Pull v2 pieces up to build with the merge

This commit is contained in:
px4dev 2013-07-07 17:53:55 -07:00
parent 43f1843cc7
commit b4029dd824
60 changed files with 1167 additions and 227 deletions

12
Images/px4io-v2.prototype Normal file
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@ -0,0 +1,12 @@
{
"board_id": 10,
"magic": "PX4FWv2",
"description": "Firmware for the PX4IOv2 board",
"image": "",
"build_time": 0,
"summary": "PX4IOv2",
"version": "2.0",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}

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@ -100,7 +100,7 @@ all: $(STAGED_FIRMWARES)
# is taken care of.
#
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
@echo %% Copying $@
@$(ECHO) %% Copying $@
$(Q) $(COPY) $< $@
$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
@ -111,9 +111,9 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
@echo %%%%
@echo %%%% Building $(config) in $(work_dir)
@echo %%%%
@$(ECHO) %%%%
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
$(Q) mkdir -p $(work_dir)
$(Q) make -r -C $(work_dir) \
-f $(PX4_MK_DIR)firmware.mk \
@ -132,8 +132,6 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
# XXX Should support fetching/unpacking from a separate directory to permit
# downloads of the prebuilt archives as well...
#
# XXX PX4IO configuration name is bad - NuttX configs should probably all be "px4"
#
NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
.PHONY: archives
archives: $(NUTTX_ARCHIVES)
@ -146,16 +144,22 @@ endif
$(ARCHIVE_DIR)%.export: board = $(notdir $(basename $@))
$(ARCHIVE_DIR)%.export: configuration = nsh
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS)
@echo %% Configuring NuttX for $(board)
$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
@$(ECHO) %% Configuring NuttX for $(board)
$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && ln -sf $(PX4_BASE)/nuttx-configs/* .)
$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
@echo %% Exporting NuttX for $(board)
@$(ECHO) %% Exporting NuttX for $(board)
$(Q) make -r -j1 -C $(NUTTX_SRC) -r $(MQUIET) export
$(Q) mkdir -p $(dir $@)
$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
$(NUTTX_SRC):
@$(ECHO) ""
@$(ECHO) "NuttX sources missing - clone https://github.com/PX4/NuttX.git and try again."
@$(ECHO) ""
#
# Cleanup targets. 'clean' should remove all built products and force
# a complete re-compilation, 'distclean' should remove everything
@ -170,46 +174,47 @@ clean:
distclean: clean
$(Q) $(REMOVE) $(ARCHIVE_DIR)*.export
$(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean
$(Q) (cd $(NUTTX_SRC)/configs && find . -type l -depth 1 -delete)
#
# Print some help text
#
.PHONY: help
help:
@echo ""
@echo " PX4 firmware builder"
@echo " ===================="
@echo ""
@echo " Available targets:"
@echo " ------------------"
@echo ""
@echo " archives"
@echo " Build the NuttX RTOS archives that are used by the firmware build."
@echo ""
@echo " all"
@echo " Build all firmware configs: $(CONFIGS)"
@echo " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@echo ""
@$(ECHO) ""
@$(ECHO) " PX4 firmware builder"
@$(ECHO) " ===================="
@$(ECHO) ""
@$(ECHO) " Available targets:"
@$(ECHO) " ------------------"
@$(ECHO) ""
@$(ECHO) " archives"
@$(ECHO) " Build the NuttX RTOS archives that are used by the firmware build."
@$(ECHO) ""
@$(ECHO) " all"
@$(ECHO) " Build all firmware configs: $(CONFIGS)"
@$(ECHO) " A limited set of configs can be built with CONFIGS=<list-of-configs>"
@$(ECHO) ""
@for config in $(CONFIGS); do \
echo " $$config"; \
echo " Build just the $$config firmware configuration."; \
echo ""; \
done
@echo " clean"
@echo " Remove all firmware build pieces."
@echo ""
@echo " distclean"
@echo " Remove all compilation products, including NuttX RTOS archives."
@echo ""
@echo " upload"
@echo " When exactly one config is being built, add this target to upload the"
@echo " firmware to the board when the build is complete. Not supported for"
@echo " all configurations."
@echo ""
@echo " Common options:"
@echo " ---------------"
@echo ""
@echo " V=1"
@echo " If V is set, more verbose output is printed during the build. This can"
@echo " help when diagnosing issues with the build or toolchain."
@echo ""
@$(ECHO) " clean"
@$(ECHO) " Remove all firmware build pieces."
@$(ECHO) ""
@$(ECHO) " distclean"
@$(ECHO) " Remove all compilation products, including NuttX RTOS archives."
@$(ECHO) ""
@$(ECHO) " upload"
@$(ECHO) " When exactly one config is being built, add this target to upload the"
@$(ECHO) " firmware to the board when the build is complete. Not supported for"
@$(ECHO) " all configurations."
@$(ECHO) ""
@$(ECHO) " Common options:"
@$(ECHO) " ---------------"
@$(ECHO) ""
@$(ECHO) " V=1"
@$(ECHO) " If V is set, more verbose output is printed during the build. This can"
@$(ECHO) " help when diagnosing issues with the build or toolchain."
@$(ECHO) ""

