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Deprecate the tap_common directory, nuttx, driver, and makefile references to tap-v1. (#10629)

This commit is contained in:
Mark Sauder 2018-10-15 09:53:29 -06:00 committed by Daniel Agar
parent 919957eec6
commit ad8539bd15
35 changed files with 1 additions and 4800 deletions
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2
.ci/Jenkinsfile-compile
View File

@ -89,7 +89,7 @@ pipeline {
def nuttx_builds_archive = [
target: ["px4fmu-v2_default", "px4fmu-v3_default", "px4fmu-v4_default", "px4fmu-v4pro_default", "px4fmu-v5_default", "px4fmu-v5_rtps", "px4fmu-v5_stackcheck",
"aerofc-v1_default", "aerocore2_default", "auav-x21_default", "av-x-v1_default", "crazyflie_default", "mindpx-v2_default",
"nxphlite-v3_default", "tap-v1_default", "omnibus-f4sd_default"],
"nxphlite-v3_default", "omnibus-f4sd_default"],
image: docker_images.nuttx,
archive: true
]

1
Makefile
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@ -219,7 +219,6 @@ misc_qgc_extra_firmware: \
check_crazyflie_default \
check_mindpx-v2_default \
check_px4fmu-v2_lpe \
check_tap-v1_default \
sizes
# Other NuttX firmware

35
ROMFS/tap_common/CMakeLists.txt
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@ -1,35 +0,0 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(init.d)
add_subdirectory(mixers)

22
ROMFS/tap_common/init.d/4001_quad_x
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@ -1,22 +0,0 @@
#!nsh
#
# @name Generic Quadrotor X config
#
# @type Quadrotor x
# @class Copter
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
if tap_esc start -d /dev/ttyS4 -n 4
then
fi
set OUTPUT_MODE tap_esc
param set BAT_N_CELLS 4
set MIXER quad_x

26
ROMFS/tap_common/init.d/6001_hexa_x
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@ -1,26 +0,0 @@
#!nsh
#
# @name Generic Hexarotor x geometry
#
# @type Hexarotor x
# @class Copter
#
# @output AUX1 feed-through of RC AUX1 channel
# @output AUX2 feed-through of RC AUX2 channel
# @output AUX3 feed-through of RC AUX3 channel
#
# @maintainer Lorenz Meier <lorenz@px4.io>
#
sh /etc/init.d/rc.mc_defaults
param set MAV_TYPE 13
param set MC_YAWRATE_P 0.12
param set CAL_MAG0_ROT 6
if tap_esc start -d /dev/ttyS4 -n 6
then
fi
set OUTPUT_MODE tap_esc
set MIXER hexa_x

46
ROMFS/tap_common/init.d/CMakeLists.txt
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@ -1,46 +0,0 @@
############################################################################
#
# Copyright (c) 2018 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_romfs_files(
4001_quad_x
6001_hexa_x
rc.fw_apps
rc.fw_defaults
rc.interface
rc.mc_apps
rc.mc_defaults
rcS
rc.sensors
rc.vtol_apps
rc.vtol_defaults
)

20
ROMFS/tap_common/init.d/rc.fw_apps
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@ -1,20 +0,0 @@
#!nsh
#
# Standard apps for fixed wing
#
#
# Start the attitude and position estimator
#
ekf2 start
#
# Start attitude controller
#
fw_att_control start
fw_pos_control_l1 start
#
# Start Land Detector
#
land_detector start fixedwing

23
ROMFS/tap_common/init.d/rc.fw_defaults
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@ -1,23 +0,0 @@
#!nsh
set VEHICLE_TYPE fw
if [ $AUTOCNF = yes ]
then
#
# Default parameters for FW
#
param set RTL_RETURN_ALT 100
param set RTL_DESCEND_ALT 100
param set RTL_LAND_DELAY -1
param set NAV_ACC_RAD 50
fi
# This is the gimbal pass mixer
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000

83
ROMFS/tap_common/init.d/rc.interface
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@ -1,83 +0,0 @@
#!nsh
#
# Script to configure control interface
#
set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
if [ $MIXER != none -a $MIXER != skip ]
then
#
# Load main mixer
#
# Use the mixer file
set MIXER_FILE /etc/mixers/$MIXER.main.mix
set OUTPUT_DEV /dev/pwm_output0
if [ $OUTPUT_MODE = tap_esc ]
then
set OUTPUT_DEV /dev/tap_esc
fi
if mixer load $OUTPUT_DEV $MIXER_FILE
then
echo "INFO [init] Mixer: $MIXER_FILE on $OUTPUT_DEV"
else
echo "ERROR [init] Error loading mixer: $MIXER_FILE"
echo "ERROR:[init] Could not load mixer: $MIXER_FILE" >> $LOG_FILE
tune_control play -t 20
fi
unset MIXER_FILE
else
if [ $MIXER != skip ]
then
echo "ERROR [init] Mixer not defined"
echo "ERROR [init] Mixer not defined" >> $LOG_FILE
tune_control play -t 20
fi
fi
if [ $OUTPUT_MODE = fmu -o $OUTPUT_MODE = io ]
then
if [ $PWM_OUT != none ]
then
#
# Set PWM output frequency
#
if [ $PWM_RATE != none ]
then
pwm rate -c $PWM_OUT -r $PWM_RATE
fi
#
# Set disarmed, min and max PWM values
#
if [ $PWM_DISARMED != none ]
then
pwm disarmed -c $PWM_OUT -p $PWM_DISARMED
fi
if [ $PWM_MIN != none ]
then
pwm min -c $PWM_OUT -p $PWM_MIN
fi
if [ $PWM_MAX != none ]
then
pwm max -c $PWM_OUT -p $PWM_MAX
fi
fi
if [ $FAILSAFE != none ]
then
pwm failsafe -d $OUTPUT_DEV $FAILSAFE
fi
fi
unset PWM_OUT
unset PWM_RATE
unset PWM_MIN
unset PWM_MAX
unset FAILSAFE
unset OUTPUT_DEV

17
ROMFS/tap_common/init.d/rc.mc_apps
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@ -1,17 +0,0 @@
#!nsh
#
# Standard apps for multirotors:
# att & pos estimator, att & pos control.
#
ekf2 start
mc_att_control start
mc_pos_control start
#
# Start Land Detector
#
land_detector start multicopter

