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Initial build for Crazyflie 2.0 

Working crazyflie firmware build

* Console on USART3
* Could not disable building PX4IO firmware, currently commented out

Don't build PX4IO firmware if the board doesn't ask for it

Added crazyflie motor driver

Fixed wrong register

CLK_SEL is in PWR_MGMT_1

Initial I2C/SPI MPU9250 device

* Tested with I2C
* Need to add error checking
* Intermittent crash on stop call

Working ak8963 mag driver

Functional lps25h driver. Work in progress.

Works well enough to probe and allow sensors task to start.

Added serial port test module

HACK! Get sensors module working

Set crazyflie PWM range

Extend baudrate for Crazyflie's NRF radio

Added dummy tone alarm to allow for init

Added autostart script for Crazyflie
This commit is contained in:
Tim Dyer 2015-11-22 18:43:56 -05:00 committed by Lorenz Meier
parent c1e681df60
commit b65ff53b00
44 changed files with 6812 additions and 119 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
Images/crazyflie.prototype Normal file
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{
"board_id": 5,
"magic": "Crazyflie",
"description": "Firmware for the Crazyflie 2.0",
"image": "",
"build_time": 0,
"summary": "CRAZYFLIE",
"version": "0.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}

3
Makefile
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@ -171,6 +171,9 @@ px4-stm32f4discovery_default:
mindpx-v2_default:
$(call cmake-build,nuttx_mindpx-v2_default)
crazyflie_default:
$(call cmake-build,nuttx_crazyflie_default)
posix_sitl_default:
$(call cmake-build,$@)

54
ROMFS/px4fmu_common/init.d/4900_crazyflie Normal file
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#!nsh
#
# @name Crazyflie config
#
# @type Quadrotor x
#
# @maintainer Tim Dyer <dyer.ti@gmail.com>
#
# uorb start
# Params
# System status LEDs
# waypoint storage
# Sensors
mpu9250 -R 12 start
ak8963 start
lps25h start
sensors start
commander start
# Output mode
crazyflie start
# MAVLINK
# mavlink start -r 1200 -d /dev/ttyS***
# MAVTYPE
param set MAV_TYPE 2
exit 1
set OUTPUT_DEV /dev/pwm_output0
set MIXER_FILE /etc/mixers/quad_x.main.mix
if mixer load $OUTPUT_DEV $MIXER_FILE
then
echo "[i] Mixer: $MIXER_FILE on $OUTPUT_DEV"
else
echo "[i] Error loading mixer: $MIXER_FILE"
echo "ERROR: Could not load mixer: $MIXER_FILE" >> $LOG_FILE
tone_alarm $TUNE_ERR
fi
sh /etc/init.d/rc.mc_apps
# Navigator
navigator start
# Boot complete
mavlink boot_complete

152
cmake/configs/nuttx_crazyflie_default.cmake Normal file
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include(nuttx/px4_impl_nuttx)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
# Board support modules
#
drivers/device
drivers/stm32
drivers/led
drivers/boards/crazyflie
drivers/crazyflie
drivers/mpu9250
drivers/ak8963
drivers/lps25h
drivers/gps
# drivers/pwm_out_sim
modules/sensors
#
# System commands
#
systemcmds/bl_update
systemcmds/mixer
systemcmds/param
systemcmds/perf
systemcmds/pwm
systemcmds/esc_calib
systemcmds/reboot
systemcmds/top
systemcmds/config
systemcmds/nshterm
systemcmds/mtd
systemcmds/dumpfile
systemcmds/ver
#
# General system control
#
modules/commander
modules/navigator
modules/mavlink
modules/land_detector
modules/dummy
#
# Estimation modules (EKF/ SO3 / other filters)
#
# Too high RAM usage due to static allocations
# modules/attitude_estimator_ekf
modules/attitude_estimator_q
modules/ekf_att_pos_estimator
modules/position_estimator_inav
#
# Vehicle Control
#
# modules/segway # XXX Needs GCC 4.7 fix
modules/fw_pos_control_l1
modules/fw_att_control
modules/mc_att_control
modules/mc_pos_control
modules/vtol_att_control
#
# Logging
#
modules/sdlog2
modules/screen
#
# Library modules
#
modules/param
modules/systemlib
modules/systemlib/mixer
modules/controllib
modules/uORB
modules/dataman
#
# Libraries
#
#lib/mathlib/CMSIS
lib/mathlib
lib/mathlib/math/filter
lib/ecl
lib/external_lgpl
lib/geo
lib/geo_lookup
lib/conversion
lib/launchdetection
lib/terrain_estimation
lib/runway_takeoff
platforms/nuttx
# had to add for cmake, not sure why wasn't in original config
platforms/common
platforms/nuttx/px4_layer
#
# OBC challenge
#
modules/bottle_drop
#
# Rover apps
#
examples/rover_steering_control
#
# Demo apps
#
#examples/math_demo
# Tutorial code from
# https://px4.io/dev/px4_simple_app
#examples/px4_simple_app
# Tutorial code from
# https://px4.io/dev/daemon
#examples/px4_daemon_app
# Tutorial code from
# https://px4.io/dev/debug_values
#examples/px4_mavlink_debug
# Tutorial code from
# https://px4.io/dev/example_fixedwing_control
#examples/fixedwing_control
# Hardware test
#examples/hwtest
)
set(config_extra_builtin_cmds
serdis
sercon
)
set(config_extra_libs
${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
MAIN "sercon" STACK "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
MAIN "serdis" STACK "2048")

261
nuttx-configs/crazyflie/include/board.h Normal file
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/************************************************************************************
* configs/crazyflie/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#ifndef __CONFIG_CRAZYFLIE_INCLUDE_BOARD_H
#define __CONFIG_CRAZYFLIE_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 PX4FMU uses a 24MHz 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) : 24000000 (STM32_BOARD_XTAL)
* PLLM : 24 (STM32_PLLCFG_PLLM)
* PLLN : 336 (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 24MHz
* LSE - not installed
*/
#define STM32_BOARD_XTAL 8000000ul
#define STM32_HSI_FREQUENCY 16000000ul
#define STM32_LSI_FREQUENCY 32000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
//#define STM32_LSE_FREQUENCY 32768
/* Main PLL Configuration.
*
* PLL source is HSE
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
* = (8,000,000 / 8) * 336
* = 336,000,000
* SYSCLK = PLL_VCO / PLLP
* = 336,000,000 / 2 = 168,000,000
* USB OTG FS, SDIO and RNG Clock
* = PLL_VCO / PLLQ
* = 48,000,000
*/
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
#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 STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
/* Alternate function pin selections ************************************************/
/*
* UARTs.
*
*/
#define GPIO_USART2_RX GPIO_USART2_RX_1
#define GPIO_USART2_TX GPIO_USART2_TX_1
#define GPIO_USART3_RX GPIO_USART3_RX_2
#define GPIO_USART3_TX GPIO_USART3_TX_2
#define GPIO_USART6_RX GPIO_USART6_RX_1
#define GPIO_USART6_TX GPIO_USART6_TX_1
/* UART DMA configuration for USART6 */
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* I2C
*
* 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_SCL GPIO_I2C1_SCL_1
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN6)
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN7)
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
/*
* SPI
*
* There are sensors on SPI1, and SPI3 is connected to the microSD slot.
*/
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
/* XXX since we allocate the HP work stack from CCM RAM on normal system startup,
SPI1 will never run in DMA mode - so we can just give it a random config here.
What we really need to do is to make DMA configurable per channel, and always
disable it for SPI1. */
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
/************************************************************************************
* 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 intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
EXTERN void stm32_boardinitialize(void);
/************************************************************************************
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
*
* Description:
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
* CONFIG_ARCH_LEDS is not defined, then the following interfacesare available to
* control the LEDs from user applications.
*
************************************************************************************/
#ifndef CONFIG_ARCH_LEDS
EXTERN void stm32_ledinit(void);
EXTERN void stm32_setled(int led, bool ledon);
EXTERN void stm32_setleds(uint8_t ledset);
#endif
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __CONFIG_CRAZYFLIE_INCLUDE_BOARD_H */

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nuttx-configs/crazyflie/include/nsh_romfsimg.h Normal file
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/****************************************************************************
*
* Copyright (C) 2013 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;

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############################################################################
# configs/crazyflie/nsh/Make.defs
#
# 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.
#
############################################################################
include ${TOPDIR}/.config
include ${TOPDIR}/tools/Config.mk
#
# We only support building with the ARM bare-metal toolchain from
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
#
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
CPP = $(CROSSDEV)gcc -E
LD = $(CROSSDEV)ld
AR = $(CROSSDEV)ar rcs
NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard
# enable precise stack overflow tracking
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
endif
# pull in *just* libm from the toolchain ... this is grody
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
EXTRA_LIBS += $(LIBM)
# use our linker script
LDSCRIPT = ld.script
ifeq ($(WINTOOL),y)
# Windows-native toolchains
DIRLINK = $(TOPDIR)/tools/copydir.sh
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
else
ifeq ($(PX4_WINTOOL),y)
# Windows-native toolchains (MSYS)
DIRLINK = $(TOPDIR)/tools/copydir.sh
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
else
# Linux/Cygwin-native toolchain
MKDEP = $(TOPDIR)/tools/mkdeps.sh
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
endif
endif
# tool versions
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
# optimisation flags
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
-fno-strict-aliasing \
-fno-strength-reduce \
-fomit-frame-pointer \
-funsafe-math-optimizations \
-fno-builtin-printf \
-ffunction-sections \
-fdata-sections
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
ARCHOPTIMIZATION += -g
endif
ARCHCFLAGS = -std=gnu99
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
ARCHWARNINGS = -Wall \
-Wno-sign-compare \
-Wextra \
-Wdouble-promotion \
-Wshadow \
-Wframe-larger-than=1024 \
-Wpointer-arith \
-Wlogical-op \
-Wpacked \
-Wno-unused-parameter
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
ARCHCWARNINGS = $(ARCHWARNINGS) \
-Wbad-function-cast \
-Wstrict-prototypes \
-Wold-style-declaration \
-Wmissing-parameter-type \
-Wnested-externs
ARCHWARNINGSXX = $(ARCHWARNINGS) \
-Wno-psabi
ARCHDEFINES =
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
# this seems to be the only way to add linker flags
EXTRA_LIBS += --warn-common \
--gc-sections
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
NXFLATLDFLAGS1 = -r -d -warn-common
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
LDNXFLATFLAGS = -e main -s 2048
OBJEXT = .o
LIBEXT = .a
EXEEXT =
# produce partially-linked $1 from files in $2
define PRELINK
@echo "PRELINK: $1"
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
endef
HOSTCC = gcc
HOSTINCLUDES = -I.
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
HOSTLDFLAGS =

52
nuttx-configs/crazyflie/nsh/appconfig Normal file
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@ -0,0 +1,52 @@
############################################################################
# configs/crazyflie/nsh/appconfig
#
# 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.
#
############################################################################
# Path to example in apps/examples containing the user_start entry point
CONFIGURED_APPS += examples/nsh
# The NSH application library
CONFIGURED_APPS += nshlib
CONFIGURED_APPS += system/readline
ifeq ($(CONFIG_CAN),y)
#CONFIGURED_APPS += examples/can
endif
#ifeq ($(CONFIG_USBDEV),y)
#ifeq ($(CONFIG_CDCACM),y)
CONFIGURED_APPS += examples/cdcacm
#endif
#endif

