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