33
ROMFS/tap_common/init.d/rc.mc_defaults
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@ -1,33 +0,0 @@
#!nsh
set VEHICLE_TYPE mc
if [ $AUTOCNF = yes ]
then
param set PWM_DISARMED 900
param set PWM_MIN 1075
param set PWM_MAX 1950
fi
param set NAV_ACC_RAD 2.0
param set MIS_TAKEOFF_ALT 2.5
param set RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MPC_THR_MIN 0.10
param set MPC_MANTHR_MIN 0.04
# set environment variables (!= parameters)
set PWM_RATE 400
# tell the mixer to use parameters for these instead
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
# This is the gimbal pass mixer
set MIXER_AUX pass
set PWM_AUX_RATE 50
set PWM_AUX_OUT 1234
set PWM_AUX_DISARMED 1500
set PWM_AUX_MIN 1000
set PWM_AUX_MAX 2000

28
ROMFS/tap_common/init.d/rc.sensors
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@ -1,28 +0,0 @@
#!nsh
#
# Standard startup script for TAP v1 onboard sensor drivers.
#
if adc start
then
fi
if ms5611 -T 5607 -I start
then
fi
# External I2C bus
if hmc5883 -C -T -X start
then
fi
# Internal I2C bus
if mpu6000 -I -T 6000 start
then
fi
# Wait 50 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 50000
if sensors start
then
fi

24
ROMFS/tap_common/init.d/rc.vtol_apps
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@ -1,24 +0,0 @@
#!nsh
#
# Standard apps for vtol:
# att & pos estimator, att & pos control.
#
#
#---------------------------------------
# Estimator group selction
#
ekf2 start
vtol_att_control start
mc_att_control start
mc_pos_control start
fw_att_control start
fw_pos_control_l1 start
#
# Start Land Detector
# Multicopter for now until we have something for VTOL
#
land_detector start vtol

43
ROMFS/tap_common/init.d/rc.vtol_defaults
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@ -1,43 +0,0 @@
#!nsh
set VEHICLE_TYPE vtol
if [ $AUTOCNF = yes ]
then
param set MC_ROLL_P 6.0
param set MC_PITCH_P 6.0
param set MC_YAW_P 4
#
# Default parameters for mission and position handling
#
param set NAV_ACC_RAD 3
param set MPC_TKO_SPEED 1.0
param set MPC_LAND_SPEED 0.7
param set MPC_Z_VEL_MAX_DN 1.5
param set MPC_XY_VEL_MAX 4.0
param set MIS_YAW_TMT 10
param set MPC_ACC_HOR_MAX 2.0
param set RTL_LAND_DELAY 0
fi
# set environment variables (!= parameters)
set PWM_RATE 400
# tell the mixer to use parameters for these instead
set PWM_DISARMED p:PWM_DISARMED
set PWM_MIN p:PWM_MIN
set PWM_MAX p:PWM_MAX
# Transitional support: ensure suitable PWM min/max param values
if param compare PWM_MIN 1000
then
param set PWM_MIN 1075
fi
if param compare PWM_MAX 2000
then
param set PWM_MAX 1950
fi
if param compare PWM_DISARMED 0
then
param set PWM_DISARMED 900
fi

367
ROMFS/tap_common/init.d/rcS
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@ -1,367 +0,0 @@
#!nsh
#
# TAP startup script.
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
# Serial map:
# /dev/ttyS0: GPS
# /dev/ttyS1: GB
# /dev/ttyS2: nsh shell / console
# /dev/ttyS3: payload
# /dev/ttyS4: esc bus
# /dev/ttyS5: RC input
#
# Start CDC/ACM serial driver
#
sercon
set LOG_FILE /fs/microsd/bootlog.txt
set DATAMAN_OPT -r
#
# Start the ORB (first app to start)
# tone_alarm and tune_control
# is dependent.
#
uorb start
#
# Start the tone_alarm driver.
#
tone_alarm start
#
# Try to mount the microSD card.
#
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "microSD present"
unset DATAMAN_OPT
else
if mkfatfs /dev/mmcsd0
then
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "microSD card formatted"
unset DATAMAN_OPT
else
echo "ERROR [init] Format failed"
tune_control play -t 17
set LOG_FILE /dev/null
fi
else
set LOG_FILE /dev/null
fi
fi
#
# Load parameters
#
set PARAM_FILE /fs/microsd/params
if mtd start
then
set PARAM_FILE /fs/mtd_params
fi
param select $PARAM_FILE
if !param load
then
param reset
fi
#
# Start system state indicator
#
if rgbled_pwm start
then
fi
if rgbled start
then
fi
#
# Set parameters and env variables for selected AUTOSTART
#
if param compare SYS_AUTOSTART 0
then
param set SYS_AUTOSTART 6001
param set SYS_AUTOCONFIG 1
fi
#
# Set AUTOCNF flag to use it in AUTOSTART scripts
#
if param compare SYS_AUTOCONFIG 1
then
# Wipe out params except RC*
param reset_nostart RC*
set AUTOCNF yes
else
set AUTOCNF no
fi
#
# Set default values
#
set VEHICLE_TYPE none
set MIXER none
set OUTPUT_MODE none
set PWM_OUT none
set PWM_RATE none
set PWM_DISARMED none
set PWM_MIN none
set PWM_MAX none
set FMU_MODE pwm
set MAV_TYPE none
set FAILSAFE none
# Start canned airframe config
sh /etc/init.d/rc.autostart
#
# If autoconfig parameter was set, reset it and save parameters
#
if [ $AUTOCNF = yes ]
then
param set SYS_AUTOCONFIG 0
param save
fi
unset AUTOCNF
#
# Set default output if not set
#
if [ $OUTPUT_MODE = none ]
then
if [ $USE_IO = yes ]
then
set OUTPUT_MODE io
else
set OUTPUT_MODE fmu
fi
fi
gps start -d /dev/ttyS0
# waypoint storage
# REBOOTWORK this needs to start in parallel
if dataman start $DATAMAN_OPT
then
fi
#
# Sensors System (start before Commander so Preflight checks are properly run)
#
sh /etc/init.d/rc.sensors
commander start
#
# Start CPU load monitor
#
load_mon start
# Start MAVLink on the gimbal port
#mavlink start -r 1200 -d /dev/ttyS1
# Start MAVLink on USB, developers can use the MAVLink shell
mavlink start -r 60000 -d /dev/ttyACM0 -m config
#
# Logging
#
#if logger start -b 2 -t
#then
#fi
#
# Fixed wing setup
#
if [ $VEHICLE_TYPE = fw ]
then
echo "INFO [init] Fixedwing"
if [ $MIXER = none ]
then
# Set default mixer for fixed wing if not defined
set MIXER AERT
fi
if [ $MAV_TYPE = none ]
then
# Use MAV_TYPE = 1 (fixed wing) if not defined
set MAV_TYPE 1
fi
param set MAV_TYPE $MAV_TYPE
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
sh /etc/init.d/rc.fw_apps
fi
#
# Multicopters setup
#
if [ $VEHICLE_TYPE = mc ]
then
echo "INFO [init] Multicopter"
if [ $MIXER = none ]
then
echo "INFO [init] Mixer undefined"
fi
if [ $MAV_TYPE = none ]
then
# Use mixer to detect vehicle type
if [ $MIXER = quad_x -o $MIXER = quad_+ ]
then
set MAV_TYPE 2
fi
if [ $MIXER = quad_w ]
then
set MAV_TYPE 2
fi
if [ $MIXER = quad_h ]
then
set MAV_TYPE 2
fi
if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
then
set MAV_TYPE 15
fi
if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
then
set MAV_TYPE 13
fi
if [ $MIXER = hexa_cox ]
then
set MAV_TYPE 13
fi
if [ $MIXER = octo_x -o $MIXER = octo_+ ]
then
set MAV_TYPE 14
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE = none ]
then
echo "WARN [init] Unknown MAV_TYPE"
param set MAV_TYPE 2
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard multicopter apps
sh /etc/init.d/rc.mc_apps
fi
#
# VTOL setup
#
if [ $VEHICLE_TYPE = vtol ]
then
echo "INFO [init] VTOL"
if [ $MIXER = none ]
then
echo "WARN [init] VTOL mixer undefined"
fi
if [ $MAV_TYPE = none ]
then
# Use mixer to detect vehicle type
if [ $MIXER = caipirinha_vtol ]
then
set MAV_TYPE 19
fi
if [ $MIXER = firefly6 ]
then
set MAV_TYPE 21
fi
if [ $MIXER = quad_x_pusher_vtol ]
then
set MAV_TYPE 22
fi
fi
# Still no MAV_TYPE found
if [ $MAV_TYPE = none ]
then
echo "WARN [init] Unknown MAV_TYPE"
param set MAV_TYPE 19
else
param set MAV_TYPE $MAV_TYPE
fi
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard vtol apps
sh /etc/init.d/rc.vtol_apps
fi
#
# UGV/Rover setup
#
if [ $VEHICLE_TYPE = ugv ]
then
# 10 is MAV_TYPE_GROUND_ROVER
set MAV_TYPE 10
# Load mixer and configure outputs
sh /etc/init.d/rc.interface
# Start standard rover apps
sh /etc/init.d/rc.ugv_apps
param set MAV_TYPE 10
fi
unset MIXER
unset MAV_TYPE
unset OUTPUT_MODE
#
# Start the RC input driver
#
if fmu mode_pwm1
then
fi
#
# Use 400 Hz PWM output for landing gear (frequency also affects RGB LED)
#
pwm rate -c 1 -r 400
#
# Load the gear mixer onto fmu
#
mixer load /dev/px4fmu /etc/mixers/gear.mix
#
# Start the navigator
#
if navigator start
then
fi
# There is no further script processing, so we can free some RAM
# XXX potentially unset all script variables.
unset TUNE_ERR
unset LOG_FILE
unset DATAMAN_OPT
# Boot is complete, inform MAVLink app(s) that the system is now fully up and running
mavlink boot_complete

