bootloader definitions that configures the behavior and options
* of the Boot loader
* This file is relies on the parent folder's boot_config.h file and defines
* different usages of the hardware for bootloading
*/
#pragma once
/************************************************************************************
* Included Files
************************************************************************************/
/* Bring in the board_config.h definitions
* todo:make this be pulled in from a targed's build
* files in nuttx*/
#include "board_config.h"
#include "uavcan.h"
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stm32_flash.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
//todo:wrap OPT_x in in ifdefs for command line definitions
#define OPT_TBOOT_MS 5000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 50
#define OPT_BL_NUMBER_TIMERS 7
/*
* This Option set is set to 1 ensure a provider of firmware has an
* opportunity update the node's firmware.
* This Option is the default policy and can be overridden by
* a jumper
* When this Policy is set, the node will ignore tboot and
* wait indefinitely for a GetNodeInfo request before booting.
*
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
* the polarity of the jumper to be True Active
*
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
* Jumper
* yes 1 0 x
* yes 1 1 Active
* no 1 1 Not Active
* no 0 0 X
* yes 0 1 Active
* no 0 1 Not Active
*
*/
#define OPT_WAIT_FOR_GETNODEINFO 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
#define OPT_ENABLE_WD 1
#define OPT_RESTART_TIMEOUT_MS 20000
/* Reserved for the Booloader */
#define OPT_BOOTLOADER_SIZE_IN_K (1024*64)
/* Reserved for the application out of the total
* system flash minus the BOOTLOADER_SIZE_IN_K
*/
#define OPT_APPLICATION_RESERVER_IN_K 0
#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
#define FLASH_BASE STM32_FLASH_BASE
#define FLASH_SIZE STM32_FLASH_SIZE
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
/* If this board uses big flash that have large sectors */
#define OPT_USE_YIELD
/* Bootloader Option*****************************************************************
*
*/
#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)

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/****************************************************************************
*
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/i2c_hw_description.h>
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
initI2CBusExternal(1),
};

141
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/****************************************************************************
*
* Copyright (c) 2021 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 init.c
*
* board specific early startup code. This file implements the
* board_app_initialize() 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 initialization.
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/board.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_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_platform_common/init.h>
# if defined(FLASH_BASED_PARAMS)
# include <parameters/flashparams/flashfs.h>
#endif
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
// Configure CAN interface
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
// Configure SPI all interfaces GPIO & enable power.
stm32_spiinitialize();
}
/****************************************************************************
* Name: board_app_initialize
*
* Description:
* Perform application specific initialization. This function is never
* called directly from application code, but only indirectly via the
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
*
* Input Parameters:
* arg - The boardctl() argument is passed to the board_app_initialize()
* implementation without modification. The argument has no
* meaning to NuttX; the meaning of the argument is a contract
* between the board-specific initalization logic and the the
* matching application logic. The value cold be such things as a
* mode enumeration value, a set of DIP switch switch settings, a
* pointer to configuration data read from a file or serial FLASH,
* or whatever you would like to do with it. Every implementation
* should accept zero/NULL as a default configuration.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on
* any failure to indicate the nature of the failure.
*
****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg)
{
px4_platform_init();
#if defined(FLASH_BASED_PARAMS)
static sector_descriptor_t params_sector_map[] = {
{2, 16 * 1024, 0x08008000},
{3, 16 * 1024, 0x0800C000},
{0, 0, 0},
};
/* Initialize the flashfs layer to use heap allocated memory */
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
if (result != OK) {
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
return -ENODEV;
}
#endif // FLASH_BASED_PARAMS
//px4_platform_configure();
return OK;
}

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/****************************************************************************
*
* Copyright (c) 2021 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 led.c
*
* board LED backend.
*/
#include <px4_platform_common/px4_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(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
static uint32_t g_ledmap[] = {
//GPIO_LED_RED,
GPIO_LED_BLUE,
};
__EXPORT void led_init(void)
{
/* Configure LED GPIOs for output */
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
stm32_configgpio(g_ledmap[l]);
stm32_gpiowrite(g_ledmap[l], true);
}
}
static void phy_set_led(int led, bool state)
{
/* Pull Down to switch on */
stm32_gpiowrite(g_ledmap[led], !state);
}
static bool phy_get_led(int led)
{
return !stm32_gpioread(g_ledmap[led]);
}
__EXPORT void led_on(int led)
{
phy_set_led(led, true);
}
__EXPORT void led_off(int led)
{
phy_set_led(led, false);
}
__EXPORT void led_toggle(int led)
{
phy_set_led(led, !phy_get_led(led));
}

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/****************************************************************************
*
* Copyright (C) 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <px4_arch/spi_hw_description.h>
#include <drivers/drv_sensor.h>
#include <nuttx/spi/spi.h>
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin0}),
}),
};
static constexpr bool unused = validateSPIConfig(px4_spi_buses);

17
boards/mro/cannode/uavcan_board_identity Normal file
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# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 0x3)
set(uavcanblid_hw_version_minor 0xEC)
set(uavcanblid_name "\"org.ardupilot.mro_m10025\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)

44
platforms/nuttx/src/canbootloader/arch/stm/stm32f3/CMakeLists.txt Normal file
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############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include_directories(../../../include)
px4_add_library(arch_canbootloader
board_identity.c
drivers/can/driver.c
)
target_link_libraries(arch_canbootloader
PRIVATE
arch_watchdog_iwdg
)

56
platforms/nuttx/src/canbootloader/arch/stm/stm32f3/board_identity.c Normal file
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/****************************************************************************
*
* Copyright (C) 2017 PX4 Development Team. All rights reserved.
* Author: @author David Sidrane <david_s5@nscdg.com>
*
* 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_identity.c
* Implementation of STM32 based Board identity API
*/
#include <px4_config.h>
#include <stdio.h>
#include <string.h>
#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
int board_get_mfguid(mfguid_t mfgid)
{
uint32_t *chip_uuid = (uint32_t *) STM32_SYSMEM_UID;
uint32_t *rv = (uint32_t *) &mfgid[0];
for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
*rv++ = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]);
}
return PX4_CPU_MFGUID_BYTE_LENGTH;
}