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@ -12,19 +12,14 @@ ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_test
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/px4io
MODULES += drivers/boards/px4fmuv2
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
# needed because things use it for logging
MODULES += modules/mavlink
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/uORB
#

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@ -45,7 +45,6 @@ export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/
export NUTTX_APP_SRC = $(abspath $(PX4_BASE)/NuttX/apps)/
export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink)/
export ROMFS_SRC = $(abspath $(PX4_BASE)/ROMFS)/
export IMAGE_DIR = $(abspath $(PX4_BASE)/Images)/

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@ -27,7 +27,7 @@ all: upload-$(METHOD)-$(BOARD)
upload-serial-px4fmu-v1: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER)
upload-serial-px4fmu-v2: $(BUNDLE) $(UPLOADER)
$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
#

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@ -3,5 +3,5 @@
# see misc/tools/kconfig-language.txt.
#
if ARCH_BOARD_PX4FMUV2
if ARCH_BOARD_PX4FMU_V2
endif

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@ -46,6 +46,8 @@
# include <stdint.h>
#endif
#include <stm32.h>
/************************************************************************************
* Definitions
************************************************************************************/
@ -194,10 +196,8 @@
/* High-resolution timer
*/
#ifdef CONFIG_HRT_TIMER
# define HRT_TIMER 8 /* use timer8 for the HRT */
# define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
#endif
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/* Alternate function pin selections ************************************************/

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@ -0,0 +1,3 @@
include ${TOPDIR}/.config
include $(TOPDIR)/configs/px4fmu-v2/common/Make.defs

File diff suppressed because it is too large Load Diff

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@ -75,8 +75,8 @@ CONFIG_ARCH_ARM=y
CONFIG_ARCH_CORTEXM4=y
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32F427V=y
CONFIG_ARCH_BOARD="px4fmuv2"
CONFIG_ARCH_BOARD_PX4FMUV2=y
CONFIG_ARCH_BOARD="px4fmu-v2"
CONFIG_ARCH_BOARD_PX4FMU_V2=y
CONFIG_BOARD_LOOPSPERMSEC=16717
CONFIG_DRAM_SIZE=0x00040000
CONFIG_DRAM_START=0x20000000
@ -297,22 +297,6 @@ CONFIG_USART6_RXDMA=y
CONFIG_UART7_RXDMA=n
CONFIG_UART8_RXDMA=n
#
# PX4FMU specific driver settings
#
# CONFIG_HRT_TIMER
# Enables the high-resolution timer. The board definition must
# set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
# compare channels to be used.
# CONFIG_HRT_PPM
# Enables R/C PPM input using the HRT. The board definition must
# set HRT_PPM_CHANNEL to the timer capture/compare channel to be
# used, and define GPIO_PPM_IN to configure the appropriate timer
# GPIO.
#
CONFIG_HRT_TIMER=y
CONFIG_HRT_PPM=n
#
# STM32F40xxx specific SPI device driver settings
#

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@ -45,11 +45,8 @@
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
# include <stdbool.h>
#endif
#include <stm32_rcc.h>
#include <stm32_sdio.h>
#include <stm32_internal.h>
#include <stm32.h>
/************************************************************************************
* Definitions
@ -118,10 +115,8 @@
/*
* High-resolution timer
*/
#ifdef CONFIG_HRT_TIMER
# define HRT_TIMER 1 /* use timer1 for the HRT */
# define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
#endif
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
/*
* PPM
@ -130,10 +125,8 @@
*
* Pin is PA8, timer 1, channel 1
*/
#if defined(CONFIG_HRT_TIMER) && defined (CONFIG_HRT_PPM)
# define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
# define GPIO_PPM_IN GPIO_TIM1_CH1IN
#endif
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN GPIO_TIM1_CH1IN
/* LED definitions ******************************************************************/
/* PX4 has two LEDs that we will encode as: */

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@ -0,0 +1,3 @@
include ${TOPDIR}/.config
include $(TOPDIR)/configs/px4io-v2/common/Make.defs

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@ -74,8 +74,8 @@ CONFIG_ARCH_ARM=y
CONFIG_ARCH_CORTEXM3=y
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32F100C8=y
CONFIG_ARCH_BOARD="px4iov2"
CONFIG_ARCH_BOARD_PX4IOV2=y
CONFIG_ARCH_BOARD="px4io-v2"
CONFIG_ARCH_BOARD_PX4IO_V2=y
CONFIG_BOARD_LOOPSPERMSEC=2000
CONFIG_DRAM_SIZE=0x00002000
CONFIG_DRAM_START=0x20000000
@ -195,28 +195,6 @@ SERIAL_HAVE_CONSOLE_DMA=y
CONFIG_USART2_RXDMA=n
CONFIG_USART3_RXDMA=y
#
# PX4IO specific driver settings
#
# CONFIG_HRT_TIMER
# Enables the high-resolution timer. The board definition must
# set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
# compare channels to be used.
# CONFIG_HRT_PPM
# Enables R/C PPM input using the HRT. The board definition must
# set HRT_PPM_CHANNEL to the timer capture/compare channel to be
# used, and define GPIO_PPM_IN to configure the appropriate timer
# GPIO.
# CONFIG_PWM_SERVO
# Enables the PWM servo driver. The driver configuration must be
# supplied by the board support at initialisation time.
# Note that USART2 must be disabled on the PX4 board for this to
# be available.
#
#
CONFIG_HRT_TIMER=y
CONFIG_HRT_PPM=y
#
# General build options
#

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@ -75,7 +75,7 @@ CONFIG_ARCH_CORTEXM3=y
CONFIG_ARCH_CHIP=stm32
CONFIG_ARCH_CHIP_STM32F100C8=y
CONFIG_ARCH_BOARD=px4iov2
CONFIG_ARCH_BOARD_PX4IOV2=y
CONFIG_ARCH_BOARD_PX4IO_V2=y
CONFIG_BOARD_LOOPSPERMSEC=24000
CONFIG_DRAM_SIZE=0x00002000
CONFIG_DRAM_START=0x20000000
@ -187,29 +187,6 @@ CONFIG_USART1_2STOP=0
CONFIG_USART2_2STOP=0
CONFIG_USART3_2STOP=0
#
# PX4IO specific driver settings
#
# CONFIG_HRT_TIMER
# Enables the high-resolution timer. The board definition must
# set HRT_TIMER and HRT_TIMER_CHANNEL to the timer and capture/
# compare channels to be used.
# CONFIG_HRT_PPM
# Enables R/C PPM input using the HRT. The board definition must
# set HRT_PPM_CHANNEL to the timer capture/compare channel to be
# used, and define GPIO_PPM_IN to configure the appropriate timer
# GPIO.
# CONFIG_PWM_SERVO
# Enables the PWM servo driver. The driver configuration must be
# supplied by the board support at initialisation time.
# Note that USART2 must be disabled on the PX4 board for this to
# be available.
#
#
CONFIG_HRT_TIMER=y
CONFIG_HRT_PPM=y
CONFIG_PWM_SERVO=y
#
# General build options
#

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@ -1,3 +0,0 @@
include ${TOPDIR}/.config
include $(TOPDIR)/configs/px4fmuv2/common/Make.defs

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@ -1,3 +0,0 @@
include ${TOPDIR}/.config
include $(TOPDIR)/configs/px4io/common/Make.defs

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@ -59,9 +59,9 @@
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include "stm32_internal.h"
#include <stm32.h>
#include "px4fmu_internal.h"
#include "stm32_uart.h"
#include <stm32_uart.h>
#include <arch/board/board.h>

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@ -50,7 +50,7 @@
__BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32_internal.h>
#include <stm32.h>
/****************************************************************************************************

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@ -46,7 +46,7 @@
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <stm32_internal.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>

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@ -50,9 +50,9 @@
#include <nuttx/spi.h>
#include <arch/board/board.h>
#include "up_arch.h"
#include "chip.h"
#include "stm32_internal.h"
#include <up_arch.h>
#include <chip.h>
#include <stm32.h>
#include "px4fmu_internal.h"
/************************************************************************************

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@ -51,8 +51,8 @@
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include "up_arch.h"
#include "stm32_internal.h"
#include <up_arch.h>
#include <stm32.h>
#include "px4fmu_internal.h"
/************************************************************************************

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@ -54,7 +54,7 @@
#include <nuttx/arch.h>
#include "stm32_internal.h"
#include <stm32.h>
#include "px4iov2_internal.h"
#include <arch/board/board.h>

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@ -48,7 +48,7 @@
#include <stdint.h>
/* these headers are not C++ safe */
#include <stm32_internal.h>
#include <stm32.h>
/******************************************************************************

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@ -46,7 +46,7 @@
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <stm32_internal.h>
#include <stm32.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>

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@ -42,7 +42,7 @@
#include <sys/ioctl.h>
#ifdef CONFIG_ARCH_BOARD_PX4FMU
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
/*
* PX4FMU GPIO numbers.
*
@ -67,7 +67,7 @@
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
/*
* PX4FMUv2 GPIO numbers.
*
@ -93,36 +93,14 @@
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO
/*
* PX4IO GPIO numbers.
*
* XXX note that these are here for reference/future use; currently
* there is no good way to wire these up without a common STM32 GPIO
* driver, which isn't implemented yet.
*/
/* outputs */
# define GPIO_ACC1_POWER (1<<0) /**< accessory power 1 */
# define GPIO_ACC2_POWER (1<<1) /**< accessory power 2 */
# define GPIO_SERVO_POWER (1<<2) /**< servo power */
# define GPIO_RELAY1 (1<<3) /**< relay 1 */
# define GPIO_RELAY2 (1<<4) /**< relay 2 */
# define GPIO_LED_BLUE (1<<5) /**< blue LED */
# define GPIO_LED_AMBER (1<<6) /**< amber/red LED */
# define GPIO_LED_SAFETY (1<<7) /**< safety LED */
/* inputs */
# define GPIO_ACC_OVERCURRENT (1<<8) /**< accessory 1/2 overcurrent detect */
# define GPIO_SERVO_OVERCURRENT (1<<9) /**< servo overcurrent detect */
# define GPIO_SAFETY_BUTTON (1<<10) /**< safety button pressed */
/**
* Default GPIO device - other devices may also support this protocol if
* they also export GPIO-like things. This is always the GPIOs on the
* main board.
*/
# define GPIO_DEVICE_PATH "/dev/px4io"
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
/* no GPIO driver on the PX4IOv1 board */
# define GPIO_DEVICE_PATH "/nonexistent"
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
/* no GPIO driver on the PX4IOv2 board */
# define GPIO_DEVICE_PATH "/nonexistent"
#endif
#ifndef GPIO_DEVICE_PATH

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@ -59,10 +59,10 @@
#include <drivers/drv_gpio.h>
#include <drivers/drv_hrt.h>
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
# include <drivers/boards/px4fmu/px4fmu_internal.h>
# define FMU_HAVE_PPM
#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
# include <drivers/boards/px4fmuv2/px4fmu_internal.h>
# undef FMU_HAVE_PPM
#else
@ -158,7 +158,7 @@ private:
};
const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
@ -168,7 +168,7 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0},
@ -873,7 +873,7 @@ PX4FMU::gpio_reset(void)
}
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* if we have a GPIO direction control, set it to zero (input) */
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
stm32_configgpio(GPIO_GPIO_DIR);
@ -883,7 +883,7 @@ PX4FMU::gpio_reset(void)
void
PX4FMU::gpio_set_function(uint32_t gpios, int function)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
@ -918,7 +918,7 @@ PX4FMU::gpio_set_function(uint32_t gpios, int function)
}
}
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
@ -1024,17 +1024,17 @@ fmu_new_mode(PortMode new_mode)
break;
case PORT_FULL_PWM:
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
/* select 4-pin PWM mode */
servo_mode = PX4FMU::MODE_4PWM;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
servo_mode = PX4FMU::MODE_6PWM;
#endif
break;
/* mixed modes supported on v1 board only */
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
case PORT_FULL_SERIAL:
/* set all multi-GPIOs to serial mode */
gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4;
@ -1116,7 +1116,7 @@ test(void)
if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed");
#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
if (ioctl(fd, PWM_SERVO_SET(4), 1800) < 0) err(1, "servo 5 set failed");
if (ioctl(fd, PWM_SERVO_SET(5), 2000) < 0) err(1, "servo 6 set failed");
@ -1183,7 +1183,7 @@ fmu_main(int argc, char *argv[])
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
} else if (!strcmp(verb, "mode_serial")) {
new_mode = PORT_FULL_SERIAL;
@ -1217,9 +1217,9 @@ fmu_main(int argc, char *argv[])
fake(argc - 1, argv + 1);
fprintf(stderr, "FMU: unrecognised command, try:\n");
#if defined(CONFIG_ARCH_BOARD_PX4FMU)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
#elif defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
fprintf(stderr, " mode_gpio, mode_pwm\n");
#endif
exit(1);

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@ -56,7 +56,6 @@
#include <chip.h>
#include <up_internal.h>
#include <up_arch.h>
#include <stm32_internal.h>
#include <debug.h>

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@ -1604,9 +1604,9 @@ start(int argc, char *argv[])
PX4IO_interface *interface;
#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
interface = io_serial_interface();
#elif defined(CONFIG_ARCH_BOARD_PX4FMU)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
#else
# error Unknown board - cannot select interface.
@ -1741,9 +1741,9 @@ if_test(unsigned mode)
{
PX4IO_interface *interface;
#if defined(CONFIG_ARCH_BOARD_PX4FMUV2)
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
interface = io_serial_interface();
#elif defined(CONFIG_ARCH_BOARD_PX4FMU)
#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
interface = io_i2c_interface(PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO);
#else
# error Unknown board - cannot select interface.

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@ -56,10 +56,10 @@
#include "uploader.h"
#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
#include <drivers/boards/px4fmuv2/px4fmu_internal.h>
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
#include <drivers/boards/px4fmu/px4fmu_internal.h>
#endif

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@ -70,7 +70,7 @@
#include "stm32_gpio.h"
#include "stm32_tim.h"
#ifdef CONFIG_HRT_TIMER
#ifdef HRT_TIMER
/* HRT configuration */
#if HRT_TIMER == 1
@ -275,7 +275,7 @@ static void hrt_call_invoke(void);
/*
* Specific registers and bits used by PPM sub-functions
*/
#ifdef CONFIG_HRT_PPM
#ifdef HRT_PPM_CHANNEL
/*
* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
*
@ -377,7 +377,7 @@ static void hrt_ppm_decode(uint32_t status);
# define CCMR1_PPM 0
# define CCMR2_PPM 0
# define CCER_PPM 0
#endif /* CONFIG_HRT_PPM */
#endif /* HRT_PPM_CHANNEL */
/*
* Initialise the timer we are going to use.
@ -907,4 +907,4 @@ hrt_latency_update(void)
}
#endif /* CONFIG_HRT_TIMER */
#endif /* HRT_TIMER */

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@ -117,10 +117,6 @@
#include <systemlib/err.h>
#ifndef CONFIG_HRT_TIMER
# error This driver requires CONFIG_HRT_TIMER
#endif
/* Tone alarm configuration */
#if TONE_ALARM_TIMER == 2
# define TONE_ALARM_BASE STM32_TIM2_BASE

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@ -15,10 +15,10 @@ SRCS = adc.c \
../systemlib/mixer/mixer_multirotor.cpp \
../systemlib/mixer/mixer_simple.cpp \
ifeq ($(BOARD),px4io)
ifeq ($(BOARD),px4io-v1)
SRCS += i2c.c
endif
ifeq ($(BOARD),px4iov2)
ifeq ($(BOARD),px4io-v2)
SRCS += serial.c \
../systemlib/hx_stream.c
endif

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@ -42,10 +42,10 @@
#include <stdbool.h>
#include <stdint.h>
#ifdef CONFIG_ARCH_BOARD_PX4IO
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
# include <drivers/boards/px4io/px4io_internal.h>
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IOV2
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
# include <drivers/boards/px4iov2/px4iov2_internal.h>
#endif
@ -129,18 +129,7 @@ extern struct sys_state_s system_state;
#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED2, !(_s))
#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s))
#ifdef CONFIG_ARCH_BOARD_PX4IOV2
# define PX4IO_RELAY_CHANNELS 0
# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
# define PX4IO_ADC_CHANNEL_COUNT 2
# define ADC_VSERVO 4
# define ADC_RSSI 5
#else /* CONFIG_ARCH_BOARD_PX4IOV1 */
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
# define PX4IO_RELAY_CHANNELS 4
# define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
@ -158,6 +147,19 @@ extern struct sys_state_s system_state;
#endif
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
# define PX4IO_RELAY_CHANNELS 0
# define POWER_SPEKTRUM(_s) stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (_s))
# define VDD_SERVO_FAULT (!stm32_gpioread(GPIO_SERVO_FAULT_DETECT))
# define PX4IO_ADC_CHANNEL_COUNT 2
# define ADC_VSERVO 4
# define ADC_RSSI 5
#endif
#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY)
/*

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@ -59,7 +59,7 @@ static void pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t alt
*/
static const uint16_t r_page_config[] = {
[PX4IO_P_CONFIG_PROTOCOL_VERSION] = PX4IO_PROTOCOL_VERSION,
#ifdef CONFIG_ARCH_BOARD_PX4IOV2
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2
[PX4IO_P_CONFIG_HARDWARE_VERSION] = 2,
#else
[PX4IO_P_CONFIG_HARDWARE_VERSION] = 1,

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@ -50,7 +50,7 @@
#include <chip.h>
#include <up_internal.h>
#include <up_arch.h>
#include <stm32_internal.h>
#include <stm32.h>
#include <systemlib/perf_counter.h>
//#define DEBUG