forked from Archive/PX4-Autopilot
Merge branch 'fmuv2_bringup' into fmuv2_bringup_io2
This commit is contained in:
px4dev
commit
ada85fccf3
|
|
@ -1,5 +0,0 @@
|
||||||
#
|
|
||||||
# Board-specific startup code for the PX4IOv2
|
|
||||||
#
|
|
||||||
|
|
||||||
SRCS = px4iov2_init.c
|
|
||||||
|
|
@ -1,172 +0,0 @@
|
||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @file px4iov2_init.c
|
|
||||||
*
|
|
||||||
* PX4FMU-specific early startup code. This file implements the
|
|
||||||
* nsh_archinitialize() function that is called early by nsh during startup.
|
|
||||||
*
|
|
||||||
* Code here is run before the rcS script is invoked; it should start required
|
|
||||||
* subsystems and perform board-specific initialisation.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Included Files
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
#include <nuttx/config.h>
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|
||||||
|
|
||||||
#include <stdbool.h>
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <debug.h>
|
|
||||||
#include <errno.h>
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|
||||||
|
|
||||||
#include <nuttx/arch.h>
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|
||||||
|
|
||||||
#include "stm32_internal.h"
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|
||||||
#include "px4iov2_internal.h"
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|
||||||
|
|
||||||
#include <arch/board/board.h>
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|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Pre-Processor Definitions
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/* Configuration ************************************************************/
|
|
||||||
|
|
||||||
/* Debug ********************************************************************/
|
|
||||||
|
|
||||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
|
||||||
# ifdef CONFIG_DEBUG
|
|
||||||
# define message(...) lowsyslog(__VA_ARGS__)
|
|
||||||
# else
|
|
||||||
# define message(...) printf(__VA_ARGS__)
|
|
||||||
# endif
|
|
||||||
#else
|
|
||||||
# ifdef CONFIG_DEBUG
|
|
||||||
# define message lowsyslog
|
|
||||||
# else
|
|
||||||
# define message printf
|
|
||||||
# endif
|
|
||||||
#endif
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Protected Functions
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Public Functions
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/************************************************************************************
|
|
||||||
* Name: stm32_boardinitialize
|
|
||||||
*
|
|
||||||
* Description:
|
|
||||||
* All STM32 architectures must provide the following entry point. This entry point
|
|
||||||
* is called early in the intitialization -- after all memory has been configured
|
|
||||||
* and mapped but before any devices have been initialized.
|
|
||||||
*
|
|
||||||
************************************************************************************/
|
|
||||||
|
|
||||||
__EXPORT void stm32_boardinitialize(void)
|
|
||||||
{
|
|
||||||
|
|
||||||
/* configure GPIOs */
|
|
||||||
|
|
||||||
/* turn off - all leds are active low */
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_LED1, true);
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_LED2, true);
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_LED3, true);
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|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED1));
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED2));
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED3));
|
|
||||||
|
|
||||||
|
|
||||||
stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_BTN_SAFETY));
|
|
||||||
|
|
||||||
/* spektrum power enable is active high - disable it by default */
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_SPEKTRUM_PWR_EN, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SPEKTRUM_PWR_EN));
|
|
||||||
|
|
||||||
/* servo power enable is active low, and has a pull down resistor
|
|
||||||
* to keep it low during boot (since it may power the whole board.)