39
ROMFS/tap_common/mixers/CMakeLists.txt
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@ -1,39 +0,0 @@
############################################################################
#
# Copyright (c) 2018 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_romfs_files(
gear.mix
hexa_x.main.mix
hexa_x.main.mix
quad_x.main.mix
)

105
ROMFS/tap_common/mixers/README.md
View File

@ -1,105 +0,0 @@
## PX4 mixer definitions ##
Files in this directory implement example mixers that can be used as a basis
for customisation, or for general testing purposes.
For a detailed description of the mixing architecture and examples see:
http://px4.io/dev/mixing
### Syntax ###
Mixer definitions are text files; lines beginning with a single capital letter
followed by a colon are significant. All other lines are ignored, meaning that
explanatory text can be freely mixed with the definitions.
Each file may define more than one mixer; the allocation of mixers to actuators
is specific to the device reading the mixer definition, and the number of
actuator outputs generated by a mixer is specific to the mixer.
For example: each simple or null mixer is assigned to outputs 1 to x
in the order they appear in the mixer file.
A mixer begins with a line of the form
<tag>: <mixer arguments>
The tag selects the mixer type; 'M' for a simple summing mixer, 'R' for a
multirotor mixer, etc.
#### Null Mixer ####
A null mixer consumes no controls and generates a single actuator output whose
value is always zero. Typically a null mixer is used as a placeholder in a
collection of mixers in order to achieve a specific pattern of actuator outputs.
The null mixer definition has the form:
Z:
#### Simple Mixer ####
A simple mixer combines zero or more control inputs into a single actuator
output. Inputs are scaled, and the mixing function sums the result before
applying an output scaler.
A simple mixer definition begins with:
M: <control count>
O: <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
If <control count> is zero, the sum is effectively zero and the mixer will
output a fixed value that is <offset> constrained by <lower limit> and <upper
limit>.
The second line defines the output scaler with scaler parameters as discussed
above. Whilst the calculations are performed as floating-point operations, the
values stored in the definition file are scaled by a factor of 10000; i.e. an
offset of -0.5 is encoded as -5000.
The definition continues with <control count> entries describing the control
inputs and their scaling, in the form:
S: <group> <index> <-ve scale> <+ve scale> <offset> <lower limit> <upper limit>
The <group> value identifies the control group from which the scaler will read,
and the <index> value an offset within that group. These values are specific to
the device reading the mixer definition.
When used to mix vehicle controls, mixer group zero is the vehicle attitude
control group, and index values zero through three are normally roll, pitch,
yaw and thrust respectively.
The remaining fields on the line configure the control scaler with parameters as
discussed above. Whilst the calculations are performed as floating-point
operations, the values stored in the definition file are scaled by a factor of
10000; i.e. an offset of -0.5 is encoded as -5000.
#### Multirotor Mixer ####
The multirotor mixer combines four control inputs (roll, pitch, yaw, thrust)
into a set of actuator outputs intended to drive motor speed controllers.
The mixer definition is a single line of the form:
R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
The supported geometries include:
* 4x - quadrotor in X configuration
* 4+ - quadrotor in + configuration
* 6x - hexcopter in X configuration
* 6+ - hexcopter in + configuration
* 8x - octocopter in X configuration
* 8+ - octocopter in + configuration
Each of the roll, pitch and yaw scale values determine scaling of the roll,
pitch and yaw controls relative to the thrust control. Whilst the calculations
are performed as floating-point operations, the values stored in the definition
file are scaled by a factor of 10000; i.e. an factor of 0.5 is encoded as 5000.
Roll, pitch and yaw inputs are expected to range from -1.0 to 1.0, whilst the
thrust input ranges from 0.0 to 1.0. Output for each actuator is in the
range -1.0 to 1.0.
In the case where an actuator saturates, all actuator values are rescaled so that
the saturating actuator is limited to 1.0.