919
nuttx-configs/crazyflie/nsh/defconfig Normal file
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@ -0,0 +1,919 @@
#
# Automatically generated file; DO NOT EDIT.
# Nuttx/ Configuration
#
CONFIG_NUTTX_NEWCONFIG=y
#
# Build Setup
#
# CONFIG_EXPERIMENTAL is not set
# CONFIG_HOST_LINUX is not set
CONFIG_HOST_OSX=y
# CONFIG_HOST_WINDOWS is not set
# CONFIG_HOST_OTHER is not set
#
# Build Configuration
#
CONFIG_APPS_DIR="../apps"
# CONFIG_BUILD_2PASS is not set
#
# Binary Output Formats
#
# CONFIG_RRLOAD_BINARY is not set
# CONFIG_INTELHEX_BINARY is not set
# CONFIG_MOTOROLA_SREC is not set
CONFIG_RAW_BINARY=y
#
# Customize Header Files
#
# CONFIG_ARCH_STDBOOL_H is not set
CONFIG_ARCH_MATH_H=y
# CONFIG_ARCH_FLOAT_H is not set
# CONFIG_ARCH_STDARG_H is not set
#
# Debug Options
#
# CONFIG_DEBUG is not set
CONFIG_DEBUG_SYMBOLS=y
#
# System Type
#
# CONFIG_ARCH_8051 is not set
CONFIG_ARCH_ARM=y
# CONFIG_ARCH_AVR is not set
# CONFIG_ARCH_HC is not set
# CONFIG_ARCH_MIPS is not set
# CONFIG_ARCH_RGMP is not set
# CONFIG_ARCH_SH is not set
# CONFIG_ARCH_SIM is not set
# CONFIG_ARCH_X86 is not set
# CONFIG_ARCH_Z16 is not set
# CONFIG_ARCH_Z80 is not set
CONFIG_ARCH="arm"
#
# ARM Options
#
# CONFIG_ARCH_CHIP_C5471 is not set
# CONFIG_ARCH_CHIP_CALYPSO is not set
# CONFIG_ARCH_CHIP_DM320 is not set
# CONFIG_ARCH_CHIP_IMX is not set
# CONFIG_ARCH_CHIP_KINETIS is not set
# CONFIG_ARCH_CHIP_KL is not set
# CONFIG_ARCH_CHIP_LM is not set
# CONFIG_ARCH_CHIP_LPC17XX is not set
# CONFIG_ARCH_CHIP_LPC214X is not set
# CONFIG_ARCH_CHIP_LPC2378 is not set
# CONFIG_ARCH_CHIP_LPC31XX is not set
# CONFIG_ARCH_CHIP_LPC43XX is not set
# CONFIG_ARCH_CHIP_NUC1XX is not set
# CONFIG_ARCH_CHIP_SAM34 is not set
CONFIG_ARCH_CHIP_STM32=y
# CONFIG_ARCH_CHIP_STR71X is not set
CONFIG_ARCH_CORTEXM4=y
CONFIG_ARCH_FAMILY="armv7-m"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_ARCH_HAVE_CMNVECTOR=y
CONFIG_ARMV7M_CMNVECTOR=y
CONFIG_ARCH_HAVE_FPU=y
CONFIG_ARCH_FPU=y
CONFIG_ARCH_HAVE_MPU=y
# CONFIG_ARMV7M_MPU is not set
#
# ARMV7M Configuration Options
#
# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABI=y
# CONFIG_ARMV7M_STACKCHECK is not set
CONFIG_SERIAL_TERMIOS=y
#
# STM32 Configuration Options
#
# CONFIG_ARCH_CHIP_STM32L151C6 is not set
# CONFIG_ARCH_CHIP_STM32L151C8 is not set
# CONFIG_ARCH_CHIP_STM32L151CB is not set
# CONFIG_ARCH_CHIP_STM32L151R6 is not set
# CONFIG_ARCH_CHIP_STM32L151R8 is not set
# CONFIG_ARCH_CHIP_STM32L151RB is not set
# CONFIG_ARCH_CHIP_STM32L151V6 is not set
# CONFIG_ARCH_CHIP_STM32L151V8 is not set
# CONFIG_ARCH_CHIP_STM32L151VB is not set
# CONFIG_ARCH_CHIP_STM32L152C6 is not set
# CONFIG_ARCH_CHIP_STM32L152C8 is not set
# CONFIG_ARCH_CHIP_STM32L152CB is not set
# CONFIG_ARCH_CHIP_STM32L152R6 is not set
# CONFIG_ARCH_CHIP_STM32L152R8 is not set
# CONFIG_ARCH_CHIP_STM32L152RB is not set
# CONFIG_ARCH_CHIP_STM32L152V6 is not set
# CONFIG_ARCH_CHIP_STM32L152V8 is not set
# CONFIG_ARCH_CHIP_STM32L152VB is not set
# CONFIG_ARCH_CHIP_STM32F100C8 is not set
# CONFIG_ARCH_CHIP_STM32F100CB is not set
# CONFIG_ARCH_CHIP_STM32F100R8 is not set
# CONFIG_ARCH_CHIP_STM32F100RB is not set
# CONFIG_ARCH_CHIP_STM32F100RC is not set
# CONFIG_ARCH_CHIP_STM32F100RD is not set
# CONFIG_ARCH_CHIP_STM32F100RE is not set
# CONFIG_ARCH_CHIP_STM32F100V8 is not set
# CONFIG_ARCH_CHIP_STM32F100VB is not set
# CONFIG_ARCH_CHIP_STM32F100VC is not set
# CONFIG_ARCH_CHIP_STM32F100VD is not set
# CONFIG_ARCH_CHIP_STM32F100VE is not set
# CONFIG_ARCH_CHIP_STM32F102CB is not set
# CONFIG_ARCH_CHIP_STM32F103C4 is not set
# CONFIG_ARCH_CHIP_STM32F103C8 is not set
# CONFIG_ARCH_CHIP_STM32F103RET6 is not set
# CONFIG_ARCH_CHIP_STM32F103VCT6 is not set
# CONFIG_ARCH_CHIP_STM32F103VET6 is not set
# CONFIG_ARCH_CHIP_STM32F103ZET6 is not set
# CONFIG_ARCH_CHIP_STM32F105VBT7 is not set
# CONFIG_ARCH_CHIP_STM32F107VC is not set
# CONFIG_ARCH_CHIP_STM32F207IG is not set
# CONFIG_ARCH_CHIP_STM32F302CB is not set
# CONFIG_ARCH_CHIP_STM32F302CC is not set
# CONFIG_ARCH_CHIP_STM32F302RB is not set
# CONFIG_ARCH_CHIP_STM32F302RC is not set
# CONFIG_ARCH_CHIP_STM32F302VB is not set
# CONFIG_ARCH_CHIP_STM32F302VC is not set
# CONFIG_ARCH_CHIP_STM32F303CB is not set
# CONFIG_ARCH_CHIP_STM32F303CC is not set
# CONFIG_ARCH_CHIP_STM32F303RB is not set
# CONFIG_ARCH_CHIP_STM32F303RC is not set
# CONFIG_ARCH_CHIP_STM32F303VB is not set
# CONFIG_ARCH_CHIP_STM32F303VC is not set
CONFIG_ARCH_CHIP_STM32F405RG=y
# CONFIG_ARCH_CHIP_STM32F405VG is not set
# CONFIG_ARCH_CHIP_STM32F405ZG is not set
# CONFIG_ARCH_CHIP_STM32F407VE is not set
# CONFIG_ARCH_CHIP_STM32F407VG is not set
# CONFIG_ARCH_CHIP_STM32F407ZE is not set
# CONFIG_ARCH_CHIP_STM32F407ZG is not set
# CONFIG_ARCH_CHIP_STM32F407IE is not set
# CONFIG_ARCH_CHIP_STM32F407IG is not set
# CONFIG_ARCH_CHIP_STM32F427V is not set
# CONFIG_ARCH_CHIP_STM32F427Z is not set
# CONFIG_ARCH_CHIP_STM32F427I is not set
# CONFIG_STM32_STM32L15XX is not set
# CONFIG_STM32_ENERGYLITE is not set
# CONFIG_STM32_STM32F10XX is not set
# CONFIG_STM32_VALUELINE is not set
# CONFIG_STM32_CONNECTIVITYLINE is not set
# CONFIG_STM32_PERFORMANCELINE is not set
# CONFIG_STM32_HIGHDENSITY is not set
# CONFIG_STM32_MEDIUMDENSITY is not set
# CONFIG_STM32_LOWDENSITY is not set
# CONFIG_STM32_STM32F20XX is not set
# CONFIG_STM32_STM32F30XX is not set
CONFIG_STM32_STM32F40XX=y
# CONFIG_STM32_DFU is not set
#
# STM32 Peripheral Support
#
CONFIG_STM32_ADC1=y
# CONFIG_STM32_ADC2 is not set
# CONFIG_STM32_ADC3 is not set
CONFIG_STM32_BKPSRAM=y
# CONFIG_STM32_CAN1 is not set
# CONFIG_STM32_CAN2 is not set
CONFIG_STM32_CCMDATARAM=y
# CONFIG_STM32_CRC is not set
# CONFIG_STM32_CRYP is not set
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
# CONFIG_STM32_DAC1 is not set
# CONFIG_STM32_DAC2 is not set
# CONFIG_STM32_DCMI is not set
# CONFIG_STM32_ETHMAC is not set
# CONFIG_STM32_FSMC is not set
# CONFIG_STM32_HASH is not set
CONFIG_STM32_I2C1=y
# CONFIG_STM32_I2C2 is not set
CONFIG_STM32_I2C3=y
CONFIG_STM32_OTGFS=y
# CONFIG_STM32_OTGHS is not set
CONFIG_STM32_PWR=y
# CONFIG_STM32_RNG is not set
# CONFIG_STM32_SDIO is not set
CONFIG_STM32_SPI1=y
# CONFIG_STM32_SPI2 is not set
# CONFIG_STM32_SPI3 is not set
CONFIG_STM32_SYSCFG=y
# CONFIG_STM32_TIM1 is not set
CONFIG_STM32_TIM2=y
# CONFIG_STM32_TIM3 is not set
CONFIG_STM32_TIM4=y
# CONFIG_STM32_TIM5 is not set
# CONFIG_STM32_TIM6 is not set
# CONFIG_STM32_TIM7 is not set
# CONFIG_STM32_TIM8 is not set
# CONFIG_STM32_TIM9 is not set
# CONFIG_STM32_TIM10 is not set
# CONFIG_STM32_TIM11 is not set
# CONFIG_STM32_TIM12 is not set
# CONFIG_STM32_TIM13 is not set
# CONFIG_STM32_TIM14 is not set
# CONFIG_STM32_USART1 is not set
CONFIG_STM32_USART2=y
CONFIG_STM32_USART3=y
# CONFIG_STM32_UART4 is not set
# CONFIG_STM32_UART5 is not set
CONFIG_STM32_USART6=y
# CONFIG_STM32_IWDG is not set
CONFIG_STM32_WWDG=y
CONFIG_STM32_ADC=y
CONFIG_STM32_SPI=y
CONFIG_STM32_I2C=y
#
# Alternate Pin Mapping
#
CONFIG_STM32_FLASH_PREFETCH=y
# CONFIG_STM32_JTAG_DISABLE is not set
# CONFIG_STM32_JTAG_FULL_ENABLE is not set
# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
# CONFIG_STM32_FORCEPOWER is not set
# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
# CONFIG_STM32_CCMEXCLUDE is not set
CONFIG_STM32_DMACAPABLE=y
# CONFIG_STM32_TIM2_PWM is not set
# CONFIG_STM32_TIM4_PWM is not set
# CONFIG_STM32_TIM2_ADC is not set
# CONFIG_STM32_TIM4_ADC is not set
CONFIG_STM32_USART=y
#
# U[S]ART Configuration
#
# CONFIG_USART2_RS485 is not set
CONFIG_USART2_RXDMA=y
# CONFIG_USART3_RS485 is not set
CONFIG_USART3_RXDMA=y
# CONFIG_USART6_RS485 is not set
CONFIG_USART6_RXDMA=y
CONFIG_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_USART_SINGLEWIRE=y
#
# SPI Configuration
#
# CONFIG_STM32_SPI_INTERRUPTS is not set
# CONFIG_STM32_SPI_DMA is not set
#
# I2C Configuration
#
# CONFIG_STM32_I2C_DYNTIMEO is not set
CONFIG_STM32_I2CTIMEOSEC=0
CONFIG_STM32_I2CTIMEOMS=10
CONFIG_STM32_I2CTIMEOTICKS=500
# CONFIG_STM32_I2C_DUTY16_9 is not set
#
# USB Host Configuration
#
#
# USB Device Configuration
#
#
# External Memory Configuration
#
#
# Architecture Options
#
# CONFIG_ARCH_NOINTC is not set
# CONFIG_ARCH_VECNOTIRQ is not set
CONFIG_ARCH_DMA=y
CONFIG_ARCH_IRQPRIO=y
# CONFIG_CUSTOM_STACK is not set
# CONFIG_ADDRENV is not set
CONFIG_ARCH_HAVE_VFORK=y
CONFIG_ARCH_STACKDUMP=y
# CONFIG_ENDIAN_BIG is not set
# CONFIG_ARCH_HAVE_RAMFUNCS is not set
CONFIG_ARCH_HAVE_RAMVECTORS=y
# CONFIG_ARCH_RAMVECTORS is not set
#
# Board Settings
#
CONFIG_BOARD_LOOPSPERMSEC=16717
# CONFIG_ARCH_CALIBRATION is not set
CONFIG_DRAM_START=0x20000000
CONFIG_DRAM_SIZE=196608
CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
CONFIG_ARCH_INTERRUPTSTACK=750
#
# Boot options
#
# CONFIG_BOOT_RUNFROMEXTSRAM is not set
CONFIG_BOOT_RUNFROMFLASH=y
# CONFIG_BOOT_RUNFROMISRAM is not set
# CONFIG_BOOT_RUNFROMSDRAM is not set
# CONFIG_BOOT_COPYTORAM is not set
#
# Board Selection
#
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD=""
#
# Common Board Options
#
CONFIG_NSH_MMCSDMINOR=0
#
# Board-Specific Options
#
#
# RTOS Features
#
# CONFIG_BOARD_INITIALIZE is not set
CONFIG_MSEC_PER_TICK=1
CONFIG_RR_INTERVAL=0
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_TASK_NAME_SIZE=24
# CONFIG_SCHED_HAVE_PARENT is not set
# CONFIG_JULIAN_TIME is not set
CONFIG_START_YEAR=1970
CONFIG_START_MONTH=1
CONFIG_START_DAY=1
CONFIG_DEV_CONSOLE=y
# CONFIG_MUTEX_TYPES is not set
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_SEM_PREALLOCHOLDERS=0
CONFIG_SEM_NNESTPRIO=8
# CONFIG_FDCLONE_DISABLE is not set
CONFIG_FDCLONE_STDIO=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SCHED_WAITPID=y
# CONFIG_SCHED_STARTHOOK is not set
CONFIG_SCHED_ATEXIT=y
CONFIG_SCHED_ATEXIT_MAX=1
# CONFIG_SCHED_ONEXIT is not set
CONFIG_USER_ENTRYPOINT="nsh_main"
# CONFIG_DISABLE_OS_API is not set
#
# Signal Numbers
#
CONFIG_SIG_SIGUSR1=1
CONFIG_SIG_SIGUSR2=2
CONFIG_SIG_SIGALARM=3
CONFIG_SIG_SIGCONDTIMEDOUT=16
CONFIG_SIG_SIGWORK=4
#
# Sizes of configurable things (0 disables)
#
CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=10
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=42
CONFIG_NFILE_STREAMS=8
CONFIG_NAME_MAX=32
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_MQ_MAXMSGSIZE=32
CONFIG_MAX_WDOGPARMS=2
CONFIG_PREALLOC_WDOGS=50
CONFIG_PREALLOC_TIMERS=50
#
# Stack and heap information
#
CONFIG_IDLETHREAD_STACKSIZE=1000
CONFIG_USERMAIN_STACKSIZE=2500
CONFIG_PTHREAD_STACK_MIN=512
CONFIG_PTHREAD_STACK_DEFAULT=2048
#
# Device Drivers
#
# CONFIG_DISABLE_POLL is not set
CONFIG_DEV_NULL=y
# CONFIG_DEV_ZERO is not set
# CONFIG_LOOP is not set
# CONFIG_RAMDISK is not set
# CONFIG_CAN is not set
# CONFIG_PWM is not set
CONFIG_I2C=y
# CONFIG_I2C_SLAVE is not set
CONFIG_I2C_TRANSFER=y
# CONFIG_I2C_WRITEREAD is not set
# CONFIG_I2C_POLLED is not set
# CONFIG_I2C_TRACE is not set
CONFIG_ARCH_HAVE_I2CRESET=y
CONFIG_I2C_RESET=y
CONFIG_SPI=y
# CONFIG_SPI_OWNBUS is not set
CONFIG_SPI_EXCHANGE=y
# CONFIG_SPI_CMDDATA is not set
# CONFIG_RTC is not set
CONFIG_WATCHDOG=y
# CONFIG_ANALOG is not set
# CONFIG_AUDIO_DEVICES is not set
# CONFIG_BCH is not set
# CONFIG_INPUT is not set
# CONFIG_LCD is not set
# CONFIG_MMCSD is not set
# CONFIG_MTD is not set
CONFIG_PIPES=y
# CONFIG_PM is not set
# CONFIG_POWER is not set
# CONFIG_SENSORS is not set
CONFIG_SERIAL=y
# CONFIG_DEV_LOWCONSOLE is not set
CONFIG_SERIAL_REMOVABLE=y
# CONFIG_16550_UART is not set
CONFIG_ARCH_HAVE_USART2=y
CONFIG_ARCH_HAVE_USART3=y
CONFIG_ARCH_HAVE_USART6=y
CONFIG_MCU_SERIAL=y
CONFIG_STANDARD_SERIAL=y
CONFIG_SERIAL_NPOLLWAITERS=2
# CONFIG_USART2_SERIAL_CONSOLE is not set
CONFIG_USART3_SERIAL_CONSOLE=y
# CONFIG_USART6_SERIAL_CONSOLE is not set
# CONFIG_NO_SERIAL_CONSOLE is not set
#
# USART2 Configuration
#
CONFIG_USART2_RXBUFSIZE=300
CONFIG_USART2_TXBUFSIZE=300
CONFIG_USART2_BAUD=57600
CONFIG_USART2_BITS=8
CONFIG_USART2_PARITY=0
CONFIG_USART2_2STOP=0
# CONFIG_USART2_IFLOWCONTROL is not set
# CONFIG_USART2_OFLOWCONTROL is not set
#
# USART3 Configuration
#
CONFIG_USART3_RXBUFSIZE=256
CONFIG_USART3_TXBUFSIZE=256
CONFIG_USART3_BAUD=115200
CONFIG_USART3_BITS=8
CONFIG_USART3_PARITY=0
CONFIG_USART3_2STOP=0
# CONFIG_USART3_IFLOWCONTROL is not set
# CONFIG_USART3_OFLOWCONTROL is not set
#
# USART6 Configuration
#
CONFIG_USART6_RXBUFSIZE=128
CONFIG_USART6_TXBUFSIZE=64
CONFIG_USART6_BAUD=57600
CONFIG_USART6_BITS=8
CONFIG_USART6_PARITY=0
CONFIG_USART6_2STOP=0
# CONFIG_USART6_IFLOWCONTROL is not set
# CONFIG_USART6_OFLOWCONTROL is not set
# CONFIG_SERIAL_IFLOWCONTROL is not set
# CONFIG_SERIAL_OFLOWCONTROL is not set
CONFIG_USBDEV=y
#
# USB Device Controller Driver Options
#
# CONFIG_USBDEV_ISOCHRONOUS is not set
# CONFIG_USBDEV_DUALSPEED is not set
# CONFIG_USBDEV_SELFPOWERED is not set
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
# CONFIG_USBDEV_DMA is not set
# CONFIG_USBDEV_TRACE is not set
#
# USB Device Class Driver Options
#
# CONFIG_USBDEV_COMPOSITE is not set
# CONFIG_PL2303 is not set
CONFIG_CDCACM=y
# CONFIG_CDCACM_CONSOLE is not set
CONFIG_CDCACM_EP0MAXPACKET=64
CONFIG_CDCACM_EPINTIN=1
CONFIG_CDCACM_EPINTIN_FSSIZE=64
CONFIG_CDCACM_EPINTIN_HSSIZE=64
CONFIG_CDCACM_EPBULKOUT=3
CONFIG_CDCACM_EPBULKOUT_FSSIZE=64
CONFIG_CDCACM_EPBULKOUT_HSSIZE=512
CONFIG_CDCACM_EPBULKIN=2
CONFIG_CDCACM_EPBULKIN_FSSIZE=64
CONFIG_CDCACM_EPBULKIN_HSSIZE=512
CONFIG_CDCACM_NWRREQS=4
CONFIG_CDCACM_NRDREQS=4
CONFIG_CDCACM_BULKIN_REQLEN=96
CONFIG_CDCACM_RXBUFSIZE=300
CONFIG_CDCACM_TXBUFSIZE=1000
CONFIG_CDCACM_VENDORID=0x26ac
CONFIG_CDCACM_PRODUCTID=0x0016
CONFIG_CDCACM_VENDORSTR="3D Robotics"
CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
# CONFIG_USBMSC is not set
# CONFIG_USBHOST is not set
# CONFIG_WIRELESS is not set
#
# System Logging Device Options
#
#
# System Logging
#
# CONFIG_RAMLOG is not set
#
# Networking Support
#
# CONFIG_NET is not set
#
# File Systems
#
#
# File system configuration
#
# CONFIG_DISABLE_MOUNTPOINT is not set
# CONFIG_FS_RAMMAP is not set
CONFIG_FS_FAT=y
# CONFIG_FAT_LCNAMES is not set
# CONFIG_FAT_LFN is not set
# CONFIG_FS_FATTIME is not set
# CONFIG_FAT_DMAMEMORY is not set
CONFIG_FS_NXFFS=y
CONFIG_NXFFS_PREALLOCATED=y
CONFIG_NXFFS_ERASEDSTATE=0xff
CONFIG_NXFFS_PACKTHRESHOLD=32
CONFIG_NXFFS_MAXNAMLEN=32
CONFIG_NXFFS_TAILTHRESHOLD=2048
CONFIG_FS_ROMFS=y
# CONFIG_FS_SMARTFS is not set
CONFIG_FS_BINFS=y
#
# System Logging
#
# CONFIG_SYSLOG_ENABLE is not set
# CONFIG_SYSLOG is not set
#
# Graphics Support
#
# CONFIG_NX is not set
#
# Memory Management
#
# CONFIG_MM_MULTIHEAP is not set
# CONFIG_MM_SMALL is not set
CONFIG_MM_REGIONS=2
CONFIG_GRAN=y
CONFIG_GRAN_SINGLE=y
CONFIG_GRAN_INTR=y
#
# Audio Support
#
# CONFIG_AUDIO is not set
#
# Binary Formats
#
# CONFIG_BINFMT_DISABLE is not set
# CONFIG_BINFMT_EXEPATH is not set
# CONFIG_NXFLAT is not set
# CONFIG_ELF is not set
CONFIG_BUILTIN=y
# CONFIG_PIC is not set
# CONFIG_SYMTAB_ORDEREDBYNAME is not set
#
# Library Routines
#
#
# Standard C Library Options
#
CONFIG_STDIO_BUFFER_SIZE=180
CONFIG_STDIO_LINEBUFFER=y
CONFIG_NUNGET_CHARS=2
CONFIG_LIB_HOMEDIR="/"
# CONFIG_NOPRINTF_FIELDWIDTH is not set
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIB_RAND_ORDER=1
# CONFIG_EOL_IS_CR is not set
# CONFIG_EOL_IS_LF is not set
# CONFIG_EOL_IS_BOTH_CRLF is not set
CONFIG_EOL_IS_EITHER_CRLF=y
# CONFIG_LIBC_EXECFUNCS is not set
CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
CONFIG_LIBC_STRERROR=y
# CONFIG_LIBC_STRERROR_SHORT is not set
# CONFIG_LIBC_PERROR_STDOUT is not set
CONFIG_ARCH_LOWPUTC=y
CONFIG_LIB_SENDFILE_BUFSIZE=512
# CONFIG_ARCH_ROMGETC is not set
CONFIG_ARCH_OPTIMIZED_FUNCTIONS=y
CONFIG_ARCH_MEMCPY=y
# CONFIG_ARCH_MEMCMP is not set
# CONFIG_ARCH_MEMMOVE is not set
# CONFIG_ARCH_MEMSET is not set
# CONFIG_MEMSET_OPTSPEED is not set
# CONFIG_ARCH_STRCHR is not set
# CONFIG_ARCH_STRCMP is not set
# CONFIG_ARCH_STRCPY is not set
# CONFIG_ARCH_STRNCPY is not set
# CONFIG_ARCH_STRLEN is not set
# CONFIG_ARCH_STRNLEN is not set
# CONFIG_ARCH_BZERO is not set
#
# Non-standard Library Support
#
CONFIG_SCHED_WORKQUEUE=y
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_WORKPRIORITY=192
CONFIG_SCHED_WORKPERIOD=5000
CONFIG_SCHED_WORKSTACKSIZE=1600
CONFIG_SCHED_LPWORK=y
CONFIG_SCHED_LPWORKPRIORITY=50
CONFIG_SCHED_LPWORKPERIOD=50000
CONFIG_SCHED_LPWORKSTACKSIZE=1600
# CONFIG_LIB_KBDCODEC is not set
# CONFIG_LIB_SLCDCODEC is not set
#
# Basic CXX Support
#
CONFIG_C99_BOOL8=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
# CONFIG_CXX_NEWLONG is not set
#
# uClibc++ Standard C++ Library
#
# CONFIG_UCLIBCXX is not set
#
# Application Configuration
#
#
# Built-In Applications
#
CONFIG_BUILTIN_PROXY_STACKSIZE=1024
#
# Examples
#
# CONFIG_EXAMPLES_BUTTONS is not set
# CONFIG_EXAMPLES_CAN is not set
CONFIG_EXAMPLES_CDCACM=y
# CONFIG_EXAMPLES_COMPOSITE is not set
# CONFIG_EXAMPLES_CXXTEST is not set
# CONFIG_EXAMPLES_DHCPD is not set
# CONFIG_EXAMPLES_ELF is not set
# CONFIG_EXAMPLES_FTPC is not set
# CONFIG_EXAMPLES_FTPD is not set
# CONFIG_EXAMPLES_HELLO is not set
# CONFIG_EXAMPLES_HELLOXX is not set
# CONFIG_EXAMPLES_JSON is not set
# CONFIG_EXAMPLES_HIDKBD is not set
# CONFIG_EXAMPLES_KEYPADTEST is not set
# CONFIG_EXAMPLES_IGMP is not set
# CONFIG_EXAMPLES_LCDRW is not set
# CONFIG_EXAMPLES_MM is not set
# CONFIG_EXAMPLES_MODBUS is not set
CONFIG_EXAMPLES_MOUNT=y
# CONFIG_EXAMPLES_NRF24L01TERM is not set
CONFIG_EXAMPLES_NSH=y
# CONFIG_EXAMPLES_NULL is not set
# CONFIG_EXAMPLES_NX is not set
# CONFIG_EXAMPLES_NXCONSOLE is not set
# CONFIG_EXAMPLES_NXFFS is not set
# CONFIG_EXAMPLES_NXFLAT is not set
# CONFIG_EXAMPLES_NXHELLO is not set
# CONFIG_EXAMPLES_NXIMAGE is not set
# CONFIG_EXAMPLES_NXLINES is not set
# CONFIG_EXAMPLES_NXTEXT is not set
# CONFIG_EXAMPLES_OSTEST is not set
# CONFIG_EXAMPLES_PASHELLO is not set
# CONFIG_EXAMPLES_PIPE is not set
# CONFIG_EXAMPLES_POSIXSPAWN is not set
# CONFIG_EXAMPLES_QENCODER is not set
# CONFIG_EXAMPLES_RGMP is not set
# CONFIG_EXAMPLES_ROMFS is not set
# CONFIG_EXAMPLES_SENDMAIL is not set
# CONFIG_EXAMPLES_SERLOOP is not set
# CONFIG_EXAMPLES_SLCD is not set
# CONFIG_EXAMPLES_SMART_TEST is not set
# CONFIG_EXAMPLES_SMART is not set
# CONFIG_EXAMPLES_TCPECHO is not set
# CONFIG_EXAMPLES_TELNETD is not set
# CONFIG_EXAMPLES_THTTPD is not set
# CONFIG_EXAMPLES_TIFF is not set
# CONFIG_EXAMPLES_TOUCHSCREEN is not set
# CONFIG_EXAMPLES_UDP is not set
# CONFIG_EXAMPLES_UIP is not set
# CONFIG_EXAMPLES_USBSERIAL is not set
# CONFIG_EXAMPLES_USBMSC is not set
# CONFIG_EXAMPLES_USBTERM is not set
# CONFIG_EXAMPLES_WATCHDOG is not set
#
# Graphics Support
#
# CONFIG_TIFF is not set
#
# Interpreters
#
# CONFIG_INTERPRETERS_FICL is not set
# CONFIG_INTERPRETERS_PCODE is not set
#
# Network Utilities
#
#
# Networking Utilities
#
# CONFIG_NETUTILS_CODECS is not set
# CONFIG_NETUTILS_DHCPC is not set
# CONFIG_NETUTILS_DHCPD is not set
# CONFIG_NETUTILS_FTPC is not set
# CONFIG_NETUTILS_FTPD is not set
# CONFIG_NETUTILS_JSON is not set
# CONFIG_NETUTILS_RESOLV is not set
# CONFIG_NETUTILS_SMTP is not set
# CONFIG_NETUTILS_TELNETD is not set
# CONFIG_NETUTILS_TFTPC is not set
# CONFIG_NETUTILS_THTTPD is not set
# CONFIG_NETUTILS_UIPLIB is not set
# CONFIG_NETUTILS_WEBCLIENT is not set
#
# FreeModBus
#
# CONFIG_MODBUS is not set
#
# NSH Library
#
CONFIG_NSH_LIBRARY=y
CONFIG_NSH_BUILTIN_APPS=y
#
# Disable Individual commands
#
# CONFIG_NSH_DISABLE_CAT is not set
# CONFIG_NSH_DISABLE_CD is not set
# CONFIG_NSH_DISABLE_CP is not set
# CONFIG_NSH_DISABLE_DD is not set
# CONFIG_NSH_DISABLE_ECHO is not set
# CONFIG_NSH_DISABLE_EXEC is not set
# CONFIG_NSH_DISABLE_EXIT is not set
# CONFIG_NSH_DISABLE_FREE is not set
# CONFIG_NSH_DISABLE_GET is not set
# CONFIG_NSH_DISABLE_HELP is not set
# CONFIG_NSH_DISABLE_HEXDUMP is not set
# CONFIG_NSH_DISABLE_IFCONFIG is not set
# CONFIG_NSH_DISABLE_KILL is not set
# CONFIG_NSH_DISABLE_LOSETUP is not set
# CONFIG_NSH_DISABLE_LS is not set
# CONFIG_NSH_DISABLE_MB is not set
# CONFIG_NSH_DISABLE_MKDIR is not set
# CONFIG_NSH_DISABLE_MKFATFS is not set
# CONFIG_NSH_DISABLE_MKFIFO is not set
# CONFIG_NSH_DISABLE_MKRD is not set
# CONFIG_NSH_DISABLE_MH is not set
# CONFIG_NSH_DISABLE_MOUNT is not set
# CONFIG_NSH_DISABLE_MW is not set
# CONFIG_NSH_DISABLE_NSFMOUNT is not set
# CONFIG_NSH_DISABLE_PS is not set
# CONFIG_NSH_DISABLE_PING is not set
# CONFIG_NSH_DISABLE_PUT is not set
# CONFIG_NSH_DISABLE_PWD is not set
# CONFIG_NSH_DISABLE_RM is not set
# CONFIG_NSH_DISABLE_RMDIR is not set
# CONFIG_NSH_DISABLE_SET is not set
# CONFIG_NSH_DISABLE_SH is not set
# CONFIG_NSH_DISABLE_SLEEP is not set
# CONFIG_NSH_DISABLE_TEST is not set
# CONFIG_NSH_DISABLE_UMOUNT is not set
# CONFIG_NSH_DISABLE_UNSET is not set
# CONFIG_NSH_DISABLE_USLEEP is not set
# CONFIG_NSH_DISABLE_WGET is not set
# CONFIG_NSH_DISABLE_XD is not set
#
# Configure Command Options
#
# CONFIG_NSH_CMDOPT_DF_H is not set
CONFIG_NSH_CODECS_BUFSIZE=128
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_STRERROR=y
CONFIG_NSH_LINELEN=128
CONFIG_NSH_MAXARGUMENTS=12
CONFIG_NSH_NESTDEPTH=8
# CONFIG_NSH_DISABLESCRIPT is not set
# CONFIG_NSH_DISABLEBG is not set
CONFIG_NSH_ROMFSETC=y
# CONFIG_NSH_ROMFSRC is not set
CONFIG_NSH_ROMFSMOUNTPT="/etc"
CONFIG_NSH_INITSCRIPT="init.d/rcS"
CONFIG_NSH_ROMFSDEVNO=0
CONFIG_NSH_ROMFSSECTSIZE=128
CONFIG_NSH_ARCHROMFS=y
CONFIG_NSH_FATDEVNO=0
CONFIG_NSH_FATSECTSIZE=512
CONFIG_NSH_FATNSECTORS=1024
CONFIG_NSH_FATMOUNTPT="/tmp"
CONFIG_NSH_CONSOLE=y
# CONFIG_NSH_USBCONSOLE is not set
#
# USB Trace Support
#
# CONFIG_NSH_CONDEV is not set
CONFIG_NSH_ARCHINIT=y
#
# NxWidgets/NxWM
#
#
# System NSH Add-Ons
#
#
# Custom Free Memory Command
#
# CONFIG_SYSTEM_FREE is not set
#
# I2C tool
#
# CONFIG_SYSTEM_I2CTOOL is not set
#
# FLASH Program Installation
#
# CONFIG_SYSTEM_INSTALL is not set
#
# FLASH Erase-all Command
#
#
# readline()
#
CONFIG_SYSTEM_READLINE=y
CONFIG_READLINE_ECHO=y
#
# Power Off
#
# CONFIG_SYSTEM_POWEROFF is not set
#
# RAMTRON
#
# CONFIG_SYSTEM_RAMTRON is not set
#
# SD Card
#
# CONFIG_SYSTEM_SDCARD is not set
#
# Sysinfo
#
CONFIG_SYSTEM_SYSINFO=y
#
# USB Monitor
#

75
nuttx-configs/crazyflie/nsh/setenv.sh Executable file
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@ -0,0 +1,75 @@
#!/bin/bash
# configs/crazyflie/usbnsh/setenv.sh
#
# Copyright (C) 2013 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.
#
if [ "$_" = "$0" ] ; then
echo "You must source this script, not run it!" 1>&2
exit 1
fi
WD=`pwd`
if [ ! -x "setenv.sh" ]; then
echo "This script must be executed from the top-level NuttX build directory"
exit 1
fi
if [ -z "${PATH_ORIG}" ]; then
export PATH_ORIG="${PATH}"
fi
# This is the Cygwin path to the location where I installed the RIDE
# toolchain under windows. You will also have to edit this if you install
# the RIDE toolchain in any other location
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
# This is the Cygwin path to the location where I installed the CodeSourcery
# toolchain under windows. You will also have to edit this if you install
# the CodeSourcery toolchain in any other location
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
# These are the Cygwin paths to the locations where I installed the Atollic
# toolchain under windows. You will also have to edit this if you install
# the Atollic toolchain in any other location. /usr/bin is added before
# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
# at those locations as well.
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
# This is the Cygwin path to the location where I build the buildroot
# toolchain.
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
# Add the path to the toolchain to the PATH varialble
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
echo "PATH : ${PATH}"

149
nuttx-configs/crazyflie/scripts/ld.script Normal file
View File

@ -0,0 +1,149 @@
/****************************************************************************
* configs/crazyflie/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 0x4000 of flash is reserved for the bootloader.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
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)
_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) }
}

84
nuttx-configs/crazyflie/src/Makefile Normal file
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@ -0,0 +1,84 @@
############################################################################
# configs/crazyflie/src/Makefile
#
# Copyright (C) 2013 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.
#
############################################################################
-include $(TOPDIR)/Make.defs
CFLAGS += -I$(TOPDIR)/sched
ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = empty.c
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)
OBJS = $(AOBJS) $(COBJS)
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
ifeq ($(WINTOOL),y)
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
else
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
endif
all: libboard$(LIBEXT)
$(AOBJS): %$(OBJEXT): %.S
$(call ASSEMBLE, $<, $@)
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
libboard$(LIBEXT): $(OBJS)
$(call ARCHIVE, $@, $(OBJS))
.depend: Makefile $(SRCS)
$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
$(Q) touch $@
depend: .depend
clean:
$(call DELFILE, libboard$(LIBEXT))
$(call CLEAN)
distclean: clean
$(call DELFILE, Make.dep)
$(call DELFILE, .depend)
-include Make.dep

4
nuttx-configs/crazyflie/src/empty.c Normal file
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@ -0,0 +1,4 @@
/*
* There are no source files here, but libboard.a can't be empty, so
* we have this empty source file to keep it company.
*/

4
src/drivers/boards/aerocore/CMakeLists.txt
View File

@ -37,10 +37,10 @@ px4_add_module(
SRCS
../common/board_name.c
aerocore_init.c
aerocore_pwm_servo.c
aerocore_timer_config.c
aerocore_spi.c
aerocore_led.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

43
src/drivers/boards/crazyflie/CMakeLists.txt Normal file
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@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2015 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_module(
MODULE drivers__boards__crazyflie
SRCS
crazyflie_init.c
crazyflie_usb.c
crazyflie_led.c
crazyflie_timer_config.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

181
src/drivers/boards/crazyflie/board_config.h Normal file
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@ -0,0 +1,181 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_config.h
*
* PX4-CRAZYFLIE 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.h>
#include <arch/board/board.h>
#define UDID_START 0x1FFF7A10
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
/* PX4-STM32F4Discovery GPIOs ***********************************************************************************/
/* LEDs */
// LED1 green, LED2 orange, LED3 red, LED4 blue
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
#define GPIO_LED4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
/*
* I2C busses
*/
#define PX4_I2C_BUS_ONBOARD 3
#define PX4_I2C_BUS_EXPANSION 1
#define PX4_I2C_BUS_ONBOARD_HZ 400000
#define PX4_I2C_BUS_EXPANSION_HZ 400000
/* Devices on the onboard bus.
*
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_MPU9250 0x69
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/*
* 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
*/
#define ADC_CHANNELS 0
// ADC defines to be used in sensors.cpp to read from a particular channel
// Crazyflie 2 performs battery sensing via the NRF module
#define ADC_BATTERY_VOLTAGE_CHANNEL ((uint8_t)(-1))
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
/* PWM
*
* Four PWM motor outputs are configured.
*
* Pins:
*
* CH1 : PA1 : TIM2_CH2
* CH2 : PB11 : TIM2_CH4
* CH3 : PA15 : TIM2_CH1
* CH4 : PB9 : TIM4_CH4
*/
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_2
#define GPIO_TIM2_CH1OUT GPIO_TIM2_CH1OUT_2
#define GPIO_TIM4_CH4OUT GPIO_TIM4_CH4OUT_1
/* High-resolution timer */
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/****************************************************************************************************
* 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);
extern void stm32_usbinitialize(void);
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization for NSH.
*
* CONFIG_NSH_ARCHINIT=y :
* Called from the NSH library
*
* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
* CONFIG_NSH_ARCHINIT=n :
* Called from board_initialize().
*
****************************************************************************/
#ifdef CONFIG_NSH_LIBRARY
int nsh_archinitialize(void);
#endif
#endif /* __ASSEMBLY__ */
__END_DECLS

65
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/****************************************************************************
*
* 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 crazyflie_i2c.c
*
* Crazyflie I2C configuration
*/
#include <px4_config.h>
#include "board_config.h"
#include <arch/board/board.h>
#include <drivers/device/i2c.h>
/****************************************************************************
* Name: board_i2c_initialize
*
* Description:
* Called to set I2C bus frequncies.
*
****************************************************************************/
int board_i2c_initialize(void)
{
int ret = device::I2C::set_bus_clock(PX4_I2C_BUS_ONBOARD, PX4_I2C_BUS_ONBOARD_HZ);
if (ret == OK) {
ret = device::I2C::set_bus_clock(PX4_I2C_BUS_EXPANSION, PX4_I2C_BUS_EXPANSION_HZ);
}
return ret;
}

188
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/****************************************************************************
*
* 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 crazyflie_init.c
*
* Crazyflie 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>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <nuttx/spi.h>
#include <nuttx/i2c.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/gran.h>
#include <stm32.h>
#include "board_config.h"
#include <stm32_uart.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>
#include <systemlib/cpuload.h>
#include <systemlib/perf_counter.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
/****************************************************************************
* 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 LEDs */
up_ledinit();
}
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization
*
****************************************************************************/
#include <math.h>
#if 0
#ifdef __cplusplus
__EXPORT int matherr(struct __exception *e)
{
return 1;
}
#else
__EXPORT int matherr(struct exception *e)
{
return 1;
}
#endif
#endif
__EXPORT int nsh_archinitialize(void)
{
/* configure the high-resolution time/callout interface */
hrt_init();
/* 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);
result = board_i2c_initialize();
// if (result != OK) {
// up_ledon(LED_AMBER);
// return -ENODEV;
// }
// TODO: Initialize i2c buses right here
return OK;
}

96
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/****************************************************************************
*
* Copyright (c) 2013 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 crazyflie_led.c
*
* Crazyflie LED backend.
*/
#include <nuttx/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()
{
/* Configure LED1 GPIO for output */
stm32_configgpio(GPIO_LED1);
}
__EXPORT void led_on(int led)
{
if (led == 1) {
/* Pull down to switch on */
stm32_gpiowrite(GPIO_LED1, false);
}
}
__EXPORT void led_off(int led)
{
if (led == 1) {
/* Pull up to switch off */
stm32_gpiowrite(GPIO_LED1, true);
}
}
__EXPORT void led_toggle(int led)
{
if (led == 1) {
if (stm32_gpioread(GPIO_LED1)) {
stm32_gpiowrite(GPIO_LED1, false);
} else {
stm32_gpiowrite(GPIO_LED1, true);
}
}
}

109
src/drivers/boards/crazyflie/crazyflie_timer_config.c Normal file
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/****************************************************************************
*
* 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.
*
****************************************************************************/
/*
* @file crazyflie_timer_config.c
*
* Configuration data for the stm32 pwm_servo driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <stm32.h>
#include <stm32_gpio_out.h>
#include <stm32_tim.h>
#include <drivers/stm32/drv_io_timer.h>
#include <drivers/drv_pwm_output.h>
#include "board_config.h"
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN
.first_channel_index = 0,
.last_channel_index = 2,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM2,
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN
.first_channel_index = 3,
.last_channel_index = 3,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM4,
}
};
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio_out = GPIO_TIM2_CH2OUT,
.gpio_in = GPIO_TIM2_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio_out = GPIO_TIM2_CH4OUT,
.gpio_in = GPIO_TIM2_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio_out = GPIO_TIM2_CH1OUT,
.gpio_in = GPIO_TIM2_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio_out = GPIO_TIM4_CH4OUT,
.gpio_in = GPIO_TIM4_CH4IN,
.timer_index = 1,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
}
};

108
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/****************************************************************************
*
* 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 crazyflie_usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/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"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the PX4-STM32F4Discovery board.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}
/************************************************************************************
* 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);
}

44
src/drivers/crazyflie/CMakeLists.txt Normal file
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############################################################################
#
# Copyright (c) 2015 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_module(
MODULE drivers__crazyflie
MAIN crazyflie
STACK 1200
COMPILE_FLAGS
-Os
SRCS
crazyflie.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

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7
src/drivers/drv_gpio.h
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@ -159,6 +159,10 @@
/* no GPIO driver on the ASC board */
#endif
#ifdef CONFIG_ARCH_BOARD_CRAZYFLIE
/* no GPIO driver on the CRAZYFLIE board */
#endif
#ifdef CONFIG_ARCH_BOARD_SITL
/* no GPIO driver on the SITL configuration */
#endif
@ -168,7 +172,8 @@
!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
!defined(CONFIG_ARCH_BOARD_MINDPX_V2) && \
!defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && !defined(CONFIG_ARCH_BOARD_SITL) && \
!defined(CONFIG_ARCH_BOARD_TAP_V1) && !defined(CONFIG_ARCH_BOARD_ASC_V1)
!defined(CONFIG_ARCH_BOARD_TAP_V1) && !defined(CONFIG_ARCH_BOARD_ASC_V1) && \
!defined(CONFIG_ARCH_BOARD_CRAZYFLIE)
# error No CONFIG_ARCH_BOARD_xxxx set
#endif
/*

1
src/drivers/drv_sensor.h
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@ -136,4 +136,3 @@
#define SENSORIOCCALTEST _SENSORIOC(7)
#endif /* _DRV_SENSOR_H */

48
src/drivers/lps25h/CMakeLists.txt Normal file
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############################################################################
#
# Copyright (c) 2015 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_module(
MODULE drivers__lps25h
MAIN lps25h
STACK 1200
COMPILE_FLAGS
-Weffc++
-Os
SRCS
lps25h.cpp
lps25h_i2c.cpp
lps25h_spi.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

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src/drivers/lps25h/lps25h.h Normal file
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/****************************************************************************
*
* Copyright (c) 2015 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 lps25h.h
*
* Shared defines for the lps25h driver.
*/
#pragma once
#define ADDR_WHO_AM_I 0x0F
#define ID_WHO_AM_I 0xBD
/* interface factories */
extern device::Device *LPS25H_SPI_interface(int bus);
extern device::Device *LPS25H_I2C_interface(int bus);
typedef device::Device *(*LPS25H_constructor)(int);

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src/drivers/lps25h/lps25h_i2c.cpp Normal file
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/****************************************************************************
*
* Copyright (c) 2013-2015 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 LPS25H_I2C.cpp
*
* I2C interface for LPS25H
*/
/* XXX trim includes */
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "lps25h.h"
#include "board_config.h"
#define LPS25H_ADDRESS 0x5D
device::Device *LPS25H_I2C_interface(int bus);
class LPS25H_I2C : public device::I2C
{
public:
LPS25H_I2C(int bus);
virtual ~LPS25H_I2C();
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
protected:
virtual int probe();
};
device::Device *
LPS25H_I2C_interface(int bus)
{
return new LPS25H_I2C(bus);
}
LPS25H_I2C::LPS25H_I2C(int bus) :
I2C("LPS25H_I2C", nullptr, bus, LPS25H_ADDRESS, 400000)
{
}
LPS25H_I2C::~LPS25H_I2C()
{
}
int
LPS25H_I2C::init()
{
/* this will call probe() */
return I2C::init();
}
int
LPS25H_I2C::ioctl(unsigned operation, unsigned &arg)
{
int ret;
switch (operation) {
case MAGIOCGEXTERNAL:
// On PX4v1 the MAG can be on an internal I2C
// On everything else its always external
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (_bus == PX4_I2C_BUS_EXPANSION) {
return 1;
} else {
return 0;
}
#else
return 1;
#endif
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
default:
ret = -EINVAL;
}
return ret;
}
int
LPS25H_I2C::probe()
{
uint8_t id;
_retries = 10;
if (read(ADDR_WHO_AM_I, &id, 1)) {
DEVICE_DEBUG("read_reg fail");
return -EIO;
}
_retries = 2;
if (id != ID_WHO_AM_I) {
DEVICE_DEBUG("ID byte mismatch (%02x != %02x)", ID_WHO_AM_I, id);
return -EIO;
}
return OK;
}
int
LPS25H_I2C::write(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
if (sizeof(buf) < (count + 1)) {
return -EIO;
}
buf[0] = address;
memcpy(&buf[1], data, count);
return transfer(&buf[0], count + 1, nullptr, 0);
}
int
LPS25H_I2C::read(unsigned address, void *data, unsigned count)
{
uint8_t cmd = address;
return transfer(&cmd, 1, (uint8_t *)data, count);
}

188
src/drivers/lps25h/lps25h_spi.cpp Normal file
View File

@ -0,0 +1,188 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 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 LPS25H_SPI.cpp
*
* SPI interface for LPS25H
*/
/* XXX trim includes */
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <drivers/device/spi.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_device.h>
#include "lps25h.h"
#include <board_config.h>
#ifdef PX4_SPIDEV_HMC
/* SPI protocol address bits */
#define DIR_READ (1<<7)
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#define HMC_MAX_SEND_LEN 4
#define HMC_MAX_RCV_LEN 8
device::Device *LPS25H_SPI_interface(int bus);
class LPS25H_SPI : public device::SPI
{
public:
LPS25H_SPI(int bus, spi_dev_e device);
virtual ~LPS25H_SPI();
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
};
device::Device *
LPS25H_SPI_interface(int bus)
{
return new LPS25H_SPI(bus, (spi_dev_e)PX4_SPIDEV_HMC);
}
LPS25H_SPI::LPS25H_SPI(int bus, spi_dev_e device) :
SPI("LPS25H_SPI", nullptr, bus, device, SPIDEV_MODE3, 11 * 1000 * 1000 /* will be rounded to 10.4 MHz */)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_LPS25H;
}
LPS25H_SPI::~LPS25H_SPI()
{
}
int
LPS25H_SPI::init()
{
int ret;
ret = SPI::init();
if (ret != OK) {
DEVICE_DEBUG("SPI init failed");
return -EIO;
}
// read WHO_AM_I value
uint8_t id;
if (read(ADDR_ID, &id, 1)) {
DEVICE_DEBUG("read_reg fail");
return -EIO;
}
if (id != ID_WHO_AM_I) {
DEVICE_DEBUG("ID byte mismatch (%02x != %02x)", ID_WHO_AM_I, id);
return -EIO;
}
return OK;
}
int
LPS25H_SPI::ioctl(unsigned operation, unsigned &arg)
{
int ret;
switch (operation) {
case MAGIOCGEXTERNAL:
/*
* Even if this sensor is on the external SPI
* bus it is still internal to the autopilot
* assembly, so always return 0 for internal.
*/
return 0;
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
default: {
ret = -EINVAL;
}
}
return ret;
}
int
LPS25H_SPI::write(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
if (sizeof(buf) < (count + 1)) {
return -EIO;
}
buf[0] = address | DIR_WRITE;
memcpy(&buf[1], data, count);
return transfer(&buf[0], &buf[0], count + 1);
}
int
LPS25H_SPI::read(unsigned address, void *data, unsigned count)
{
uint8_t buf[32];
if (sizeof(buf) < (count + 1)) {
return -EIO;
}
buf[0] = address | DIR_READ | ADDR_INCREMENT;
int ret = transfer(&buf[0], &buf[0], count + 1);
memcpy(data, &buf[1], count);
return ret;
}
#endif /* PX4_SPIDEV_HMC */

4
src/drivers/mpu9250/CMakeLists.txt
View File

@ -39,10 +39,12 @@ px4_add_module(
-Os
SRCS
mpu9250.cpp
mpu9250_i2c.cpp
mpu9250_spi.cpp
main.cpp
gyro.cpp
mag.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

281
src/drivers/mpu9250/main.cpp
View File

@ -89,61 +89,111 @@ extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
namespace mpu9250
{
MPU9250 *g_dev_int; // on internal bus
MPU9250 *g_dev_ext; // on external bus
enum MPU9250_BUS {
MPU9250_BUS_ALL = 0,
MPU9250_BUS_I2C_INTERNAL,
MPU9250_BUS_I2C_EXTERNAL,
MPU9250_BUS_SPI_INTERNAL,
MPU9250_BUS_SPI_EXTERNAL
};
void start(bool, enum Rotation);
void stop(bool);
void test(bool);
void reset(bool);
void info(bool);
void regdump(bool);
void testerror(bool);
/*
list of supported bus configurations
*/
struct mpu9250_bus_option {
enum MPU9250_BUS busid;
const char *accelpath;
const char *gyropath;
const char *magpath;
MPU9250_constructor interface_constructor;
uint8_t busnum;
MPU6000 *dev;
} bus_options[] = {
#if defined (USE_I2C)
# if defined(PX4_I2C_BUS_ONBOARD)
{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, PX4_I2C_BUS_ONBOARD, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, PX4_I2C_BUS_EXPANSION, NULL },
# endif
#endif
#ifdef PX4_SPIDEV_MPU
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, PX4_SPI_BUS_SENSORS, NULL },
#endif
#if defined(PX4_SPI_BUS_EXT)
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT &MPU9250_SPI_interface, PX4_SPI_BUS_EXT, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
void start(enum MPU9250_BUS busid, enum Rotation rotation);
bool start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation);
struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid);
void stop(enum MPU9250_BUS busid);
void test(enum MPU9250_BUS busid);
void reset(enum MPU9250_BUS busid);
void info(enum MPU9250_BUS busid);
void regdump(enum MPU9250_BUS busid);
void testerror(enum MPU9250_BUS busid);
void usage();
/**
* Start the driver.
*
* This function only returns if the driver is up and running
* or failed to detect the sensor.
* find a bus structure for a busid
*/
void
start(bool external_bus, enum Rotation rotation)
struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid)
{
int fd;
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
const char *path_accel = external_bus ? MPU_DEVICE_PATH_ACCEL_EXT : MPU_DEVICE_PATH_ACCEL;
const char *path_gyro = external_bus ? MPU_DEVICE_PATH_GYRO_EXT : MPU_DEVICE_PATH_GYRO;
const char *path_mag = external_bus ? MPU_DEVICE_PATH_MAG_EXT : MPU_DEVICE_PATH_MAG;
if (*g_dev_ptr != nullptr)
/* if already started, the still command succeeded */
{
errx(0, "already started");
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
if ((busid == MPU9250_BUS_ALL ||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
return bus_options[i];
}
}
/* create the driver */
if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
*g_dev_ptr = new MPU9250(PX4_SPI_BUS_EXT, path_accel, path_gyro, path_mag, (spi_dev_e)PX4_SPIDEV_EXT_MPU, rotation);
#else
errx(0, "External SPI not available");
#endif
errx(1, "bus %u not started", (unsigned)busid);
}
} else {
*g_dev_ptr = new MPU9250(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, path_mag, (spi_dev_e)PX4_SPIDEV_MPU, rotation);
/**
* start driver for a specific bus option
*/
bool
start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, int range, int device_type, bool external)
{
int fd = -1;
if (bus.dev != nullptr) {
warnx("%s SPI not available", external ? "External" : "Internal");
return false;
}
if (*g_dev_ptr == nullptr) {
goto fail;
device::Device *interface = bus.interface_constructor(bus.busnum, device_type, external);
if (interface == nullptr) {
warnx("no device on bus %u", (unsigned)bus.busid);
return false;
}
if (OK != (*g_dev_ptr)->init()) {
if (interface->init() != OK) {
delete interface;
warnx("no device on bus %u", (unsigned)bus.busid);
return false;
}
bus.dev = new MPU9250(interface, bus.accelpath, bus.gyropath, bus.magpath, rotation, device_type);
if (bus.dev == nullptr) {
delete interface;
return false;
}
if (OK != bus.dev->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(path_accel, O_RDONLY);
fd = open(bus.accelpath, O_RDONLY);
if (fd < 0) {
goto fail;
@ -153,27 +203,67 @@ start(bool external_bus, enum Rotation rotation)
goto fail;
}
if (ioctl(fd, ACCELIOCSRANGE, range) < 0) {
goto fail;
}
close(fd);
exit(0);
return true;
fail:
if (*g_dev_ptr != nullptr) {
delete(*g_dev_ptr);
*g_dev_ptr = nullptr;
if (fd >= 0) {
close(fd);
}
if (bus.dev != nullptr) {
delete(bus.dev);
bus.dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Start the driver.
*
* This function only returns if the driver is up and running
* or failed to detect the sensor.
*/
void
stop(bool external_bus)
start(enum MPU9250_BUS busid, enum Rotation rotation, int range, int device_type, bool external)
{
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
if (*g_dev_ptr != nullptr) {
delete *g_dev_ptr;
*g_dev_ptr = nullptr;
bool started = false;
for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == MPU9250_BUS_ALL && bus_options[i].dev != NULL) {
// this device is already started
continue;
}
if (busid != MPU9250_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i], rotation, range, device_type, external);
}
exit(started ? 0 : 1);
}
void
stop(enum MPU9250_BUS busid)
{
struct mpu9250_bus_option &bus = find_bus(busid);
if (bus.dev != nullptr) {
delete bus.dev;
bus.dev = nullptr;
} else {
/* warn, but not an error */
@ -189,35 +279,33 @@ stop(bool external_bus)
* and automatic modes.
*/
void
test(bool external_bus)
test(enum MPU9250_BUS busid)
{
const char *path_accel = external_bus ? MPU_DEVICE_PATH_ACCEL_EXT : MPU_DEVICE_PATH_ACCEL;
const char *path_gyro = external_bus ? MPU_DEVICE_PATH_GYRO_EXT : MPU_DEVICE_PATH_GYRO;
const char *path_mag = external_bus ? MPU_DEVICE_PATH_MAG_EXT : MPU_DEVICE_PATH_MAG;
struct mpu9250_bus_option &bus = find_bus(busid);
accel_report a_report;
gyro_report g_report;
mag_report m_report;
ssize_t sz;
/* get the driver */
int fd = open(path_accel, O_RDONLY);
int fd = open(bus.accelpath, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'm start')", path_accel);
err(1, "%s open failed (try 'm start')", bus.accelpath);
}
/* get the driver */
int fd_gyro = open(path_gyro, O_RDONLY);
int fd_gyro = open(bus.gyropath, O_RDONLY);
if (fd_gyro < 0) {
err(1, "%s open failed", path_gyro);
err(1, "%s open failed", bus.gyropath);
}
/* get the driver */
int fd_mag = open(path_mag, O_RDONLY);
int fd_mag = open(bus.magpath, O_RDONLY);
if (fd_mag < 0) {
err(1, "%s open failed", path_mag);
err(1, "%s open failed", bus.magpath);
}
/* reset to manual polling */
@ -292,7 +380,7 @@ test(bool external_bus)
/* XXX add poll-rate tests here too */
reset(external_bus);
reset(busid);
errx(0, "PASS");
}
@ -300,10 +388,10 @@ test(bool external_bus)
* Reset the driver.
*/
void
reset(bool external_bus)
reset(enum MPU9250_BUS busid)
{
const char *path_accel = external_bus ? MPU_DEVICE_PATH_ACCEL_EXT : MPU_DEVICE_PATH_ACCEL;
int fd = open(path_accel, O_RDONLY);
struct mpu9250_bus_option &bus = find_bus(busid);
int fd = open(bus.accelpath, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
@ -326,15 +414,17 @@ reset(bool external_bus)
* Print a little info about the driver.
*/
void
info(bool external_bus)
info(enum MPU9250_BUS busid)
{
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
struct mpu9250_bus_option &bus = find_bus(busid);
if (*g_dev_ptr == nullptr) {
if (bus.dev == nullptr) {
errx(1, "driver not running");
}
(*g_dev_ptr)->print_info();
printf("state @ %p\n", bus.dev);
bus.dev->print_info();
exit(0);
}
@ -343,15 +433,17 @@ info(bool external_bus)
* Dump the register information
*/
void
regdump(bool external_bus)
regdump(enum MPU9250_BUS busid)
{
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
struct mpu9250_bus_option &bus = find_bus(busid);
if (*g_dev_ptr == nullptr) {
if (bus.dev == nullptr) {
errx(1, "driver not running");
}
(*g_dev_ptr)->print_registers();
printf("regdump @ %p\n", bus.dev);
bus.dev->print_registers();
exit(0);
}
@ -360,15 +452,16 @@ regdump(bool external_bus)
* deliberately produce an error to test recovery
*/
void
testerror(bool external_bus)
testerror(enum MPU9250_BUS busid)
{
MPU9250 **g_dev_ptr = external_bus ? &g_dev_ext : &g_dev_int;
struct mpu9250_bus_option &bus = find_bus(busid);
if (*g_dev_ptr == nullptr) {
if (bus.dev == nullptr) {
errx(1, "driver not running");
}
(*g_dev_ptr)->test_error();
bus.dev->test_error();
exit(0);
}
@ -380,6 +473,7 @@ usage()
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
warnx(" -a accel range (in g)");
}
} // namespace
@ -387,70 +481,91 @@ usage()
int
mpu9250_main(int argc, char *argv[])
{
bool external_bus = false;
enum MPU9250_BUS busid = MPU9250_BUS_ALL;
int ch;
bool external = false;
enum Rotation rotation = ROTATION_NONE;
int accel_range = 8;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XR:")) != EOF) {
while ((ch = getopt(argc, argv, "XISsR:a:")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
busid = MPU9260_BUS_I2C_EXTERNAL;
break;
case 'I':
busid = MPU9250_BUS_I2C_INTERNAL;
break;
case 'S':
busid = MPU9250_BUS_SPI_EXTERNAL;
break;
case 's':
busid = MPU9260_BUS_SPI_INTERNAL;
break;
case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
case 'a':
accel_range = atoi(optarg);
break;
default:
mpu9250::usage();
exit(0);
}
}
external = (busid == MPU9250_BUS_I2C_EXTERNAL || busid == MPU9250_BUS_SPI_EXTERNAL);
const char *verb = argv[optind];
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start")) {
mpu9250::start(external_bus, rotation);
mpu9250::start(busid, rotation, accel_range, device_type, external);
}
if (!strcmp(verb, "stop")) {
mpu9250::stop(external_bus);
mpu9250::stop(busid);
}
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test")) {
mpu9250::test(external_bus);
mpu9250::test(busid);
}
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset")) {
mpu9250::reset(external_bus);
mpu9250::reset(busid);
}
/*
* Print driver information.
*/
if (!strcmp(verb, "info")) {
mpu9250::info(external_bus);
mpu9250::info(busid);
}
/*
* Print register information.
*/
if (!strcmp(verb, "regdump")) {
mpu9250::regdump(external_bus);
mpu9250::regdump(busid);
}
if (!strcmp(verb, "testerror")) {
mpu9250::testerror(external_bus);
mpu9250::testerror(busid);
}
mpu9250::usage();

67
src/drivers/mpu9250/mpu9250.cpp
View File

@ -34,7 +34,7 @@
/**
* @file mpu9250.cpp
*
* Driver for the Invensense MPU9250 connected via SPI.
* Driver for the Invensense MPU9250 connected via I2C or SPI.
*
* @author Andrew Tridgell
*
@ -215,9 +215,12 @@ const uint8_t MPU9250::_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPU
};
MPU9250::MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device,
MPU9250::MPU9250(device::Device *interface, const char *path_accel, const char *path_gyro, const char *path_mag,
enum Rotation rotation) :
SPI("MPU9250", path_accel, bus, device, SPIDEV_MODE3, MPU9250_LOW_BUS_SPEED),
CDev("MPU9250", path_accel),
_interface(interface),
_interface_bus(interface_bus),
//SPI("MPU9250", path_accel, bus, device, SPIDEV_MODE3, MPU9250_LOW_BUS_SPEED),
_gyro(new MPU9250_gyro(this, path_gyro)),
_mag(new MPU9250_mag(this, path_mag)),
_whoami(0),
@ -333,15 +336,28 @@ MPU9250::init()
{
int ret;
/* do SPI init (and probe) first */
ret = SPI::init();
/* if probe/setup failed, bail now */
/* do init */
ret = CDev::init();
/* if init failed, bail now */
if (ret != OK) {
DEVICE_DEBUG("SPI setup failed");
DEVICE_DEBUG("CDev init failed");
return ret;
}
// /* do SPI init (and probe) first */
// ret = SPI::init();
// /* if probe/setup failed, bail now */
// if (ret != OK) {
// DEVICE_DEBUG("SPI setup failed");
// return ret;
// }
ret = probe();
if (ret != OK) {
@ -742,7 +758,8 @@ MPU9250::test_error()
// development as a handy way to test the reset logic
uint8_t data[16];
memset(data, 0, sizeof(data));
transfer(data, data, sizeof(data));
_interface->read(MPU6000_SET_SPEED(MPUREG_INT_STATUS, MPU6000_LOW_BUS_SPEED), data, sizeof(data));
//transfer(data, data, sizeof(data));
::printf("error triggered\n");
print_registers();
}
@ -1047,13 +1064,22 @@ MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
return CDev::ioctl(filp, cmd, arg);
}
}
uint8_t
MPU9250::read_reg(unsigned reg, uint32_t speed)
{
// From MPU6000 implementation
uint8_t buf;
_interface->read(MPU6000_SET_SPEED(reg, speed), &buf, 1);
return buf;
uint8_t cmd[2] = { (uint8_t)(reg | DIR_READ), 0};
// general register transfer at low clock speed
@ -1067,6 +1093,16 @@ MPU9250::read_reg(unsigned reg, uint32_t speed)
uint16_t
MPU9250::read_reg16(unsigned reg)
{
uint8_t buf[2];
// general register transfer at low clock speed
_interface->read(MPU9250_LOW_SPEED_OP(reg), &buf, arraySize(buf));
return (uint16_t)(buf[0] << 8) | buf[1];
uint8_t cmd[3] = { (uint8_t)(reg | DIR_READ), 0, 0 };
// general register transfer at low clock speed
@ -1080,6 +1116,12 @@ MPU9250::read_reg16(unsigned reg)
void
MPU9250::write_reg(unsigned reg, uint8_t value)
{
// general register transfer at low clock speed
return _interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
uint8_t cmd[2];
cmd[0] = reg | DIR_WRITE;
@ -1313,10 +1355,9 @@ MPU9250::measure()
*/
mpu_report.cmd = DIR_READ | MPUREG_INT_STATUS;
// sensor transfer at high clock speed
set_frequency(MPU9250_HIGH_BUS_SPEED);
if (OK != transfer((uint8_t *)&mpu_report, ((uint8_t *)&mpu_report), sizeof(mpu_report))) {
if (sizeof(mpu_report) != _interface->read(MPU9250_SET_SPEED(MPUREG_INT_STATUS, MPU9250_HIGH_BUS_SPEED),
(uint8_t *)&mpu_report,
sizeof(mpu_report))) {
return;
}

44
src/drivers/mpu9250/mpu9250.h
View File

@ -1,26 +1,13 @@
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
#define EXTERNAL_BUS 0
#endif
/*
the MPU9250 can only handle high SPI bus speeds on the sensor and
interrupt status registers. All other registers have a maximum 1MHz
SPI speed
*/
#define MPU9250_LOW_BUS_SPEED 1000*1000
#define MPU9250_HIGH_BUS_SPEED 11*1000*1000
#define MPU9250_ONE_G 9.80665f
class MPU9250_mag;
class MPU9250_gyro;
class MPU9250 : public device::SPI
class MPU9250 : public device::CDev
{
public:
MPU9250(int bus, const char *path_accel, const char *path_gyro, const char *path_mag, spi_dev_e device,
MPU9250(device::Device *interface, const char *path_accel, const char *path_gyro, const char *path_mag,
enum Rotation rotation);
virtual ~MPU9250();
@ -40,6 +27,8 @@ public:
void test_error();
protected:
Device *_interface;
virtual int probe();
friend class MPU9250_mag;
@ -265,3 +254,28 @@ private:
};
#pragma pack(pop)
};
/*
The MPU9250 can only handle high bus speeds on the sensor and
interrupt status registers. All other registers have a maximum 1MHz
Communication with all registers of the device is performed using either
I2C at 400kHz or SPI at 1MHz. For applications requiring faster communications,
the sensor and interrupt registers may be read using SPI at 20MHz
*/
#define MPU9250_LOW_BUS_SPEED 0
#define MPU9250_HIGH_BUS_SPEED 0x8000
# define MPU9250_IS_HIGH_SPEED(r) ((r) & MPU9250_HIGH_BUS_SPEED)
# define MPU9250_REG(r) ((r) &~MPU9250_HIGH_BUS_SPEED)
# define MPU9250_SET_SPEED(r, s) ((r)|(s))
# define MPU9250_HIGH_SPEED_OP(r) MPU9250_SET_SPEED((r), MPU9250_HIGH_BUS_SPEED)
# define MPU9250_LOW_SPEED_OP(r) MPU9250_REG((r))
/* interface factories */
extern device::Device *MPU9250_SPI_interface(int bus, int device_type, bool external_bus);
extern device::Device *MPU9250_I2C_interface(int bus, int device_type, bool external_bus);
extern int MPU9250_probe(device::Device *dev, int device_type);
typedef device::Device *(*MPU9250_constructor)(int, int, bool);

172
src/drivers/mpu9250/mpu9250_i2c.cpp Normal file
View File

@ -0,0 +1,172 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
/**
* @file mpu9250_i2c.cpp
*
* I2C interface for MPU9250
*/
/* XXX trim includes */
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <drivers/device/i2c.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "MPU9250.h"
#include "board_config.h"
#ifdef USE_I2C
device::Device *MPU9250_I2C_interface(int bus, int device_type, bool external_bus);
class MPU9250_I2C : public device::I2C
{
public:
MPU9250_I2C(int bus, int device_type);
virtual ~MPU9250_I2C();
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
protected:
virtual int probe();
private:
int _device_type;
};
device::Device *
MPU9250_I2C_interface(int bus, int device_type, bool external_bus)
{
return new MPU9250_I2C(bus, device_type);
}
MPU9250_I2C::MPU9250_I2C(int bus, int device_type) :
I2C("MPU9250_I2C", nullptr, bus, PX4_I2C_OBDEV_MPU9250, 400000),
_device_type(device_type)
{
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
}
MPU9250_I2C::~MPU9250_I2C()
{
}
int
MPU9250_I2C::init()
{
/* this will call probe() */
return I2C::init();
}
int
MPU9250_I2C::ioctl(unsigned operation, unsigned &arg)
{
int ret;
switch (operation) {
case ACCELIOCGEXTERNAL:
return _bus == PX4_I2C_BUS_EXPANSION ? 1 : 0;
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
case MPUIOCGIS_I2C:
return 1;
default:
ret = -EINVAL;
}
return ret;
}
int
MPU9250_I2C::write(unsigned reg_speed, void *data, unsigned count)
{
uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
if (sizeof(cmd) < (count + 1)) {
return -EIO;
}
cmd[0] = MPU9250_REG(reg_speed);
cmd[1] = *(uint8_t *)data;
return transfer(&cmd[0], count + 1, nullptr, 0);
}
int
MPU9250_I2C::read(unsigned reg_speed, void *data, unsigned count)
{
/* We want to avoid copying the data of MPUReport: So if the caller
* supplies a buffer not MPUReport in size, it is assume to be a reg or
* reg 16 read
* Since MPUReport has a cmd at front, we must return the data
* after that. Foe anthing else we must return it
*/
uint32_t offset = count < sizeof(MPUReport) ? 0 : offsetof(MPUReport, status);
uint8_t cmd = MPU9250_REG(reg_speed);
int ret = transfer(&cmd, 1, &((uint8_t *)data)[offset], count);
return ret == OK ? count : ret;
}
int
MPU9250_I2C::probe()
{
uint8_t whoami = 0;
uint8_t expected = _device_type == 6000 ? MPU_WHOAMI_6000 : ICM_WHOAMI_20608;
return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;
}
#endif /* PX4_I2C_OBDEV_HMC5883 */

281
src/drivers/mpu9250/mpu9250_spi.cpp Normal file
View File

@ -0,0 +1,281 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 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.
*
****************************************************************************/
/**
* @file mpu9250_spi.cpp
*
* Driver for the Invensense MPU9250 connected via SPI.
*
* @author Andrew Tridgell
* @author Pat Hickey
* @author David sidrane
*/
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <assert.h>
#include <debug.h>
#include <errno.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "MPU9250.h"
#include <board_config.h>
#define DIR_READ 0x80
#define DIR_WRITE 0x00
#if PX4_SPIDEV_MPU
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
#define EXTERNAL_BUS 0
#endif
/*
The MPU9250 can only handle high SPI bus speeds on the sensor and
interrupt status registers. All other registers have a maximum 1MHz
SPI speed
*/
#define MPU9250_LOW_SPI_BUS_SPEED 1000*1000
#define MPU9250_HIGH_SPI_BUS_SPEED 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */
device::Device *MPU9250_SPI_interface(int bus, int device_type, bool external_bus);
class MPU9250_SPI : public device::SPI
{
public:
MPU9250_SPI(int bus, spi_dev_e device, int device_type);
virtual ~MPU9250_SPI();
virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);
virtual int ioctl(unsigned operation, unsigned &arg);
protected:
virtual int probe();
private:
int _device_type;
/* Helper to set the desired speed and isolate the register on return */
void set_bus_frequency(unsigned &reg_speed_reg_out);
};
device::Device *
MPU9250_SPI_interface(int bus, int device_type, bool external_bus)
{
spi_dev_e cs = SPIDEV_NONE;
device::Device *interface = nullptr;
if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
# if defined(PX4_SPIDEV_EXT_ICM)
cs = (spi_dev_e)(device_type == 6000 ? PX4_SPIDEV_EXT_MPU : PX4_SPIDEV_EXT_ICM);
# else
cs = (spi_dev_e) PX4_SPIDEV_EXT_MPU;
# endif
#endif
} else {
#if defined(PX4_SPIDEV_ICM)
cs = (spi_dev_e)(device_type == 6000 ? PX4_SPIDEV_MPU : PX4_SPIDEV_ICM);
#else
cs = (spi_dev_e) PX4_SPIDEV_MPU;
#endif
}
if (cs != SPIDEV_NONE) {
interface = new MPU9250_SPI(bus, cs, device_type);
}
return interface;
}
MPU9250_SPI::MPU9250_SPI(int bus, spi_dev_e device, int device_type) :
SPI("MPU9250", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED),
_device_type(device_type)
{
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
}
MPU9250_SPI::~MPU9250_SPI()
{
}
int
MPU9250_SPI::init()
{
int ret;
ret = SPI::init();
if (ret != OK) {
DEVICE_DEBUG("SPI init failed");
return -EIO;
}
return OK;
}
int
MPU9250_SPI::ioctl(unsigned operation, unsigned &arg)
{
int ret;
switch (operation) {
case ACCELIOCGEXTERNAL:
#if defined(PX4_SPI_BUS_EXT)
return _bus == PX4_SPI_BUS_EXT ? 1 : 0;
#else
return 0;
#endif
case DEVIOCGDEVICEID:
return CDev::ioctl(nullptr, operation, arg);
case MPUIOCGIS_I2C:
return 0;
default: {
ret = -EINVAL;
}
}
return ret;
}
void
MPU9250_SPI::set_bus_frequency(unsigned &reg_speed)
{
/* Set the desired speed */
set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);
/* Isoolate the register on return */
reg_speed = MPU9250_REG(reg_speed);
}
int
MPU9250_SPI::write(unsigned reg_speed, void *data, unsigned count)
{
uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
if (sizeof(cmd) < (count + 1)) {
return -EIO;
}
/* Set the desired speed and isolate the register */
set_bus_frequency(reg_speed);
cmd[0] = reg_speed | DIR_WRITE;
cmd[1] = *(uint8_t *)data;
return transfer(&cmd[0], &cmd[0], count + 1);
}
int
MPU9250_SPI::read(unsigned reg_speed, void *data, unsigned count)
{
/* We want to avoid copying the data of MPUReport: So if the caller
* supplies a buffer not MPUReport in size, it is assume to be a reg or reg 16 read
* and we need to provied the buffer large enough for the callers data
* and our command.
*/
uint8_t cmd[3] = {0, 0, 0};
uint8_t *pbuff = count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;
if (count < sizeof(MPUReport)) {
/* add command */
count++;
}
set_bus_frequency(reg_speed);
/* Set command */
pbuff[0] = reg_speed | DIR_READ ;
/* Transfer the command and get the data */
int ret = transfer(pbuff, pbuff, count);
if (ret == OK && pbuff == &cmd[0]) {
/* Adjust the count back */
count--;
/* Return the data */
memcpy(data, &cmd[1], count);
}
return ret == OK ? count : ret;
}
int
MPU9250_SPI::probe()
{
uint8_t whoami = 0;
uint8_t expected = _device_type == 6000 ? MPU_WHOAMI_6000 : ICM_WHOAMI_20608;
return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;
}
#endif // PX4_SPIDEV_MPU

10
src/drivers/stm32/drv_io_timer.c
View File

@ -379,8 +379,13 @@ static int allocate_channel(unsigned channel, io_timer_channel_mode_t mode)
static int timer_set_rate(unsigned timer, unsigned rate)
{
#if defined(CONFIG_ARCH_BOARD_CRAZYFLIE)
/* configure the timer to update at 328.125 kHz (recommended) */
rARR(timer) = 255;
#else
/* configure the timer to update at the desired rate */
rARR(timer) = 1000000 / rate;
#endif
/* generate an update event; reloads the counter and all registers */
rEGR(timer) = GTIM_EGR_UG;
@ -427,9 +432,14 @@ static int io_timer_init_timer(unsigned timer)
rBDTR(timer) = ATIM_BDTR_MOE;
}
#if defined(CONFIG_ARCH_BOARD_CRAZYFLIE)
/* configure the timer to free-run at timer frequency */
rPSC(timer) = 0;
#else
/* configure the timer to free-run at 1MHz */
rPSC(timer) = (io_timers[timer].clock_freq / 1000000) - 1;
#endif
/*

2
src/firmware/nuttx/CMakeLists.txt
View File

@ -45,7 +45,7 @@ if(NOT ${BOARD} STREQUAL "sim")
if (config_io_board)
set(extras "${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
endif()
set(romfs_dir "ROMFS/px4fmu_common")
if (${BOARD} STREQUAL "tap-v1")
set(romfs_dir "ROMFS/tap_common")

2
src/lib/version/version.h
View File

@ -63,6 +63,8 @@ __END_DECLS
# define HW_ARCH "RPI"
#elif defined(CONFIG_ARCH_BOARD_BEBOP)
# define HW_ARCH "BEBOP"
#elif defined(CONFIG_ARCH_BOARD_CRAZYFLIE)
# define HW_ARCH "CRAZYFLIE"
#else
#define HW_ARCH (board_name())
#endif

43
src/modules/dummy/CMakeLists.txt Normal file
View File

@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2015 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_module(
MODULE modules__dummy
MAIN tone_alarm
COMPILE_FLAGS
-Os
SRCS
tone_alarm.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

50
src/modules/dummy/tone_alarm.c Normal file
View File

@ -0,0 +1,50 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.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 tone_alarm.c
*
* Dummy tone_alarm to prevent nsh errors.
*
* @author Tim Dyer <>
*/
#include <px4_defines.h>
__EXPORT int tone_alarm_main(int argc, char *argv[]);
int tone_alarm_main(int argc, char *argv[])
{
return OK;
}

6
src/modules/mavlink/mavlink_main.cpp
View File

@ -688,8 +688,10 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
case 921600: speed = B921600; break;
case 1000000: speed = B1000000; break;
default:
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n",
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n1000000\n",
baud);
return -EINVAL;
}
@ -1690,7 +1692,7 @@ Mavlink::task_main(int argc, char *argv[])
case 'b':
_baudrate = strtoul(myoptarg, NULL, 10);
if (_baudrate < 9600 || _baudrate > 921600) {
if (_baudrate < 9600 || _baudrate > 1000000) {
warnx("invalid baud rate '%s'", myoptarg);
err_flag = true;
}

43
src/modules/screen/CMakeLists.txt Normal file
View File

@ -0,0 +1,43 @@
############################################################################
#
# Copyright (c) 2015 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_module(
MODULE modules__screen
MAIN screen
COMPILE_FLAGS
-Os
SRCS
screen.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

134
src/modules/screen/screen.c Normal file
View File

@ -0,0 +1,134 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.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 screen.c
*
* Using screen to read serial ports.
*
* @author Tim Dyer <>
*/
#include <px4_defines.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <systemlib/err.h>
#include <poll.h>
#include <termios.h>
__EXPORT int screen_main(int argc, char *argv[]);
int
open_uart(const char *device);
int screen_main(int argc, char *argv[])
{
int uart = open_uart("/dev/ttyS2");
//static const int timeout_ms = 1000;
for (;;)
{
char c;
ssize_t size = read(uart, &c, 1);
if (size)
{
printf("%c", c);
}
/*
struct pollfd fds;
fds.fd = uart;
fds.events = POLLIN;
char c;
if (poll(&fds, 1, timeout_ms) > 0) {
read(uart, &c, 1);
printf("%c", c);
} else {
warnx("UART timeout on TX/RX port");
//return ERROR;
}
*/
}
return OK;
}
int
open_uart(const char *device)
{
/* baud rate */
static const speed_t speed = B1000000;
/* open uart */
const int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "ERR: opening %s", device);
}
/* Back up the original uart configuration to restore it after exit */
int termios_state;
struct termios uart_config_original;
if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
close(uart);
err(1, "ERR: %s: %d", device, termios_state);
}
/* Fill the struct for the new configuration */
struct termios uart_config;
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
close(uart);
err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)",
device, termios_state);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
close(uart);
err(1, "ERR: %s (tcsetattr)", device);
}
return uart;
}