562
platforms/nuttx/src/canbootloader/arch/stm/stm32f3/drivers/can/driver.c Normal file
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/config.h>
#include "boot_config.h"
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <limits.h>
#include "chip.h"
#include "stm32.h"
#include <hardware/stm32_can.h>
#include "nvic.h"
#include "board.h"
#include <systemlib/px4_macros.h>
#include "can.h"
#include "timer.h"
#include <arch/board/board.h>
#include <lib/systemlib/crc.h>
#define INAK_TIMEOUT 65535
#define CAN_TX_TIMEOUT_MS (200 /(1000/(1000000/CONFIG_USEC_PER_TICK)))
#define SJW_POS 24
#define BS1_POS 16
#define BS2_POS 20
#define CAN_TSR_RQCP_SHFTS 8
#define FILTER_ID 1
#define FILTER_MASK 2
#if STM32_PCLK1_FREQUENCY == 48000000
/* Sample 85.7 % */
# define QUANTA 16
# define BS1_VALUE 12
# define BS2_VALUE 1
#elif STM32_PCLK1_FREQUENCY == 45000000 || STM32_PCLK1_FREQUENCY == 36000000
/* Sample 88.9 % */
# define QUANTA 9
# define BS1_VALUE 6
# define BS2_VALUE 0
#elif STM32_PCLK1_FREQUENCY == 42000000
/* Sample 85.7 % */
# define QUANTA 14
# define BS1_VALUE 10
# define BS2_VALUE 1
#else
# warning Undefined QUANTA bsed on Clock Rate
/* Sample 85.7 % */
# define QUANTA 14
# define BS1_VALUE 10
# define BS2_VALUE 1
#endif
#define CAN_1MBAUD_SJW 0
#define CAN_1MBAUD_BS1 BS1_VALUE
#define CAN_1MBAUD_BS2 BS2_VALUE
#define CAN_1MBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/1000000/QUANTA)
#define CAN_500KBAUD_SJW 0
#define CAN_500KBAUD_BS1 BS1_VALUE
#define CAN_500KBAUD_BS2 BS2_VALUE
#define CAN_500KBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/500000/QUANTA)
#define CAN_250KBAUD_SJW 0
#define CAN_250KBAUD_BS1 BS1_VALUE
#define CAN_250KBAUD_BS2 BS2_VALUE
#define CAN_250KBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/250000/QUANTA)
#define CAN_125KBAUD_SJW 0
#define CAN_125KBAUD_BS1 BS1_VALUE
#define CAN_125KBAUD_BS2 BS2_VALUE
#define CAN_125KBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/125000/QUANTA)
#define CAN_BTR_LBK_SHIFT 30
// Number of CPU cycles for a single bit time at the supported speeds
#define CAN_125KBAUD_BIT_CYCLES (8*(TIMER_HRT_CYCLES_PER_US))
#define CAN_BAUD_TIME_IN_MS 200
#define CAN_BAUD_SAMPLES_NEEDED 32
#define CAN_BAUD_SAMPLES_DISCARDED 8
static inline uint32_t read_msr_rx(void)
{
return getreg32(STM32_CAN1_MSR) & CAN_MSR_RX;
}
static uint32_t read_msr(time_hrt_cycles_t *now)
{
__asm__ __volatile__("\tcpsid i\n");
*now = timer_hrt_read();
uint32_t msr = read_msr_rx();
__asm__ __volatile__("\tcpsie i\n");
return msr;
}
static int read_bits_times(time_hrt_cycles_t *times, size_t max)
{
uint32_t samplecnt = 0;
bl_timer_id ab_timer = timer_allocate(modeTimeout | modeStarted, CAN_BAUD_TIME_IN_MS, 0);
time_ref_t ab_ref = timer_ref(ab_timer);
uint32_t msr;
uint32_t last_msr = read_msr(times);
while (samplecnt < max && !timer_ref_expired(ab_ref)) {
do {
msr = read_msr(&times[samplecnt]);
} while (!(msr ^ last_msr) && !timer_ref_expired(ab_ref));
last_msr = msr;
samplecnt++;
}
timer_free(ab_timer);
return samplecnt;
}
/****************************************************************************
* Name: can_speed2freq
*
* Description:
* This function maps a can_speed_t to a bit rate in Hz
*
* Input Parameters:
* can_speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
*
* Returned value:
* Bit rate in Hz
*
****************************************************************************/
int can_speed2freq(can_speed_t speed)
{
return 1000000 >> (CAN_1MBAUD - speed);
}
/****************************************************************************
* Name: can_speed2freq
*
* Description:
* This function maps a frequency in Hz to a can_speed_t in the range
* CAN_125KBAUD to CAN_1MBAUD.
*
* Input Parameters:
* freq - Bit rate in Hz
*
* Returned value:
* A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
*
****************************************************************************/
can_speed_t can_freq2speed(int freq)
{
return (freq == 1000000u ? CAN_1MBAUD : freq == 500000u ? CAN_500KBAUD : freq == 250000u ? CAN_250KBAUD : CAN_125KBAUD);
}
/****************************************************************************
* Name: can_tx
*
* Description:
* This function is called to transmit a CAN frame using the supplied
* mailbox. It will busy wait on the mailbox if not available.
*
* Input Parameters:
* message_id - The CAN message's EXID field
* length - The number of bytes of data - the DLC field
* message - A pointer to 8 bytes of data to be sent (all 8 bytes will be
* loaded into the CAN transmitter but only length bytes will
* be sent.
* mailbox - A can_fifo_mailbox_t MBxxx value to choose the outgoing
* mailbox.
*
* Returned value:
* The CAN_OK of the data sent or CAN_ERROR if a time out occurred
*
****************************************************************************/
uint8_t can_tx(uint32_t message_id, size_t length, const uint8_t *message, uint8_t mailbox)
{
uint32_t data[2];
memcpy(data, message, sizeof(data));
/*
* Just block while waiting for the mailbox.
*/
uint32_t mask = CAN_TSR_TME0 << mailbox;
/* Reset the indication of timer expired */
timer_hrt_clear_wrap();
uint32_t cnt = CAN_TX_TIMEOUT_MS;
while ((getreg32(STM32_CAN1_TSR) & mask) == 0) {
if (timer_hrt_wrap()) {
timer_hrt_clear_wrap();
if (--cnt == 0) {
return CAN_ERROR;
}
}
}
/*
* To allow detection of completion - Set the LEC to
* 'No error' state off all 1s
*/
putreg32(CAN_ESR_LEC_MASK, STM32_CAN1_ESR);
putreg32(length & CAN_TDTR_DLC_MASK, STM32_CAN1_TDTR(mailbox));
putreg32(data[0], STM32_CAN1_TDLR(mailbox));
putreg32(data[1], STM32_CAN1_TDHR(mailbox));
putreg32((message_id << CAN_TIR_EXID_SHIFT) | CAN_TIR_IDE | CAN_TIR_TXRQ,
STM32_CAN1_TIR(mailbox));
return CAN_OK;
}
/****************************************************************************
* Name: can_rx
*
* Description:
* This function is called to receive a CAN frame from a supplied fifo.
* It does not block if there is not available, but returns 0
*
* Input Parameters:
* message_id - A pointer to return the CAN message's EXID field
* length - A pointer to return the number of bytes of data - the DLC field
* message - A pointer to return 8 bytes of data to be sent (all 8 bytes will
* be written from the CAN receiver but only length bytes will be sent.
* fifo A can_fifo_mailbox_t fifixxx value to choose the incoming fifo.
*
* Returned value:
* The length of the data read or 0 if the fifo was empty
*
****************************************************************************/
uint8_t can_rx(uint32_t *message_id, size_t *length, uint8_t *message, uint8_t fifo)
{
uint32_t data[2];
uint8_t rv = 0;
const uint32_t fifos[] = { STM32_CAN1_RF0R, STM32_CAN1_RF1R };
if (getreg32(fifos[fifo & 1]) & CAN_RFR_FMP_MASK) {
rv = 1;
/* If so, process it */
*message_id = (getreg32(STM32_CAN1_RIR(fifo)) & CAN_RIR_EXID_MASK) >>
CAN_RIR_EXID_SHIFT;
*length = (getreg32(STM32_CAN1_RDTR(fifo)) & CAN_RDTR_DLC_MASK) >>
CAN_RDTR_DLC_SHIFT;
data[0] = getreg32(STM32_CAN1_RDLR(fifo));
data[1] = getreg32(STM32_CAN1_RDHR(fifo));
putreg32(CAN_RFR_RFOM, fifos[fifo & 1]);
memcpy(message, data, sizeof(data));
}
return rv;
}
/****************************************************************************
* Name: can_autobaud
*
* Description:
* This function will attempt to detect the bit rate in use on the CAN
* interface until the timeout provided expires or the successful detection
* occurs.
*
* It will initialize the CAN block for a given bit rate
* to test that a message can be received. The CAN interface is left
* operating at the detected bit rate and in CAN_Mode_Normal mode.
*
* Input Parameters:
* can_speed - A pointer to return detected can_speed_t from CAN_UNKNOWN to
* CAN_1MBAUD
* timeout - The timer id of a timer to use as the maximum time to wait for
* successful bit rate detection. This timer may be not running
* in which case the auto baud code will try indefinitely to
* detect the bit rate.
*
* Returned value:
* CAN_OK - on Success or a CAN_BOOT_TIMEOUT
*
****************************************************************************/
int can_autobaud(can_speed_t *can_speed, bl_timer_id timeout)
{
*can_speed = CAN_UNKNOWN;
volatile int attempt = 0;
/* Threshold are at 1.5 Bit times */
/*
* We are here because there was a reset or the app invoked
* the bootloader with no bit rate set.
*/
time_hrt_cycles_t bit_time;
time_hrt_cycles_t min_cycles;
int sample;
can_speed_t speed = CAN_125KBAUD;
time_hrt_cycles_t samples[128];
while (1) {
while (1) {
min_cycles = ULONG_MAX;
int samplecnt = read_bits_times(samples, arraySize(samples));
if (timer_expired(timeout)) {
return CAN_BOOT_TIMEOUT;
}
if ((getreg32(STM32_CAN1_RF0R) | getreg32(STM32_CAN1_RF1R)) &
CAN_RFR_FMP_MASK) {
*can_speed = speed;
can_init(speed, CAN_Mode_Normal);
return CAN_OK;
}
if (samplecnt < CAN_BAUD_SAMPLES_NEEDED) {
continue;
}
for (sample = 0; sample < samplecnt; sample += 2) {
bit_time = samples[sample] = timer_hrt_elapsed(samples[sample], samples[sample + 1]);
if (sample > CAN_BAUD_SAMPLES_DISCARDED && bit_time < min_cycles) {
min_cycles = bit_time;
}
}
break;
}
uint32_t bit34 = CAN_125KBAUD_BIT_CYCLES - CAN_125KBAUD_BIT_CYCLES / 4;
samples[1] = min_cycles;
speed = CAN_125KBAUD;
while (min_cycles < bit34 && speed < CAN_1MBAUD) {
speed++;
bit34 /= 2;
}
attempt++;
can_init(speed, CAN_Mode_Silent);
} /* while(1) */
return CAN_OK;
}
/****************************************************************************
* Name: can_init
*
* Description:
* This function is used to initialize the CAN block for a given bit rate and
* mode.
*
* Input Parameters:
* speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
* mode - One of the can_mode_t of Normal, LoopBack and Silent or
* combination thereof.
*
* Returned value:
* OK - on Success or a negate errno value
*
****************************************************************************/
int can_init(can_speed_t speed, can_mode_t mode)
{
int speedndx = speed - 1;
/*
* TODO: use full-word writes to reduce the number of loads/stores.
*
* Also consider filter use -- maybe set filters for all the message types we
* want. */
const uint32_t bitrates[] = {
(CAN_125KBAUD_SJW << SJW_POS) |
(CAN_125KBAUD_BS1 << BS1_POS) |
(CAN_125KBAUD_BS2 << BS2_POS) | (CAN_125KBAUD_PRESCALER - 1),
(CAN_250KBAUD_SJW << SJW_POS) |
(CAN_250KBAUD_BS1 << BS1_POS) |
(CAN_250KBAUD_BS2 << BS2_POS) | (CAN_250KBAUD_PRESCALER - 1),
(CAN_500KBAUD_SJW << SJW_POS) |
(CAN_500KBAUD_BS1 << BS1_POS) |
(CAN_500KBAUD_BS2 << BS2_POS) | (CAN_500KBAUD_PRESCALER - 1),
(CAN_1MBAUD_SJW << SJW_POS) |
(CAN_1MBAUD_BS1 << BS1_POS) |
(CAN_1MBAUD_BS2 << BS2_POS) | (CAN_1MBAUD_PRESCALER - 1)
};
/* Remove Unknow Offset */
if (speedndx < 0 || speedndx > (int)arraySize(bitrates)) {
return -EINVAL;
}
uint32_t timeout;
/*
* Reset state is 0x0001 0002 CAN_MCR_DBF|CAN_MCR_SLEEP
* knock down Sleep and raise CAN_MCR_INRQ
*/
putreg32(CAN_MCR_DBF | CAN_MCR_INRQ, STM32_CAN1_MCR);
/* Wait until initialization mode is acknowledged */
for (timeout = INAK_TIMEOUT; timeout > 0; timeout--) {
if ((getreg32(STM32_CAN1_MSR) & CAN_MSR_INAK) != 0) {
/* We are in initialization mode */
break;
}
}
if (timeout < 1) {
/*
* Initialization failed, not much we can do now other than try a normal
* startup. */
return -ETIME;
}
putreg32(bitrates[speedndx] | mode << CAN_BTR_LBK_SHIFT, STM32_CAN1_BTR);
putreg32(CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_DBF | CAN_MCR_TXFP, STM32_CAN1_MCR);
for (timeout = INAK_TIMEOUT; timeout > 0; timeout--) {
if ((getreg32(STM32_CAN1_MSR) & CAN_MSR_INAK) == 0) {
/* We are in initialization mode */
break;
}
}
if (timeout < 1) {
return -ETIME;
}
/*
* CAN filter initialization -- accept everything on RX FIFO 0, and only
* GetNodeInfo requests on RX FIFO 1. */
/* Set FINIT - Initialization mode for the filters- */
putreg32(CAN_FMR_FINIT, STM32_CAN1_FMR);
putreg32(0, STM32_CAN1_FA1R); /* Disable all filters */
putreg32(3, STM32_CAN1_FS1R); /* Single 32-bit scale configuration for filters 0 and 1 */
/* Filter 0 masks -- DTIDGetNodeInfo requests only */
uavcan_protocol_t protocol;
protocol.id.u32 = 0;
protocol.ser.type_id = DTIDReqGetNodeInfo;
protocol.ser.service_not_message = true;
protocol.ser.request_not_response = true;
/* Set the Filter ID */
putreg32(protocol.id.u32 << CAN_RIR_EXID_SHIFT, STM32_CAN1_FIR(0, FILTER_ID));
/* Set the Filter Mask */
protocol.ser.type_id = BIT_MASK(LengthUavCanServiceTypeID);
putreg32(protocol.id.u32 << CAN_RIR_EXID_SHIFT, STM32_CAN1_FIR(0, FILTER_MASK));
/* Filter 1 masks -- everything is don't-care */
putreg32(0, STM32_CAN1_FIR(1, FILTER_ID));
putreg32(0, STM32_CAN1_FIR(1, FILTER_MASK));
putreg32(0, STM32_CAN1_FM1R); /* Mask mode for all filters */
putreg32(1, STM32_CAN1_FFA1R); /* FIFO 1 for filter 0, FIFO 0 for the
* rest of filters */
putreg32(3, STM32_CAN1_FA1R); /* Enable filters 0 and 1 */
/* Clear FINIT - Active mode for the filters- */
putreg32(0, STM32_CAN1_FMR);
return OK;
}
/****************************************************************************
* Name: can_cancel_on_error
*
* Description:
* This function will test for transition completion or any error.
* If the is a error the the transmit will be aborted.
*
* Input Parameters:
* mailbox - A can_fifo_mailbox_t MBxxx value to choose the outgoing
* mailbox.
*
* Returned value:
* CAN_OK - on Success or a CAN_ERROR if the cancellation was needed
*
****************************************************************************/
void can_cancel_on_error(uint8_t mailbox)
{
uint32_t rvalue;
/* Wait for completion the all 1's wat set in the tx code*/
while (CAN_ESR_LEC_MASK == ((rvalue = (getreg32(STM32_CAN1_ESR) & CAN_ESR_LEC_MASK))));
/* Any errors */
if (rvalue) {
putreg32(0, STM32_CAN1_ESR);
/* Abort the the TX in case of collision wuth NART false */
putreg32(CAN_TSR_ABRQ0 << (mailbox * CAN_TSR_RQCP_SHFTS), STM32_CAN1_TSR);
}
}