7
ROMFS/tap_common/mixers/gear.mix
View File

@ -1,7 +0,0 @@
#
# This maps actuator_controls_0[7] to the first and only PWM output
#
M: 1
O: 10000 10000 0 -10000 10000
S: 0 7 10000 10000 0 -10000 10000

3
ROMFS/tap_common/mixers/hexa_x.main.mix
View File

@ -1,3 +0,0 @@
# Hexa X
R: 6x 10000 10000 10000 0

7
ROMFS/tap_common/mixers/quad_x.main.mix
View File

@ -1,7 +0,0 @@
R: 4x 10000 10000 10000 0
M: 1
O: 10000 10000 0 -10000 10000
S: 3 5 10000 10000 0 -10000 10000
M: 1
O: 10000 10000 0 -10000 10000
S: 3 6 10000 10000 0 -10000 10000

78
cmake/configs/nuttx_tap-v1_default.cmake
View File

@ -1,78 +0,0 @@
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT tap_common)
set(target_definitions MEMORY_CONSTRAINED_SYSTEM)
set(config_module_list
#
# Board support modules
#
drivers/barometer
drivers/differential_pressure
drivers/gps
drivers/magnetometer/hmc5883
drivers/imu/mpu6000
drivers/px4fmu
drivers/rgbled_pwm
drivers/rc_input
drivers/stm32
drivers/stm32/adc
drivers/stm32/tone_alarm
drivers/tap_esc
drivers/vmount
modules/sensors
#
# System commands
#
systemcmds/bl_update
systemcmds/led_control
systemcmds/mixer
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/hardfault_log
systemcmds/motor_test
systemcmds/reboot
systemcmds/top
systemcmds/config
systemcmds/nshterm
systemcmds/mtd
systemcmds/dumpfile
systemcmds/ver
systemcmds/topic_listener
systemcmds/tune_control
#
# General system control
#
modules/commander
modules/load_mon
modules/navigator
modules/mavlink
modules/land_detector
#
# Estimation modules (EKF/ SO3 / other filters)
#
modules/ekf2
#
# Vehicle Control
#
modules/fw_pos_control_l1
modules/fw_att_control
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
#
# Logging
#
modules/logger
#
# Library modules
#
modules/dataman
)

13
platforms/nuttx/Images/tap-v1.prototype
View File

@ -1,13 +0,0 @@
{
"board_id": 64,
"magic": "PX4FWv1",
"description": "Firmware for the TAPv1 board",
"image": "",
"build_time": 0,
"summary": "TAPv1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 999424,
"git_identity": "",
"board_revision": 0
}

444
platforms/nuttx/nuttx-configs/tap-v1/include/board.h
View File

@ -1,444 +0,0 @@
/************************************************************************************
* configs/tap-v1/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2012-2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* 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 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 __CONFIG_TAP_V1_INCLUDE_BOARD_H
#define __CONFIG_TAP_V1_INCLUDE_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include "stm32_rcc.h"
#include "stm32_sdio.h"
#include "stm32.h"
/************************************************************************************
* Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* The TAP V1 uses a 16MHz crystal connected to the HSE.
*
* This is the canonical configuration:
* System Clock source : PLL (HSE)
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
* HSE Frequency(Hz) : 16000000 (STM32_BOARD_XTAL)
* PLLM : 8 (STM32_PLLCFG_PLLM)
* PLLN : 168 (STM32_PLLCFG_PLLN)
* PLLP : 2 (STM32_PLLCFG_PLLP)
* PLLQ : 7 (STM32_PLLCFG_PLLQ)
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
* Flash Latency(WS) : 5
* Prefetch Buffer : OFF
* Instruction cache : ON
* Data cache : ON
* Require 48MHz for USB OTG FS, : Enabled
* SDIO and RNG clock
*/
/* HSI - 16 MHz RC factory-trimmed
* LSI - 32 KHz RC
* HSE - On-board crystal frequency is 16MHz
* LSE - not installed
*/
#define STM32_BOARD_XTAL 16000000ul
#define STM32_HSI_FREQUENCY 16000000ul
#define STM32_LSI_FREQUENCY 32000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
/* Main PLL Configuration.
*
* PLL source is HSE
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
* = (16,000,000 / 8) * 168
* = 336,000,000
* SYSCLK = PLL_VCO / PLLP
* = 336,000,000 / 2 = 168,000,000
* USB OTG FS, SDIO and RNG Clock
* = PLL_VCO / PLLQ
* = 336,000,000 / 7
* = 48,000,000
*/
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(168)
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
#define STM32_SYSCLK_FREQUENCY 168000000ul
/* AHB clock (HCLK) is SYSCLK (168MHz) */
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
/* Timers driven from APB1 will be twice PCLK1 */
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
/* Timers driven from APB2 will be twice PCLK2 */
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1,8 are on APB2, others on APB1
*/
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
/* LED definitions ******************************************************************/
/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
* way. The following definitions are used to access individual LEDs.
*/
/* LED index values for use with stm32_setled()
*
* PC4 BLUE_LED D4 Blue LED cathode
* PC5 RED_LED D5 Red LED cathode
*/
#define BOARD_LED1 0
#define BOARD_LED2 1
#define BOARD_NLEDS 2
#define BOARD_LED_BLUE BOARD_LED1
#define BOARD_LED_RED BOARD_LED2
/* LED bits for use with stm32_setleds() */
#define BOARD_LED1_BIT (1 << BOARD_LED1)
#define BOARD_LED2_BIT (1 << BOARD_LED2)
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board
* the tap-v1. The following definitions describe how NuttX controls
* the LEDs:
*/
#define LED_STARTED 0 /* BLUE */
#define LED_HEAPALLOCATE 1 /* LED2 */
#define LED_IRQSENABLED 2 /* BLUE */
#define LED_STACKCREATED 3 /* BLUE + RED */
#define LED_INIRQ 4 /* BLUE */
#define LED_SIGNAL 5 /* RED */
#define LED_ASSERTION 6 /* BLUE + RED */
#define LED_PANIC 7 /* BLUE + RED */
/* Alternate function pin selections ************************************************/
/*
* USARTs.
*
*
* Peripheral Port Signal Name CONN
* USART1_TX PB6 GPS_USART1_TX JP1-15,16
* USART1_RX PB7 GPS_USART1_RX JP1-13,14
* USART2_TX PA2 GB_USART2_TX JP2-19,20
* USART2_RX PA3 GB_USART2_RX JP2-21,22
* USART3_TX PC10 RF2_USART3_TX J3-2
* USART3_RX PC11 RF2_USART3_RX J3-1
* USART6_TX PC6 RF_USART6_TX JP2-15,16
* USART6_RX PC7 RF_USART6_RX JP2-17,18
*/
#define GPIO_USART1_TX GPIO_USART1_TX_2
#define GPIO_USART1_RX GPIO_USART1_RX_2
#define GPIO_USART2_TX GPIO_USART2_TX_1
#define GPIO_USART2_RX GPIO_USART2_RX_1
#define GPIO_USART3_TX GPIO_USART3_TX_2
#define GPIO_USART3_RX GPIO_USART3_RX_2
#define GPIO_USART6_TX GPIO_USART6_TX_1
#define GPIO_USART6_RX GPIO_USART6_RX_1
/* USART DMA configuration for USART 1 and 6 */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* UARTs.
*
* N.B. The 's' is here to match the wrong labeling on Schematic
*
* Peripheral Port Signal Name CONN
* UART4_TX PA0 OFS_UsART4_TX JP1-19,20
* UART4_RX PA1 OFS_UsART4_RX JP1-17,18
* UART5_TX PC12 ESC_UsART5_TX U7-HCT244 etal ESC
* UART5_RX PD2 ESC_UsART5_RX U8-5 74HCT151
*
* Note that UART5 has no optional pinout, so it is not listed here.
*
*/
#define GPIO_UART4_TX GPIO_UART4_TX_1
#define GPIO_UART4_RX GPIO_UART4_RX_1
/*
* I2C
*
* Peripheral Port Signal Name CONN
* I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
* I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
* I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
* I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
*
* The optional _GPIO configurations allow the I2C driver to manually
* reset the bus to clear stuck slaves. They match the pin configuration,
* but are normally-high GPIOs.
*/
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
/*
* SPI
*
* Peripheral Port Signal Name CONN
* SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
* SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK
* SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0
* SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI
*
*/
#define GPIO_SPI2_NSS (GPIO_SPI2_NSS_1 | GPIO_SPEED_50MHz)
#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2 | GPIO_SPEED_50MHz)
#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1 | GPIO_SPEED_50MHz)
#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1 | GPIO_SPEED_50MHz)
/* SPI DMA configuration for SPI2 (microSD) */
#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX
#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX
/* The following Pin Mapping is just for completeness */
/*
* JTAG
*
* We will only enable SW-DP, JTAG-DP will be disabled
*
* Function Port Signal Name CONN
* SWDIO PA13 DAT J10-3,J7
* SWCLK PA14 CLK J10-4,J8
*
*/
/*
* BOOT
*
* Function Port Signal Name CONN
* BOOT0 NA BOOT0 GND via 10 K
* BOOT1 PB2 BOOT1 V3.3 - 10 K
*
* As jumpered the device can only boot from FLASH.
*
* It can be booted to:
*
* SRAM if BOOT0 is pulled High with 1K.
* System memory if:
* BOOT0 is pulled High with 1K and
* BOOT1 is pulled Low with 1K
*/
/*
* Timer PWM
*
* Peripheral Port Signal Name CONN
* TIM3_CH1 PA6 LED_R JP2-23,24
* TIM3_CH2 PA7 LED_G JP2-25,26
* TIM3_CH3 PB0 LED_B JP2-27,28
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
*/
/*
* GPIO
*
* Port Signal Name CONN
* PA4 POWER JP1-23, - Must be held High to run w/o USB
* PB4 TEMP_CONT J2-2,11,14,23 - Gyro Heater
* PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105
* PC1 KEY_AD JP1-31,32 - Low when Power button is depressed
* PC2 SD_SW SD-9 SW - Card Present
* PC3 PCON_RADIO JP1-29,30
* PC13 S2 U8-9 74HCT151
* PC14 S1 U8-10 74HCT151
* PC15 S0 U8-11 74HCT151
*/
/*
* USB
*
* Port Signal Name CONN
* PA9 OTG_FS_VBUS J1-1
* PA10 OTG_FS_ID J1-4
* PA11 OTG_FS_DM J1-2
* PA12 OTG_FS_DP J1-3
*/
/*
* UNUSED PINS - In an idle world - these would have been tied to pads to
* facilitate debugging probs.
* Port
* PA15
* PB3
* PB5
* PC8
*/
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
#if defined(CONFIG_BOARD_USE_PROBES)
# define PROBE_N(n) (1<<((n)-1))
# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
# define PROBE_INIT(mask) \
do { \
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
} while(0)
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
#else
# define PROBE_INIT(mask)
# define PROBE(n,s)
# define PROBE_MARK(n)
#endif
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
EXTERN void stm32_boardinitialize(void);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __CONFIG_TAP_V1_INCLUDE_BOARD_H */

42
platforms/nuttx/nuttx-configs/tap-v1/include/nsh_romfsimg.h
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@ -1,42 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* nsh_romfsetc.h
*
* This file is a stub for 'make export' purposes; the actual ROMFS
* must be supplied by the library client.
*/
extern unsigned char romfs_img[];
extern unsigned int romfs_img_len;

1604
platforms/nuttx/nuttx-configs/tap-v1/nsh/defconfig
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151
platforms/nuttx/nuttx-configs/tap-v1/scripts/ld.script
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@ -1,151 +0,0 @@
/****************************************************************************
* configs/tap-v1/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 STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
* 192Kb 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 CCM 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 16 KiB of flash is reserved for the bootloader.
* Paramater storage will use the next 2 16KiB Sectors.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x0800C000, LENGTH = 976K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
}
OUTPUT_ARCH(arm)
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
EXTERN(_vectors) /* force the vectors to be included in the output */
/*
* Ensure that abort() is present in the final object. The exception handling
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
*/
EXTERN(abort)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
/*
* This is a hack to make the newlib libm __errno() call
* use the NuttX get_errno_ptr() function.
*/
__errno = get_errno_ptr;
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > flash
/*
* Construction data for parameters.
*/
__param ALIGN(4): {
__param_start = ABSOLUTE(.);
KEEP(*(__param*))
__param_end = ABSOLUTE(.);
} > flash
.ARM.extab : {
*(.ARM.extab*)
} > flash
__exidx_start = ABSOLUTE(.);
.ARM.exidx : {
*(.ARM.exidx*)
} > flash
__exidx_end = ABSOLUTE(.);
_eronly = ABSOLUTE(.);
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
_edata = ABSOLUTE(.);
} > sram AT > flash
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = 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) }
}

52
src/drivers/boards/tap-v1/CMakeLists.txt
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@ -1,52 +0,0 @@
############################################################################
#
# Copyright (c) 2016 PX4 Development Team. All rights reserved.
# 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.
#
############################################################################
px4_add_library(drivers_board
init.c
led.c
pwr.c
sdio.c
spi.c
timer_config.c
usb.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_apps # up_cxxinitialize
nuttx_arch # sdio
nuttx_drivers # sdio
drivers__led # drv_led_start
parameters # param_init
)

351
src/drivers/boards/tap-v1/board_config.h
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@ -1,351 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* 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_config.h
*
* TAP_V1 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* PX4FMU GPIOs ***********************************************************************************/
/* LEDs
*
* PC4 BLUE_LED D4 Blue LED cathode
* PC5 RED_LED D5 Red LED cathode
*/
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
#define GPIO_BLUE_LED GPIO_LED1
#define GPIO_RED_LED GPIO_LED2
/*
* SPI
*
* Peripheral Port Signal Name CONN
* SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
* SPI2_SCK PB13 SD_SPI2_SCK SD-5 CLK
* SPI2_MISO PB14 SD_SPI2_MISO SD-7 D0
* SPI2_MOSI PB15 SD_SPI2_MOSI SD-3 DI
*
* PC2 SD_SW SD-9 SW
*
*/
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
#define GPIO_SPI_SD_SW (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN2)
/*
* I2C busses
*
* Peripheral Port Signal Name CONN
* I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
* I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
*
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
*
* I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
* I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
*
*/
#define PX4_I2C_BUS_ONBOARD 1
#define PX4_I2C_BUS_SONAR 2
#define PX4_I2C_BUS_EXPANSION 3
#define PX4_I2C_BUS_ONBOARD_HZ 400000
#define PX4_I2C_BUS_SONAR_HZ 400000
#define PX4_I2C_BUS_EXPANSION_HZ 400000
#define BOARD_NUMBER_I2C_BUSES 3
#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, PX4_I2C_BUS_SONAR_HZ, PX4_I2C_BUS_EXPANSION_HZ}
/*
* Devices on the onboard bus.
*
* Note that these are unshifted addresses (not includinf R/W).
*/
/*
* The slave address of the MPU-60X0 is b110100X which is 7 bits long.
* The LSB bit of the 7 bit address is determined by the logic level
* on pin AD0. This allows two MPU-60X0s to be connected to the same I2C bus.
* When used in this configuration, the address of the one of the devices
* should be b1101000 (pin AD0 is logic low) and the address of the other
* should be b1101001 (pin AD0 is logic high).
*/
#define PX4_I2C_MPU6050_ADDR 0x68
/*
* ADC channels
*
* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
* PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105
*
*/
#define ADC_CHANNELS (1 << 10)
/* todo:Revisit - cannnot tell from schematic - some could be ADC */
// ADC defines to be used in sensors.cpp to read from a particular channel
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
/* Define Battery 1 Voltage Divider
* Use Default for A per V
*/
#define BOARD_BATTERY1_V_DIV (9.0f)
/* No User GPIOs
*
* TIM3_CH1 PA6 LED_R JP2-23,24
* TIM3_CH2 PA7 LED_G JP2-25,26
* TIM3_CH3 PB0 LED_B JP2-27,28
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
*
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
*/
/*
* Tone alarm output
*/
/* todo:Revisit - cannnot tell from schematic - one could be tone alarm*/
#define TONE_ALARM_TIMER 8 /* timer 8 */
#define TONE_ALARM_CHANNEL 3 /* channel 3 */
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
/*
* PWM
*
* Four PWM outputs can be configured on pins
*
*
* Peripheral Port Signal Name CONN
* TIM3_CH1 PA6 LED_R JP2-23,24
* TIM3_CH2 PA7 LED_G JP2-25,26
* TIM3_CH3 PB0 LED_B JP2-27,28
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
*
*/
#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_1
#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_1
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1
#define DIRECT_PWM_OUTPUT_CHANNELS 4
#define GPIO_TIM3_CH1IN GPIO_TIM3_CH1IN_1
#define GPIO_TIM3_CH2IN GPIO_TIM3_CH2IN_1
#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_1
#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_1
#define DIRECT_INPUT_TIMER_CHANNELS 4
#define BOARD_HAS_LED_PWM
#define BOARD_HAS_SHARED_PWM_TIMERS
#define LED_TIM3_CH1OUT GPIO_TIM3_CH1OUT
#define LED_TIM3_CH2OUT GPIO_TIM3_CH2OUT
#define LED_TIM3_CH3OUT GPIO_TIM3_CH3OUT
#define BOARD_PWM_DRIVE_ACTIVE_LOW 1
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTA|GPIO_PIN9)
#define RC_SERIAL_PORT "/dev/ttyS5" /* No HW invert support */
/* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
#define BOARD_NAME "TAP_V1"
/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
* system_power interface, and herefore provides the true logic
* GPIO BOARD_ADC_xxxx macros.
*/
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
#define BOARD_ADC_BRICK_VALID (1)
#define BOARD_ADC_SERVO_VALID (1)
#define BOARD_ADC_PERIPH_5V_OC (0)
#define BOARD_ADC_HIPOWER_5V_OC (0)
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
#define BOARD_HAS_POWER_CONTROL 1
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
#define MS_PWR_BUTTON_DOWN 200
#define KEY_AD_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN1)
#define POWER_ON_GPIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
#define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN4)
#define GPIO_S0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
#define GPIO_S1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
#define GPIO_S2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
#define GPIO_PCON_RADIO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN3)
#define RF_RADIO_POWER_CONTROL(_on_true) px4_arch_gpiowrite(GPIO_PCON_RADIO, !(_on_true))
#define GPIO_TEMP_CONT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
#define TEMP_CONTROL(_on_true) px4_arch_gpiowrite(GPIO_TEMP_CONT, (_on_true))
#define FLASH_BASED_PARAMS
__BEGIN_DECLS
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
/************************************************************************************
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI Buses.
*
************************************************************************************/
extern int stm32_spi_bus_initialize(void);
/****************************************************************************************************
* Name: board_spi_reset board_peripheral_reset
*
* Description:
* Called to reset SPI and the perferal bus
*
****************************************************************************************************/
#define board_spi_reset(ms)
#define board_peripheral_reset(ms)
/****************************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to configure USB IO.
*
****************************************************************************************************/
extern void stm32_usbinitialize(void);
/************************************************************************************
* Name: board_sdio_initialize
*
* Description:
* Called to configure SDIO.
*
************************************************************************************/
extern int board_sdio_initialize(void);
/****************************************************************************
* Name: board_i2c_initialize
*
* Description:
* Called to set I2C bus frequencies.
*
****************************************************************************/
int board_i2c_initialize(void);
/************************************************************************************
* Name: board_pwr_init()
*
* Description:
* Called to configure power control for the tap-v1 board.
*
* Input Parameters:
* stage- 0 for boot, 1 for board init
*
************************************************************************************/
void board_pwr_init(int stage);
/****************************************************************************
* Name: board_pwr_button_down
*
* Description:
* Called to Read the logical state of the power button
****************************************************************************/
bool board_pwr_button_down(void);
#include "../common/board_common.h"
#endif /* __ASSEMBLY__ */
__END_DECLS