|
|
||||||
*/
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_SERVO_PWR_EN, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SERVO_PWR_EN));
|
|
||||||
|
|
||||||
stm32_configgpio(BOARD_GPIO_INPUT_PUP(BOARD_GPIO_SERVO_FAULT_DETECT));
|
|
||||||
|
|
||||||
stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_TIM_RSSI)); /* xxx alternate function */
|
|
||||||
stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_RSSI));
|
|
||||||
stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_VSERVO));
|
|
||||||
|
|
||||||
stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_SBUS_INPUT)); /* xxx alternate function */
|
|
||||||
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_SBUS_OUTPUT, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OUTPUT));
|
|
||||||
/* sbus output enable is active low - disable it by default */
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_SBUS_OENABLE, true);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OENABLE));
|
|
||||||
|
|
||||||
|
|
||||||
stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_PPM)); /* xxx alternate function */
|
|
||||||
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_PWM1, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM1));
|
|
||||||
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_PWM2, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM2));
|
|
||||||
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_PWM3, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM3));
|
|
||||||
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_PWM4, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM4));
|
|
||||||
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_PWM5, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM5));
|
|
||||||
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_PWM6, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM6));
|
|
||||||
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_PWM7, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM7));
|
|
||||||
|
|
||||||
stm32_gpiowrite(BOARD_GPIO_PWM8, false);
|
|
||||||
stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM8));
|
|
||||||
|
|
||||||
// message("[boot] Successfully initialized px4iov2 gpios\n");
|
|
||||||
|
|
||||||
return OK;
|
|
||||||
}
|
|
||||||
|
|
@ -1,135 +0,0 @@
|
||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @file px4iov2_internal.h
|
|
||||||
*
|
|
||||||
* PX4IOV2 internal definitions
|
|
||||||
*/
|
|
||||||
|
|
||||||
#pragma once
|
|
||||||
|
|
||||||
/****************************************************************************************************
|
|
||||||
* Included Files
|
|
||||||
****************************************************************************************************/
|
|
||||||
|
|
||||||
#include <nuttx/config.h>
|
|
||||||
#include <nuttx/compiler.h>
|
|
||||||
#include <stdint.h>
|
|
||||||
|
|
||||||
__BEGIN_DECLS
|
|
||||||
|
|
||||||
/* these headers are not C++ safe */
|
|
||||||
#include <stm32_internal.h>
|
|
||||||
|
|
||||||
|
|
||||||
/****************************************************************************************************
|
|
||||||
* Definitions
|
|
||||||
****************************************************************************************************/
|
|
||||||
/* Configuration ************************************************************************************/
|
|
||||||
|
|
||||||
/******************************************************************************
|
|
||||||
* GPIOS
|
|
||||||
******************************************************************************/
|
|
||||||
|
|
||||||
#define BOARD_GPIO_OUTPUT(pin) (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
|
|
||||||
GPIO_OUTPUT_CLEAR|(pin))
|
|
||||||
#define BOARD_GPIO_INPUT_FLOAT(pin) (GPIO_INPUT|GPIO_CNF_INFLOAT|\
|
|
||||||
GPIO_MODE_INPUT|(pin))
|
|
||||||
#define BOARD_GPIO_INPUT_PUP(pin) (GPIO_INPUT|GPIO_CNF_INPULLUP|\
|
|
||||||
GPIO_MODE_INPUT|(pin))
|
|
||||||
#define BOARD_GPIO_INPUT_ANALOG(pin) (GPIO_INPUT|GPIO_CNF_ANALOGIN|\
|
|
||||||
GPIO_MODE_INPUT|(pin))
|
|
||||||
|
|
||||||
/* LEDS **********************************************************************/
|
|
||||||
|
|
||||||
#define BOARD_GPIO_LED1 (GPIO_PORTB|GPIO_PIN14)
|
|
||||||
#define BOARD_GPIO_LED2 (GPIO_PORTB|GPIO_PIN15)
|
|
||||||
#define BOARD_GPIO_LED3 (GPIO_PORTB|GPIO_PIN13)
|
|
||||||
|
|
||||||
#define BOARD_GPIO_LED_BLUE BOARD_GPIO_LED1
|
|
||||||
#define BOARD_GPIO_LED_AMBER BOARD_GPIO_LED2
|
|
||||||
#define BOARD_GPIO_LED_SAFETY BOARD_GPIO_LED3
|
|
||||||
|
|
||||||
/* Safety switch button *******************************************************/
|
|
||||||
|
|
||||||