3
platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/hw_description.h
View File

@ -114,8 +114,9 @@ static inline constexpr uint32_t timerBaseRegister(Timer::Timer timer)
case Timer::Timer3: return STM32_TIM3_BASE;
case Timer::Timer4: return STM32_TIM4_BASE;
#ifdef STM32_TIM5_BASE
case Timer::Timer5: return STM32_TIM5_BASE;
#endif
case Timer::Timer6: return STM32_TIM6_BASE;

3
platforms/nuttx/src/px4/stm/stm32f3/CMakeLists.txt
View File

@ -36,5 +36,6 @@ add_subdirectory(board_critmon)
add_subdirectory(../stm32_common/board_reset board_reset)
add_subdirectory(../stm32_common/version version)
add_subdirectory(../stm32_common/hrt hrt)
add_subdirectory(../stm32_common/spi spi)
add_subdirectory(watchdog)

42
platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/hw_description.h Normal file
View File

@ -0,0 +1,42 @@
/****************************************************************************
*
* Copyright (c) 2019 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.
*
****************************************************************************/
#pragma once
#include "../../../stm32_common/include/px4_arch/hw_description.h"
static inline constexpr uint32_t getTimerUpdateDMAMap(Timer::Timer timer, const DMA &dma)
{
// not used on STM32F3
return 0;
}

36
platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/i2c_hw_description.h Normal file
View File

@ -0,0 +1,36 @@
/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
#pragma once
#include "../../../stm32_common/include/px4_arch/i2c_hw_description.h"

86
platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/spi_hw_description.h Normal file
View File

@ -0,0 +1,86 @@
/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
#pragma once
#include "../../../stm32_common/include/px4_arch/spi_hw_description.h"
constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
{
const bool nuttx_enabled_spi_buses[] = {
#ifdef CONFIG_STM32_SPI1
true,
#else
false,
#endif
#ifdef CONFIG_STM32_SPI2
true,
#else
false,
#endif
#ifdef CONFIG_STM32_SPI3
true,
#else
false,
#endif
#ifdef CONFIG_STM32_SPI4
true,
#else
false,
#endif
#ifdef CONFIG_STM32_SPI5
true,
#else
false,
#endif
#ifdef CONFIG_STM32_SPI6
true,
#else
false,
#endif
};
for (unsigned i = 0; i < sizeof(nuttx_enabled_spi_buses) / sizeof(nuttx_enabled_spi_buses[0]); ++i) {
bool found_bus = false;
for (int j = 0; j < SPI_BUS_MAX_BUS_ITEMS; ++j) {
if (spi_busses_conf[j].bus == (int)i + 1) {
found_bus = true;
}
}
// Either the bus is enabled in NuttX and configured in spi_busses_conf, or disabled and not configured
constexpr_assert(found_bus == nuttx_enabled_spi_buses[i], "SPI bus config mismatch (CONFIG_STM32_SPIx)");
}
return false;
}

36
platforms/nuttx/src/px4/stm/stm32f3/watchdog/CMakeLists.txt Normal file
View File

@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2021 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.
#
############################################################################
px4_add_library(arch_watchdog_iwdg
iwdg.c
)

102
platforms/nuttx/src/px4/stm/stm32f3/watchdog/iwdg.c Normal file
View File

@ -0,0 +1,102 @@
/****************************************************************************
*
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
* Author: David Sidrane <david.sidrane@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <nuttx/config.h>
#include "chip.h"
#include "stm32.h"
#include <hardware/stm32_wdg.h>
#include "nvic.h"
/****************************************************************************
* Name: watchdog_pet()
*
* Description:
* This function resets the Independent watchdog (IWDG)
*
*
* Input Parameters:
* none.
*
* Returned value:
* none.
*
****************************************************************************/
void watchdog_pet(void)
{
putreg32(IWDG_KR_KEY_RELOAD, STM32_IWDG_KR);
}
/****************************************************************************
* Name: watchdog_init()
*
* Description:
* This function initialize the Independent watchdog (IWDG)
*
*
* Input Parameters:
* none.
*
* Returned value:
* none.
*
****************************************************************************/
void watchdog_init(void)
{
#if defined(CONFIG_STM32_JTAG_FULL_ENABLE) || \
defined(CONFIG_STM32_JTAG_NOJNTRST_ENABLE) || \
defined(CONFIG_STM32_JTAG_SW_ENABLE)
putreg32(getreg32(STM32_DBGMCU_APB1_FZ) | DBGMCU_APB1_IWDGSTOP, STM32_DBGMCU_APB1_FZ);
#endif
/* unlock */
putreg32(IWDG_KR_KEY_ENABLE, STM32_IWDG_KR);
/* Set the prescale value */
putreg32(IWDG_PR_DIV16, STM32_IWDG_PR);
/* Set the reload value */
putreg32(IWDG_RLR_MAX, STM32_IWDG_RLR);
/* Start the watch dog */
putreg32(IWDG_KR_KEY_START, STM32_IWDG_KR);
watchdog_pet();
}

7
src/drivers/uavcan/CMakeLists.txt
View File

@ -46,13 +46,14 @@ if(CONFIG_ARCH_CHIP)
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7")
set(UAVCAN_DRIVER "stm32h7")
set(UAVCAN_TIMER 5) # The default timer is TIM5
if (DEFINED config_uavcan_timer_override)
set (UAVCAN_TIMER ${config_uavcan_timer_override})
endif()
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
set(UAVCAN_DRIVER "stm32")
set(UAVCAN_TIMER 5) # The default timer is TIM5
endif()
if(DEFINED config_uavcan_timer_override)
set(UAVCAN_TIMER ${config_uavcan_timer_override})
endif()
endif()
if(NOT DEFINED UAVCAN_DRIVER)

6
src/drivers/uavcan/uavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
View File

@ -31,9 +31,9 @@ extern "C"
#endif
/* STM32F3's only CAN inteface does not have a number. */
#if defined(STM32F3XX)
#define RCC_APB1ENR_CAN1EN RCC_APB1ENR_CANEN
#define RCC_APB1RSTR_CAN1RST RCC_APB1RSTR_CANRST
#if defined(CONFIG_STM32_STM32F30XX)
//#define RCC_APB1ENR_CAN1EN RCC_APB1ENR_CANEN
//#define RCC_APB1RSTR_CAN1RST RCC_APB1RSTR_CANRST
#define CAN1_TX_IRQn CAN_TX_IRQn
#define CAN1_RX0_IRQn CAN_RX0_IRQn
#define CAN1_RX1_IRQn CAN_RX1_IRQn

7
src/drivers/uavcannode/CMakeLists.txt
View File

@ -46,13 +46,14 @@ if(CONFIG_ARCH_CHIP)
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32h7")
set(UAVCAN_DRIVER "stm32h7")
set(UAVCAN_TIMER 5) # The default timer is TIM5
if (DEFINED config_uavcan_timer_override)
set (UAVCAN_TIMER ${config_uavcan_timer_override})
endif()
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
set(UAVCAN_DRIVER "stm32")
set(UAVCAN_TIMER 5) # The default timer is TIM5
endif()
if(DEFINED config_uavcan_timer_override)
set(UAVCAN_TIMER ${config_uavcan_timer_override})
endif()
endif()
if(NOT DEFINED UAVCAN_DRIVER)