400
src/drivers/boards/tap-v1/init.c
View File

@ -1,400 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* 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 tap-v1_init.c
*
* tap-v1-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.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <px4_tasks.h>
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include "platform/cxxinitialize.h"
#include <nuttx/board.h>
#include <nuttx/analog/adc.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 <systemlib/cpuload.h>
#include <systemlib/err.h>
#include <systemlib/hardfault_log.h>
#include <parameters/param.h>
# if defined(FLASH_BASED_PARAMS)
# include <parameters/flashparams/flashfs.h>
#endif
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) syslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message syslog
# else
# define message printf
# endif
#endif
/*
* 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);
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
/* Hold power state */
board_pwr_init(0);
/* TEMP ctrl Off (active high, init is clear) */
stm32_configgpio(GPIO_TEMP_CONT);
/* Select 0 */
stm32_configgpio(GPIO_S0);
stm32_configgpio(GPIO_S1);
stm32_configgpio(GPIO_S2);
/* Radio Off (active low, init is set) */
stm32_configgpio(GPIO_PCON_RADIO);
/* configure always-on ADC pins */
stm32_configgpio(GPIO_ADC1_IN10);
/* configure USB interfaces */
stm32_usbinitialize();
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure LEDs */
board_autoled_initialize();
}
/****************************************************************************
* Name: board_app_initialize
*
* Description:
* Perform architecture specific initialization
*
****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg)
{
int result;
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
/* configure the high-resolution time/callout interface */
hrt_init();
param_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
}
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
board_pwr_init(1);
#if defined(CONFIG_STM32_BBSRAM)
/* NB. the use of the console requires the hrt running
* to poll the DMA
*/
/* Using Battery Backed Up SRAM */
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
/* Panic Logging in Battery Backed Up Files */
/*
* In an ideal world, if a fault happens in flight the
* system save it to BBSRAM will then reboot. Upon
* rebooting, the system will log the fault to disk, recover
* the flight state and continue to fly. But if there is
* a fault on the bench or in the air that prohibit the recovery
* or committing the log to disk, the things are too broken to
* fly. So the question is:
*
* Did we have a hard fault and not make it far enough
* through the boot sequence to commit the fault data to
* the SD card?
*/
/* Do we have an uncommitted hard fault in BBSRAM?
* - this will be reset after a successful commit to SD
*/
int hadCrash = hardfault_check_status("boot");
if (hadCrash == OK) {
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
" while booting to halt the system!\n");
/* Yes. So add one to the boot count - this will be reset after a successful
* commit to SD
*/
int reboots = hardfault_increment_reboot("boot", false);
/* Also end the misery for a user that holds for a key down on the console */
int bytesWaiting;
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
if (reboots > 2 || bytesWaiting != 0) {
/* Since we can not commit the fault dump to disk. Display it
* to the console.
*/
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
reboots,
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
/* For those of you with a debugger set a break point on up_assert and
* then set dbgContinue = 1 and go.
*/
/* Clear any key press that got us here */
static volatile bool dbgContinue = false;
int c = '>';
while (!dbgContinue) {
switch (c) {
case EOF:
case '\n':
case '\r':
case ' ':
continue;
default:
putchar(c);
putchar('\n');
switch (c) {
case 'D':
case 'd':
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
break;
case 'C':
case 'c':
hardfault_rearm("boot");
hardfault_increment_reboot("boot", true);
break;
case 'B':
case 'b':
dbgContinue = true;
break;
default:
break;
} // Inner Switch
message("\nEnter B - Continue booting\n" \
"Enter C - Clear the fault log\n" \
"Enter D - Dump fault log\n\n?>");
fflush(stdout);
if (!dbgContinue) {
c = getchar();
}
break;
} // outer switch
} // for
} // inner if
} // outer if
#endif // CONFIG_STM32_SAVE_CRASHDUMP
#endif // CONFIG_STM32_BBSRAM
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
led_off(LED_BLUE);
#if defined(FLASH_BASED_PARAMS)
static sector_descriptor_t sector_map[] = {
{1, 16 * 1024, 0x08004000},
{2, 16 * 1024, 0x08008000},
{0, 0, 0},
};
/* Initalizee the flashfs layer to use heap allocated memory */
result = parameter_flashfs_init(sector_map, NULL, 0);
if (result != OK) {
message("[boot] FAILED to init params in FLASH %d\n", result);
led_on(LED_AMBER);
return -ENODEV;
}
#endif
/* Init the microSD slot */
result = board_sdio_initialize();
if (result != OK) {
led_on(LED_AMBER);
return -ENODEV;
}
return OK;
}

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/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* 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 tap-v1_led.c
*
* TAP_V1 LED backend.
*/
#include <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
__EXPORT void led_init(void)
{
/* Configure LED1-2 GPIOs for output */
stm32_configgpio(GPIO_BLUE_LED);
stm32_configgpio(GPIO_RED_LED);
}
__EXPORT void led_on(int led)
{
if (led == 0) {
/* Pull down to switch on */
stm32_gpiowrite(GPIO_BLUE_LED, false);
}
if (led == 1) {
/* Pull down to switch on */
stm32_gpiowrite(GPIO_RED_LED, false);
}
}
__EXPORT void led_off(int led)
{
if (led == 0) {
/* Pull up to switch off */
stm32_gpiowrite(GPIO_BLUE_LED, true);
}
if (led == 1) {
/* Pull up to switch off */
stm32_gpiowrite(GPIO_RED_LED, true);
}
}
__EXPORT void led_toggle(int led)
{
if (led == 0) {
stm32_gpiowrite(GPIO_BLUE_LED, !stm32_gpioread(GPIO_BLUE_LED));
}
if (led == 1) {
stm32_gpiowrite(GPIO_RED_LED, !stm32_gpioread(GPIO_RED_LED));
}
}

185
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@ -1,185 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* 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 tap-v1_pwr.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <time.h>
#include <debug.h>
#include <arch/board/board.h>
#include <nuttx/arch.h>
#include "up_arch.h"
#include "board_config.h"
#include <stm32_pwr.h>
extern void led_on(int led);
extern void led_off(int led);
static struct timespec time_down;
/************************************************************************************
* Private Data
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
static int default_power_button_state_notification(board_power_button_state_notification_e request)
{
// syslog(0,"%d\n", request);
return PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW;
}
static power_button_state_notification_t power_state_notification = default_power_button_state_notification;
int board_register_power_state_notification_cb(power_button_state_notification_t cb)
{
power_state_notification = cb;
if (board_pwr_button_down() && (time_down.tv_nsec != 0 || time_down.tv_sec != 0)) {
// make sure we don't miss the first event
power_state_notification(PWR_BUTTON_DOWN);
}
return OK;
}
int board_shutdown()
{
stm32_pwr_enablebkp(true);
/* XXX wow, this is evil - write a magic number into backup register zero */
*(uint32_t *)0x40002850 = 0xdeaddead;
stm32_pwr_enablebkp(false);
up_mdelay(50);
up_systemreset();
while (1);
return 0;
}
static int board_button_irq(int irq, FAR void *context, FAR void *args)
{
if (board_pwr_button_down()) {
led_on(BOARD_LED_RED);
clock_gettime(CLOCK_REALTIME, &time_down);
power_state_notification(PWR_BUTTON_DOWN);
} else {
power_state_notification(PWR_BUTTON_UP);
led_off(BOARD_LED_RED);
struct timespec now;
clock_gettime(CLOCK_REALTIME, &now);
uint64_t tdown_ms = time_down.tv_sec * 1000 + time_down.tv_nsec / 1000000;
uint64_t tnow_ms = now.tv_sec * 1000 + now.tv_nsec / 1000000;
if (tdown_ms != 0 && (tnow_ms - tdown_ms) >= MS_PWR_BUTTON_DOWN) {
led_on(BOARD_LED_BLUE);
if (power_state_notification(PWR_BUTTON_REQUEST_SHUT_DOWN) == PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW) {
up_mdelay(200);
board_shutdown();
}
} else {
power_state_notification(PWR_BUTTON_IDEL);
}
}
return OK;
}
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: board_pwr_init()
*
* Description:
* Called to configure power control for the tap-v1 board.
*
* Input Parameters:
* stage- 0 for boot, 1 for board init
*
************************************************************************************/
void board_pwr_init(int stage)
{
if (stage == 0) {
stm32_configgpio(POWER_ON_GPIO);
stm32_configgpio(KEY_AD_GPIO);
}
if (stage == 1) {
stm32_gpiosetevent(KEY_AD_GPIO, true, true, true, board_button_irq, NULL);
}
}
/****************************************************************************
* Name: board_pwr_button_down
*
* Description:
* Called to Read the logical state of the active low power button.
*
****************************************************************************/
bool board_pwr_button_down(void)
{
return 0 == stm32_gpioread(KEY_AD_GPIO);
}

122
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@ -1,122 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* 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 tap-v1_sdio.c
*
* Board-specific SDIOfunctions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include <stdio.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/spi/spi.h>
#include <nuttx/mmcsd.h>
#include <arch/board/board.h>
#include "up_arch.h"
#include "chip.h"
#include "stm32.h"
#include "board_config.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lowsyslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lowsyslog
# else
# define message printf
# endif
#endif
/************************************************************************************
* Private Data
************************************************************************************/
static struct spi_dev_s *spi;
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: board_sdio_initialize
*
* Description:
* Called to configure SDIO.
*
************************************************************************************/
__EXPORT int board_sdio_initialize(void)
{
/* Get the SPI port for the microSD slot */
spi = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
if (!spi) {
message("[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
return -ENODEV;
}
/* Now bind the SPI interface to the MMCSD driver */
int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi);
if (result != OK) {
message("[boot] FAILED to bind SPI port 2 to the MMCSD driver\n");
return -ENODEV;
}
return OK;
}

85
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@ -1,85 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* 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 tap-v1_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include "board_config.h"
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the tap-v1 board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize(void)
{
stm32_configgpio(GPIO_SPI_CS_SDCARD);
stm32_configgpio(GPIO_SPI_SD_SW);
}
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
}
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return !stm32_gpioread(GPIO_SPI_SD_SW);
}

109
src/drivers/boards/tap-v1/timer_config.c
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@ -1,109 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* 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 tap-v1_timer_config.c
*
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
#include "board_config.h"
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM3_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM3EN,
.clock_freq = STM32_APB1_TIM3_CLKIN,
.first_channel_index = 0,
.last_channel_index = 0,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM3,
}
};
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio_out = GPIO_TIM3_CH4OUT,
.gpio_in = GPIO_TIM3_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
}
};
__EXPORT const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
{
.base = STM32_TIM3_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM3EN,
.clock_freq = STM32_APB1_TIM3_CLKIN,
.vectorno = STM32_IRQ_TIM3,
.first_channel_index = 0,
.last_channel_index = 2,
}
};
__EXPORT const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
{
.gpio_out = LED_TIM3_CH1OUT,
.gpio_in = 0,
.timer_index = 0,
.timer_channel = 1,
},
{
.gpio_out = LED_TIM3_CH2OUT,
.gpio_in = 0,
.timer_index = 0,
.timer_channel = 2,
},
{
.gpio_out = LED_TIM3_CH3OUT,
.gpio_in = 0,
.timer_index = 0,
.timer_channel = 3,
}
};

127
src/drivers/boards/tap-v1/usb.c
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@ -1,127 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* 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 tap-v1_usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include "up_arch.h"
#include "stm32.h"
#include "board_config.h"
#include "stm32_otgfs.h"
#define GPIO_DP (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the tap-v1 board.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up.
* The HW also has one too. So we need to overcome it.
* to force a soft disconnect.
*/
/* Issue the Reset to the OTGFS Block */
uint32_t regval = getreg32(STM32_RCC_AHB2RSTR);
regval |= RCC_AHB2RSTR_OTGFSRST;
putreg32(regval, STM32_RCC_AHB2RSTR);
/* Drive the DP Pin Low */
stm32_configgpio(GPIO_DP);
/* Release the Reset to the OTGFS Block */
regval &= ~RCC_AHB2RSTR_OTGFSRST;
putreg32(regval, STM32_RCC_AHB2RSTR);
/* Configure the OTG FS VBUS sensing GPIO */
px4_arch_configgpio(GPIO_OTGFS_VBUS);
}
/************************************************************************************
* Name: stm32_usbsuspend
*
* Description:
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
* used. This function is called whenever the USB enters or leaves suspend mode.
* This is an opportunity for the board logic to shutdown clocks, power, etc.
* while the USB is suspended.
*
************************************************************************************/
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
//ulldbg("resume: %d\n", resume);
}