#define BOARD_GPIO_BTN_SAFETY (GPIO_PORTB|GPIO_PIN5)
|
|
||||||
|
|
||||||
/* Power switch controls ******************************************************/
|
|
||||||
|
|
||||||
#define BOARD_GPIO_SPEKTRUM_PWR_EN (GPIO_PORTC|GPIO_PIN13)
|
|
||||||
|
|
||||||
#define BOARD_GPIO_SERVO_PWR_EN (GPIO_PORTC|GPIO_PIN15)
|
|
||||||
|
|
||||||
#define BOARD_GPIO_SERVO_FAULT_DETECT (GPIO_PORTB|GPIO_PIN13)
|
|
||||||
|
|
||||||
|
|
||||||
/* Analog inputs **************************************************************/
|
|
||||||
|
|
||||||
#define BOARD_GPIO_ADC_VSERVO (GPIO_PORTA|GPIO_PIN4)
|
|
||||||
/* the same rssi signal goes to both an adc and a timer input */
|
|
||||||
#define BOARD_GPIO_ADC_RSSI (GPIO_PORTA|GPIO_PIN5)
|
|
||||||
#define BOARD_GPIO_TIM_RSSI (GPIO_PORTA|GPIO_PIN12)
|
|
||||||
|
|
||||||
/* PWM pins **************************************************************/
|
|
||||||
|
|
||||||
#define BOARD_GPIO_PPM (GPIO_PORTA|GPIO_PIN8)
|
|
||||||
|
|
||||||
#define BOARD_GPIO_PWM1 (GPIO_PORTA|GPIO_PIN0)
|
|
||||||
#define BOARD_GPIO_PWM2 (GPIO_PORTA|GPIO_PIN1)
|
|
||||||
#define BOARD_GPIO_PWM3 (GPIO_PORTB|GPIO_PIN8)
|
|
||||||
#define BOARD_GPIO_PWM4 (GPIO_PORTB|GPIO_PIN9)
|
|
||||||
#define BOARD_GPIO_PWM5 (GPIO_PORTA|GPIO_PIN6)
|
|
||||||
#define BOARD_GPIO_PWM6 (GPIO_PORTA|GPIO_PIN7)
|
|
||||||
#define BOARD_GPIO_PWM7 (GPIO_PORTB|GPIO_PIN0)
|
|
||||||
#define BOARD_GPIO_PWM8 (GPIO_PORTB|GPIO_PIN1)
|
|
||||||
|
|
||||||
/* SBUS pins *************************************************************/
|
|
||||||
|
|
||||||
#define BOARD_GPIO_SBUS_INPUT (GPIO_PORTB|GPIO_PIN11)
|
|
||||||
#define BOARD_GPIO_SBUS_OUTPUT (GPIO_PORTB|GPIO_PIN10)
|
|
||||||
#define BOARD_GPIO_SBUS_OENABLE (GPIO_PORTB|GPIO_PIN4)
|
|
||||||
|
|
||||||
/****************************************************************************************************
|
|
||||||
* Public Types
|
|
||||||
****************************************************************************************************/
|
|
||||||
|
|
||||||
/****************************************************************************************************
|
|
||||||
* Public data
|
|
||||||
****************************************************************************************************/
|
|
||||||
|
|
||||||
#ifndef __ASSEMBLY__
|
|
||||||
|
|
||||||
#endif /* __ASSEMBLY__ */
|
|
||||||
|
|
||||||
__END_DECLS
|
|
||||||
|
|
@ -153,7 +153,7 @@ $(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
|
||||||
$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
|
$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
|
||||||
@$(REMOVE) -f $(exclude)
|
@$(REMOVE) -f $(exclude)
|
||||||
@$(MKDIR) -p $(dir $@)
|
@$(MKDIR) -p $(dir $@)
|
||||||
@echo "CMD: $(command)"
|
@$(ECHO) "CMD: $(command)"
|
||||||
$(Q) $(TOUCH) $@
|
$(Q) $(TOUCH) $@
|
||||||
endif
|
endif
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -72,6 +72,8 @@ export TOUCH = touch
|
||||||
export MKDIR = mkdir
|
export MKDIR = mkdir
|
||||||
export ECHO = echo
|
export ECHO = echo
|
||||||
export UNZIP_CMD = unzip
|
export UNZIP_CMD = unzip
|
||||||
|
export PYTHON = python
|
||||||
|
export OPENOCD = openocd
|
||||||
|
|
||||||
#
|
#
|
||||||
# Host-specific paths, hacks and fixups
|
# Host-specific paths, hacks and fixups
|
||||||
|
|
|
||||||
|
|
@ -25,7 +25,10 @@ endif
|
||||||
all: upload-$(METHOD)-$(BOARD)
|
all: upload-$(METHOD)-$(BOARD)
|
||||||
|
|
||||||
upload-serial-px4fmu: $(BUNDLE) $(UPLOADER)
|
upload-serial-px4fmu: $(BUNDLE) $(UPLOADER)
|
||||||
@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||||
|
|
||||||
|
upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER)
|
||||||
|
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||||
|
|
||||||
upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER)
|
upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER)
|
||||||
@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
|
||||||
|
|
@ -36,9 +39,9 @@ upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER)
|
||||||
JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg
|
JTAGCONFIG ?= interface/olimex-jtag-tiny.cfg
|
||||||
|
|
||||||
upload-jtag-px4fmu: all
|
upload-jtag-px4fmu: all
|
||||||
@echo Attempting to flash PX4FMU board via JTAG
|
@$(ECHO) Attempting to flash PX4FMU board via JTAG
|
||||||
@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
|
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
|
||||||
|
|
||||||
upload-jtag-px4io: all
|
upload-jtag-px4io: all
|
||||||
@echo Attempting to flash PX4IO board via JTAG
|
@$(ECHO) Attempting to flash PX4IO board via JTAG
|
||||||
@openocd -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
|
$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue