forked from Archive/PX4-Autopilot
boards: rename Hex -> CubePilot
- hex_cube-orange_default -> cubepilot_cubeorange_default - hex_cube-yellow_default -> cubepilot_cubeyellow_default
This commit is contained in:
Daniel Agar
GitHub
parent
62fe6d59cc
commit
cfbf69f2a7
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@ -33,8 +33,8 @@ pipeline {
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"av_x-v1_default",
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"bitcraze_crazyflie_default",
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"cuav_x7pro_default",
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"hex_cube-orange_default",
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"hex_cube-yellow_default",
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"cubepilot_cubeorange_default",
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"cubepilot_cubeyellow_default",
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"holybro_durandal-v1_default",
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"holybro_durandal-v1_stackcheck",
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"holybro_kakutef7",
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@ -19,8 +19,8 @@ jobs:
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av_x-v1_default,
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bitcraze_crazyflie_default,
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cuav_x7pro_default,
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hex_cube-orange_default,
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hex_cube-yellow_default,
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cubepilot_cubeorange_default,
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cubepilot_cubeyellow_default,
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holybro_durandal-v1_default,
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holybro_durandal-v1_stackcheck,
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holybro_kakutef7_default,
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@ -66,16 +66,16 @@ CONFIG:
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buildType: MinSizeRel
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settings:
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CONFIG: cuav_x7pro_default
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hex_cube-orange_default:
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short: hex_cube-orange
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cubepilot_cubeorange_default:
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short: cubepilot_cubeorange
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buildType: MinSizeRel
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settings:
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CONFIG: hex_cube-orange_default
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hex_cube-yellow_default:
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short: hex_cube-yellow
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CONFIG: cubepilot_orange_default
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cubepilot_cubeyellow_default:
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short: cubepilot_cubeyellow
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buildType: MinSizeRel
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settings:
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CONFIG: hex_cube-yellow_default
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CONFIG: cubepilot_cubeyellow_default
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holybro_durandal-v1_default:
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short: holybro_durandal-v1
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buildType: MinSizeRel
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@ -1,8 +1,8 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR hex
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MODEL cube-orange
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VENDOR cubepilot
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MODEL cubeorange
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LABEL bootloader
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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@ -1,14 +1,14 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR hex
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MODEL cube-orange
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VENDOR cubepilot
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MODEL cubeorange
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LABEL default
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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BUILD_BOOTLOADER
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IO hex_io-v2_default
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IO cubepilot_io-v2_default
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TESTING
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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@ -29,6 +29,7 @@ px4_add_board(
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distance_sensor # all available distance sensor drivers
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dshot
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gps
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#heater
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#imu # all available imu drivers
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imu/adis16448
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imu/adis16477
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@ -51,6 +52,7 @@ px4_add_board(
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pwm_out
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px4io
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roboclaw
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rpm
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -64,6 +66,7 @@ px4_add_board(
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commander
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dataman
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ekf2
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esc_battery
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events
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fw_att_control
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fw_pos_control_l1
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@ -77,6 +80,7 @@ px4_add_board(
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mc_hover_thrust_estimator
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mc_pos_control
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mc_rate_control
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#micrortps_bridge
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navigator
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rc_update
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rover_pos_control
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@ -90,6 +94,7 @@ px4_add_board(
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dmesg
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dumpfile
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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led_control
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@ -112,6 +117,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -1,7 +1,7 @@
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{
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"board_id": 140,
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"magic": "PX4FWv1",
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"description": "Firmware for the Hex Cube Orange board",
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"description": "Firmware for the CubePilot CubeOrange board",
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"image": "",
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"build_time": 0,
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"summary": "CubeOrange",
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@ -6,7 +6,7 @@
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#
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# Bootloader upgrade
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#
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set BL_FILE /etc/extras/hex_cube-orange_bootloader.bin
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set BL_FILE /etc/extras/cubepilot_cubeorange_bootloader.bin
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if [ -f $BL_FILE ]
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then
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if param compare SYS_BL_UPDATE 1
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@ -36,4 +36,4 @@ then
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fi
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set LOGGER_BUF 64
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set IOFW "/etc/extras/hex_io-v2_default.bin"
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set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
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@ -30,11 +30,11 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
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CONFIG_C99_BOOL8=y
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CONFIG_CDCACM=y
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CONFIG_CDCACM_PRODUCTID=0x1016
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CONFIG_CDCACM_PRODUCTSTR="PX4 BL Hex Cube Orange"
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CONFIG_CDCACM_PRODUCTSTR="PX4 BL CubePilot CubeOrange"
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CONFIG_CDCACM_RXBUFSIZE=600
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CONFIG_CDCACM_TXBUFSIZE=12000
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CONFIG_CDCACM_VENDORID=0x2DAE
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CONFIG_CDCACM_VENDORSTR="Hex/ProfiCNC"
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CONFIG_CDCACM_VENDORSTR="CubePilot"
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CONFIG_CLOCK_MONOTONIC=y
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_SYMBOLS=y
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@ -219,6 +219,7 @@
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#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
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/* UART/USART */
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#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PA10 */
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#define GPIO_USART1_TX 0 /* USART1 is RX-only */
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@ -245,27 +246,30 @@
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#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
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#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
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/* CAN */
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#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
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#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
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#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
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#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
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#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
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#define GPIO_CAN2_TX GPIO_CAN2_TX_2 /* PB6 */
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#define GPIO_CAN2_TX GPIO_CAN2_TX_2 /* PB6 */
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/* SPI */
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#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
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#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
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#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
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#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
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#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
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#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
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#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_4) /* PB13 */
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#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
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#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
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#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
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#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
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#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */
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#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE5 */
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#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
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#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2 */
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#define GPIO_SPI4_MISO GPIO_SPI4_MISO_2 /* PE5 */
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#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_2 /* PE6 */
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/* I2C */
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#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
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@ -21,7 +21,6 @@
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# CONFIG_NSH_DISABLE_LOOPS is not set
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# CONFIG_NSH_DISABLE_SEMICOLON is not set
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# CONFIG_NSH_DISABLE_TIME is not set
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# CONFIG_STM32H7_SYSCFG is not set
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD_CUSTOM=y
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CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
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@ -50,7 +49,7 @@ CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
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CONFIG_CDCACM_RXBUFSIZE=600
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CONFIG_CDCACM_TXBUFSIZE=12000
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CONFIG_CDCACM_VENDORID=0x2DAE
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CONFIG_CDCACM_VENDORSTR="Hex/ProfiCNC"
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CONFIG_CDCACM_VENDORSTR="CubePilot"
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CONFIG_CLOCK_MONOTONIC=y
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_HARDFAULT_ALERT=y
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@ -210,8 +209,8 @@ CONFIG_TTY_SIGINT=y
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CONFIG_TTY_SIGSTP=y
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CONFIG_UART7_BAUD=57600
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CONFIG_UART7_RXBUFSIZE=600
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CONFIG_UART7_TXBUFSIZE=1500
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CONFIG_UART7_SERIAL_CONSOLE=y
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CONFIG_UART7_TXBUFSIZE=1500
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CONFIG_UART8_BAUD=57600
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CONFIG_UART8_RXBUFSIZE=600
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CONFIG_UART8_TXBUFSIZE=1500
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@ -111,6 +111,7 @@ MEMORY
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{
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ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 64K
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FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
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DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
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DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH = 64K
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AXI_SRAM (rwx) : ORIGIN = 0x24000000, LENGTH = 512K /* D1 domain AXI bus */
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@ -34,7 +34,7 @@
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/**
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* @file board_config.h
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*
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* Hex Cube Orange internal definitions
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* Board internal definitions
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*/
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#pragma once
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@ -34,7 +34,7 @@
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/**
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* @file init.c
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*
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* FMU-specific early startup code. This file implements the
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* board-specific early startup code. This file implements the
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* board_app_initialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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@ -122,6 +122,7 @@ __EXPORT void stm32_boardinitialize(void)
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/* configure pins */
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const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
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px4_gpio_init(gpio, arraySize(gpio));
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board_control_spi_sensors_power_configgpio();
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/* configure LEDs */
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board_autoled_initialize();
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@ -162,12 +163,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
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/* initial LED state */
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drv_led_start();
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led_off(LED_RED);
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led_on(LED_GREEN); // Indicate Power.
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led_off(LED_BLUE);
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led_off(LED_AMBER);
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if (board_hardfault_init(2, true) != 0) {
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led_on(LED_RED);
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led_on(LED_AMBER);
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}
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#ifdef CONFIG_MMCSD
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@ -1,15 +1,15 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR hex
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MODEL cube-yellow
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VENDOR cubepilot
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MODEL cubeyellow
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LABEL default
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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IO hex_io-v2_default
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IO cubepilot_io-v2_default
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TESTING
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UAVCAN_INTERFACES 1
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UAVCAN_INTERFACES 2
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SERIAL_PORTS
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# IO DEBUG:/dev/ttyS0
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TEL1:/dev/ttyS1
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@ -50,10 +50,8 @@ px4_add_board(
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pwm_out_sim
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pwm_out
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px4io
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rc_input
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roboclaw
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rpm
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#safety_button
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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@ -95,6 +93,7 @@ px4_add_board(
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dmesg
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dumpfile
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esc_calib
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gpio
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hardfault_log
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i2cdetect
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led_control
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@ -117,6 +116,7 @@ px4_add_board(
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ver
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work_queue
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EXAMPLES
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fake_magnetometer
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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@ -1,7 +1,7 @@
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{
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"board_id": 120,
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"magic": "PX4FWv1",
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"description": "Firmware for the Hex Cube Yellow board",
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"description": "Firmware for the CubePilot CubeYellow board",
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"image": "",
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"build_time": 0,
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"summary": "CubeYellow",
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@ -19,4 +19,4 @@ then
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fi
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set LOGGER_BUF 64
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set IOFW "/etc/extras/hex_io-v2_default.bin"
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set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
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@ -1,7 +1,8 @@
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/************************************************************************************
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* nuttx-config/include/board.h
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*
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* Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
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* Authors: David Sidrane <david_s5@nscdg.com>
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* Copyright (C) 2020 Gregory Nutt. All rights reserved.
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* Authors: David Sidrane <david.sidrane@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
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@ -31,12 +32,8 @@
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#ifndef __NUTTX_CONFIG_HEX_CUBE_YELLOW_INCLUDE_BOARD_H
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#define __NUTTX_CONFIG_HEX_CUBE_YELLOW_INCLUDE_BOARD_H
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#pragma once
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include "board_dma_map.h"
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#include <nuttx/config.h>
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@ -48,21 +45,16 @@
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#include "stm32_rcc.h"
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#include "stm32_sdmmc.h"
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* The Cube Yellow board provides the following clock sources:
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/* The board provides the following clock sources:
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*
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* X301: 24 MHz crystal for HSE
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* X1: 24 MHz crystal for HSE
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*
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* So we have these clock source available within the STM32
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*
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* HSI: 16 MHz RC factory-trimmed
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* HSI: 16 MHz RC factory-trimmed internal oscillator
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* HSE: 24 MHz crystal for HSE
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*/
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#define STM32_BOARD_XTAL 24000000ul
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#define STM32_HSI_FREQUENCY 16000000ul
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@ -113,7 +105,6 @@
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#define STM32_OTGFS_FREQUENCY (STM32_VCO_FREQUENCY / 9)
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/* Configure factors for PLLSAI clock */
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#define CONFIG_STM32F7_PLLSAI 1
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#define STM32_RCC_PLLSAICFGR_PLLSAIN RCC_PLLSAICFGR_PLLSAIN(192)
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#define STM32_RCC_PLLSAICFGR_PLLSAIP RCC_PLLSAICFGR_PLLSAIP(8)
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@ -121,7 +112,6 @@
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#define STM32_RCC_PLLSAICFGR_PLLSAIR RCC_PLLSAICFGR_PLLSAIR(2)
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/* Configure Dedicated Clock Configuration Register */
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||||
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||||
#define STM32_RCC_DCKCFGR1_PLLI2SDIVQ RCC_DCKCFGR1_PLLI2SDIVQ(1)
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||||
#define STM32_RCC_DCKCFGR1_PLLSAIDIVQ RCC_DCKCFGR1_PLLSAIDIVQ(1)
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#define STM32_RCC_DCKCFGR1_PLLSAIDIVR RCC_DCKCFGR1_PLLSAIDIVR(0)
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|
@ -131,10 +121,7 @@
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#define STM32_RCC_DCKCFGR1_DFSDM1SRC 0
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#define STM32_RCC_DCKCFGR1_ADFSDM1SRC 0
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||||
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||||
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||||
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/* Configure factors for PLLI2S clock */
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||||
|
||||
#define CONFIG_STM32F7_PLLI2S 1
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
|
||||
#define STM32_RCC_PLLI2SCFGR_PLLI2SP RCC_PLLI2SCFGR_PLLI2SP(2)
|
||||
|
|
@ -142,7 +129,6 @@
|
|||
#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
|
||||
|
||||
/* Configure Dedicated Clock Configuration Register 2 */
|
||||
|
||||
#define STM32_RCC_DCKCFGR2_USART1SRC RCC_DCKCFGR2_USART1SEL_APB
|
||||
#define STM32_RCC_DCKCFGR2_USART2SRC RCC_DCKCFGR2_USART2SEL_APB
|
||||
#define STM32_RCC_DCKCFGR2_UART4SRC RCC_DCKCFGR2_UART4SEL_APB
|
||||
|
|
@ -170,18 +156,15 @@
|
|||
*/
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (216 MHz) */
|
||||
|
||||
#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 (54 MHz) */
|
||||
|
||||
#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)
|
||||
|
|
@ -193,12 +176,10 @@
|
|||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (108MHz) */
|
||||
|
||||
#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)
|
||||
|
|
@ -256,8 +237,8 @@
|
|||
|
||||
#define BOARD_FLASH_WAITSTATES 7
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/* UART/USART */
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PB7 */
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PB6 */
|
||||
|
||||
|
|
@ -286,103 +267,34 @@
|
|||
* GPIO_UART8_TX PE1[CN11-61]
|
||||
*/
|
||||
|
||||
/* CAN
|
||||
*
|
||||
* CAN1 is routed to transceiver.
|
||||
* CAN2 is routed to transceiver.
|
||||
*/
|
||||
|
||||
/* CAN */
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3 /* PD0 */
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
|
||||
|
||||
#define GPIO_CAN2_RX GPIO_CAN2_RX_1 /* PB12 */
|
||||
#define GPIO_CAN2_TX GPIO_CAN2_TX_2 /* PB6 */
|
||||
|
||||
/* SPI
|
||||
*
|
||||
* SPI1 sensors
|
||||
* SPI2 is FRAM
|
||||
* SPI4 sesnors
|
||||
*/
|
||||
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 /* PA5 */
|
||||
/* SPI */
|
||||
#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
|
||||
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_3 /* PB13 */
|
||||
#define GPIO_SPI1_SCK ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5 */
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1 /* PA7 */
|
||||
|
||||
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE5 */
|
||||
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE6 */
|
||||
#define GPIO_SPI4_SCK GPIO_SPI4_SCK_1 /* PE2 */
|
||||
#define GPIO_SPI2_SCK ADJ_SLEW_RATE(GPIO_SPI2_SCK_3) /* PB13 */
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1 /* PB14 */
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1 /* PB15 */
|
||||
|
||||
/* I2C
|
||||
*
|
||||
* I2C1_SCL PB8
|
||||
* I2C1_SDA PB9
|
||||
* I2C2_SCL PB10
|
||||
* I2C2_SDA PB11
|
||||
*/
|
||||
#define GPIO_SPI4_SCK ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE2 */
|
||||
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE5 */
|
||||
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE6 */
|
||||
|
||||
|
||||
/* I2C */
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */
|
||||
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
|
||||
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1 /* PB10 */
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1 /* PB11 */
|
||||
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)
|
||||
|
||||
/* SDMMC1
|
||||
*
|
||||
* VDD 3.3
|
||||
* GND
|
||||
* SDMMC1_CK PC12
|
||||
* SDMMC1_CMD PD2
|
||||
* SDMMC1_D0 PC8
|
||||
* SDMMC1_D1 PC9
|
||||
* SDMMC1_D2 PC10
|
||||
* SDMMC1_D3 PC11
|
||||
*/
|
||||
|
||||
/* USB
|
||||
*
|
||||
* OTG_FS_DM PA11
|
||||
* OTG_FS_DP PA12
|
||||
* VBUS PA9
|
||||
*/
|
||||
|
||||
|
||||
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
|
||||
|
||||
#if defined(CONFIG_BOARD_USE_PROBES)
|
||||
# include "stm32_gpio.h"
|
||||
# define PROBE_N(n) (1<<((n)-1))
|
||||
# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14) /* PE14 AUX1 */
|
||||
# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13) /* PE13 AUX2 */
|
||||
# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11) /* PE11 AUX3 */
|
||||
# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9) /* PE9 AUX4 */
|
||||
# define PROBE_5 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13) /* PD13 AUX5 */
|
||||
# define PROBE_6 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14) /* PD14 AUX6 */
|
||||
|
||||
# define PROBE_INIT(mask) \
|
||||
do { \
|
||||
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
|
||||
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
|
||||
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
|
||||
if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
|
||||
if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
|
||||
if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
|
||||
} while(0)
|
||||
|
||||
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
#else
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
#endif
|
||||
|
||||
#endif /*__NUTTX_CONFIG_HEX_CUBE_YELLOW_INCLUDE_BOARD_H */
|
||||
|
|
@ -50,7 +50,7 @@ CONFIG_CDCACM_PRODUCTSTR="CubeYellow"
|
|||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x2DAE
|
||||
CONFIG_CDCACM_VENDORSTR="Hex/ProfiCNC"
|
||||
CONFIG_CDCACM_VENDORSTR="CubePilot"
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016 Gregory Nutt. All rights reserved.
|
||||
* Copyright (C) 2020 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
*
|
||||
|
|
@ -71,13 +71,13 @@
|
|||
|
||||
MEMORY
|
||||
{
|
||||
FLASH_ITCM (rx) : ORIGIN = 0x00218000, LENGTH = 1952K
|
||||
FLASH_AXIM (rx) : ORIGIN = 0x08018000, LENGTH = 1952K
|
||||
FLASH_ITCM (rx) : ORIGIN = 0x00218000, LENGTH = 1952K
|
||||
FLASH_AXIM (rx) : ORIGIN = 0x08018000, LENGTH = 1952K
|
||||
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
|
||||
DTCM_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
SRAM1 (rwx) : ORIGIN = 0x20020000, LENGTH = 368K
|
||||
SRAM2 (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
|
||||
ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
|
||||
DTCM_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
SRAM1 (rwx) : ORIGIN = 0x20020000, LENGTH = 368K
|
||||
SRAM2 (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
|
@ -34,28 +34,17 @@
|
|||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* HEX Cube Orange internal definitions
|
||||
* Board internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
#include <stm32_gpio.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
||||
#define BOARD_HAS_STATIC_MANIFEST 1
|
||||
|
||||
/* PX4IO connection configuration */
|
||||
|
||||
#define BOARD_USES_PX4IO_VERSION 2
|
||||
#define PX4IO_SERIAL_DEVICE "/dev/ttyS4"
|
||||
#define PX4IO_SERIAL_TX_GPIO GPIO_USART6_TX
|
||||
|
|
@ -69,36 +58,17 @@
|
|||
#define PX4IO_SERIAL_CLOCK STM32_PCLK2_FREQUENCY
|
||||
#define PX4IO_SERIAL_BITRATE 1500000 /* 1.5Mbps -> max rate for IO */
|
||||
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
/* Cube Yellow GPIOs ***********************************************************************************/
|
||||
|
||||
/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
|
||||
|
||||
#define GPIO_nLED_AMBER /* PE12*/ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
|
||||
/* ADC defines to be used in sensors.cpp to read from a particular channel */
|
||||
|
||||
#define ADC1_CH(n) (n)
|
||||
#define ADC1_GPIO(n) GPIO_ADC1_IN##n
|
||||
|
||||
#define ADC_HW_REV_SENSE_CHANNEL 1
|
||||
/* LEDs */
|
||||
#define GPIO_nLED_AMBER /* PE12 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
/* ADC channels */
|
||||
#define PX4_ADC_GPIO \
|
||||
/* PA2 */ ADC1_GPIO(2), \
|
||||
/* PA3 */ ADC1_GPIO(3), \
|
||||
/* PA4 */ ADC1_GPIO(4), \
|
||||
/* PC3 */ ADC1_GPIO(13), \
|
||||
/* PC4 */ ADC1_GPIO(14), \
|
||||
/* PC5 */ ADC1_GPIO(15)
|
||||
/* PA2 */ GPIO_ADC1_IN2, \
|
||||
/* PA3 */ GPIO_ADC1_IN3, \
|
||||
/* PA4 */ GPIO_ADC1_IN4, \
|
||||
/* PC3 */ GPIO_ADC1_IN13, \
|
||||
/* PC4 */ GPIO_ADC1_IN14, \
|
||||
/* PC5 */ GPIO_ADC1_IN15
|
||||
|
||||
/* Define Channel numbers must match above GPIO pins */
|
||||
#define ADC_BATTERY1_VOLTAGE_CHANNEL 2 /* PA2: BATT_VOLTAGE_SENS */
|
||||
|
|
@ -116,52 +86,31 @@
|
|||
(1 << ADC_BATTERY2_CURRENT_CHANNEL) | \
|
||||
(1 << ADC_AIRSPEED_VOLTAGE_CHANNEL))
|
||||
|
||||
/* Define Battery 1 Voltage Divider and A per V
|
||||
*/
|
||||
|
||||
#define BOARD_BATTERY1_V_DIV (10.1f)
|
||||
#define BOARD_BATTERY1_A_PER_V (17.0f)
|
||||
|
||||
/* Define Battery 2 Voltage Divider and A per V
|
||||
*/
|
||||
|
||||
#define BOARD_BATTERY2_V_DIV (10.1f)
|
||||
#define BOARD_BATTERY2_A_PER_V (17.0f)
|
||||
|
||||
|
||||
/* PWM
|
||||
*/
|
||||
/* PWM */
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 6
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 6
|
||||
#define GPIO_PWM_VOLT_SEL /* PB4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)
|
||||
|
||||
/* Power supply control and monitoring GPIOs */
|
||||
#define BOARD_NUMBER_BRICKS 2
|
||||
#define GPIO_nVDD_BRICK1_VALID /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
|
||||
#define GPIO_nVDD_BRICK2_VALID /* PB7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
|
||||
#define GPIO_nVDD_USB_VALID /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0)
|
||||
#define GPIO_nVDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
|
||||
#define GPIO_nVDD_5V_PERIPH_EN /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
|
||||
#define GPIO_nVDD_5V_PERIPH_OC /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
|
||||
#define GPIO_nVDD_5V_HIPOWER_OC /* PE10 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN10)
|
||||
|
||||
/* Define True logic Power Control in arch agnostic form */
|
||||
#define VDD_5V_PERIPH_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
|
||||
#define VDD_3V3_SENORS_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_nVDD_3V3_SENSORS_EN, (on_true))
|
||||
#define VDD_5V_RC_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_5V_RC_EN, (on_true))
|
||||
#define GPIO_nVDD_BRICK1_VALID /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) // VDD_BRICK_VALID
|
||||
#define GPIO_nVDD_BRICK2_VALID /* PB7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) // VDD_BACKUP_VALID
|
||||
#define GPIO_nVDD_USB_VALID /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) // VBUS_VALID
|
||||
#define GPIO_VDD_3V3_SENSORS_EN /* PE3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3) // VDD_3V3_SENSORS_EN
|
||||
#define GPIO_nVDD_5V_PERIPH_EN /* PA8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8) // VDD_5V_PERIPH_EN
|
||||
#define GPIO_nVDD_5V_PERIPH_OC /* PE15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15) // VDD_5V_PERIPH_OC
|
||||
#define GPIO_nVDD_5V_HIPOWER_OC /* PE10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10) // VDD_5V_HIPOWER_OC
|
||||
|
||||
/* Tone alarm output */
|
||||
|
||||
#define TONE_ALARM_TIMER 2 /* timer 2 */
|
||||
#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */
|
||||
|
||||
#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
|
||||
#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) // ALARM
|
||||
|
||||
#define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1
|
||||
#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing
|
||||
/* USB
|
||||
* OTG FS: PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
|
|
@ -169,23 +118,6 @@
|
|||
#define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
|
||||
|
||||
/* Power switch controls ******************************************************/
|
||||
|
||||
#define SDIO_SLOTNO 0 /* Only one slot */
|
||||
#define SDIO_MINOR 0
|
||||
|
||||
/* SD card bringup does not work if performed on the IDLE thread because it
|
||||
* will cause waiting. Use either:
|
||||
*
|
||||
* CONFIG_LIB_BOARDCTL=y, OR
|
||||
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
|
||||
*/
|
||||
|
||||
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
|
||||
!defined(CONFIG_BOARD_INITTHREAD)
|
||||
# warning SDIO initialization cannot be perfomed on the IDLE thread
|
||||
#endif
|
||||
|
||||
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
|
||||
* this board support the ADC system_power interface, and therefore
|
||||
* provides the true logic GPIO BOARD_ADC_xxxx macros.
|
||||
|
|
@ -197,49 +129,41 @@
|
|||
#define BOARD_ADC_PERIPH_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
|
||||
#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
/* This board provides the board_on_reset interface */
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
#define BOARD_HAS_STATIC_MANIFEST 1
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4};
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
#define PX4_GPIO_INIT_LIST { \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_CAN1_TX, \
|
||||
GPIO_CAN1_RX, \
|
||||
GPIO_CAN2_TX, \
|
||||
GPIO_CAN2_RX, \
|
||||
GPIO_PWM_VOLT_SEL, \
|
||||
GPIO_nVDD_BRICK1_VALID, \
|
||||
GPIO_nVDD_BRICK1_VALID, \
|
||||
GPIO_nVDD_USB_VALID, \
|
||||
GPIO_VDD_3V3_SENSORS_EN, \
|
||||
GPIO_nVDD_5V_PERIPH_EN, \
|
||||
GPIO_nVDD_5V_PERIPH_OC, \
|
||||
GPIO_nVDD_5V_HIPOWER_OC, \
|
||||
GPIO_nVDD_3V3_SENSORS_EN, \
|
||||
GPIO_TONE_ALARM_IDLE, \
|
||||
GPIO_OTGFS_VBUS, \
|
||||
}
|
||||
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
#define BOARD_NUM_IO_TIMERS 5
|
||||
|
||||
#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_sdio_initialize
|
||||
|
|
@ -251,22 +175,9 @@ __BEGIN_DECLS
|
|||
|
||||
int stm32_sdio_initialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* 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);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2020 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
|
||||
|
|
@ -34,67 +34,36 @@
|
|||
/**
|
||||
* @file init.c
|
||||
*
|
||||
* PX4FMU-specific early startup code. This file implements the
|
||||
* board_app_initializ() function that is called early by nsh during startup.
|
||||
* board-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialisation.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <nuttx/mm/gran.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_uart.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "up_internal.h"
|
||||
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_determine_hw_info.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
#define _GPIO_PULL_DOWN_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
|
|
@ -103,20 +72,15 @@ __END_DECLS
|
|||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
/* set the peripheral rails off */
|
||||
|
||||
VDD_5V_PERIPH_EN(false);
|
||||
VDD_3V3_SENORS_POWER_EN(false);
|
||||
/* Power off Interfaces */
|
||||
stm32_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, true);
|
||||
|
||||
/* wait for the peripheral rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the peripheral rail back on */
|
||||
VDD_5V_PERIPH_EN(true);
|
||||
VDD_3V3_SENORS_POWER_EN(true);
|
||||
stm32_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, false);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
|
|
@ -150,26 +114,18 @@ __EXPORT void board_on_reset(int status)
|
|||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void
|
||||
stm32_boardinitialize(void)
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
board_on_reset(-1); /* Reset PWM first thing */
|
||||
|
||||
/* configure LEDs */
|
||||
|
||||
board_autoled_initialize();
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
/* configure pins */
|
||||
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
board_control_spi_sensors_power_configgpio();
|
||||
|
||||
/* configure USB interfaces */
|
||||
|
||||
stm32_usbinitialize();
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
|
|
@ -183,39 +139,25 @@ stm32_boardinitialize(void)
|
|||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX; the meaning of the argument is a contract
|
||||
* between the board-specific initalization logic and the the
|
||||
* matching application logic. The value cold be such things as a
|
||||
* mode enumeration value, a set of DIP switch switch settings, a
|
||||
* pointer to configuration data read from a file or serial FLASH,
|
||||
* or whatever you would like to do with it. Every implementation
|
||||
* should accept zero/NULL as a default configuration.
|
||||
* meaning to NuttX;
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
/* Power on Interfaces */
|
||||
VDD_5V_PERIPH_EN(true);
|
||||
VDD_3V3_SENORS_POWER_EN(true);
|
||||
|
||||
/* Need hrt running before using the ADC */
|
||||
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, true);
|
||||
stm32_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, false);
|
||||
board_control_spi_sensors_power(true, 0xffff);
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
/* configure SPI interfaces (after we determined the HW version) */
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
px4_arch_configgpio(_GPIO_PULL_DOWN_INPUT(GPIO_CAN2_RX));
|
||||
|
||||
/* configure the DMA allocator */
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
|
||||
}
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2020 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
|
||||
|
|
@ -34,7 +34,7 @@
|
|||
/**
|
||||
* @file led.c
|
||||
*
|
||||
* PX4FMU LED backend.
|
||||
* LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
|
@ -62,25 +62,36 @@ extern void led_off(int led);
|
|||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
#define xlat(p) (p)
|
||||
# define xlat(p) (p)
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_nLED_AMBER,
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
stm32_configgpio(GPIO_nLED_AMBER);
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
if (g_ledmap[l] != 0) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Drive Low to switch on */
|
||||
|
||||
stm32_gpiowrite(GPIO_nLED_AMBER, !state);
|
||||
if (g_ledmap[led] != 0) {
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
/* If Low it is on */
|
||||
return !stm32_gpioread(GPIO_nLED_AMBER);
|
||||
if (g_ledmap[led] != 0) {
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
|
|
@ -90,9 +90,7 @@ static bool g_sd_inserted = 0xff; /* Impossible value */
|
|||
#ifdef HAVE_NCD
|
||||
static int stm32_ncd_interrupt(int irq, FAR void *context)
|
||||
{
|
||||
bool present;
|
||||
|
||||
present = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
bool present = !stm32_gpioread(GPIO_SDMMC1_NCD);
|
||||
|
||||
if (sdio_dev && present != g_sd_inserted) {
|
||||
sdio_mediachange(sdio_dev, present);
|
||||
|
|
@ -121,35 +119,31 @@ int stm32_sdio_initialize(void)
|
|||
|
||||
#ifdef HAVE_NCD
|
||||
/* Card detect */
|
||||
|
||||
bool cd_status;
|
||||
|
||||
/* Configure the card detect GPIO */
|
||||
|
||||
stm32_configgpio(GPIO_SDMMC1_NCD);
|
||||
|
||||
/* Register an interrupt handler for the card detect pin */
|
||||
|
||||
stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
|
||||
#endif
|
||||
|
||||
/* Mount the SDIO-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDIO interface */
|
||||
finfo("Initializing SDIO slot %d\n", 0);
|
||||
|
||||
finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
|
||||
|
||||
sdio_dev = sdio_initialize(SDIO_SLOTNO);
|
||||
sdio_dev = sdio_initialize(0);
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SDIO interface to the MMC/SD driver */
|
||||
|
||||
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
|
||||
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", 0);
|
||||
|
||||
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
|
||||
ret = mmcsd_slotinitialize(0, sdio_dev);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2020 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
|
||||
|
|
@ -37,16 +37,18 @@
|
|||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortC, GPIO::Pin2}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), // MPU_CS, MPU_DRDY
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}), // BARO_CS
|
||||
}),
|
||||
|
||||
initSPIBus(SPI::Bus::SPI2, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10})
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}) // FRAM_CS
|
||||
}),
|
||||
|
||||
initSPIBus(SPI::Bus::SPI4, {
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin13}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}),
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}), // MPU_EXT_CS
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
|
||||
}),
|
||||
};
|
||||
|
||||
|
|
@ -0,0 +1,51 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2020 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1, DMA{DMA::Index2, DMA::Stream5, DMA::Channel6}),
|
||||
initIOTimer(Timer::Timer4),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2020 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
|
||||
|
|
@ -37,56 +37,10 @@
|
|||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include "board_config.h"
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_otg.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the PX4FMU 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_STM32F7_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
|
|
@ -98,7 +52,6 @@ __EXPORT void stm32_usbinitialize(void)
|
|||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
|
||||
px4_add_board(
|
||||
PLATFORM nuttx
|
||||
VENDOR hex
|
||||
VENDOR cubepilot
|
||||
MODEL io-v2
|
||||
TOOLCHAIN arm-none-eabi
|
||||
CONSTRAINED_FLASH
|
||||
|
|
@ -1,17 +0,0 @@
|
|||
#
|
||||
# For a description of the syntax of this configuration file,
|
||||
# see misc/tools/kconfig-language.txt.
|
||||
#
|
||||
config BOARD_HAS_PROBES
|
||||
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
|
||||
default y
|
||||
---help---
|
||||
This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
|
||||
|
||||
config BOARD_USE_PROBES
|
||||
bool "Enable the use the board provided FMU-CH1-6 as PROBE_1-6"
|
||||
default n
|
||||
depends on BOARD_HAS_PROBES
|
||||
|
||||
---help---
|
||||
Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
|
||||
|
|
@ -1,130 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer1, DMA{DMA::Index2, DMA::Stream5, DMA::Channel6}),
|
||||
initIOTimer(Timer::Timer4),
|
||||
initIOTimer(Timer::Timer12),
|
||||
initIOTimer(Timer::Timer2),
|
||||
initIOTimer(Timer::Timer9),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
|
||||
#if defined(BOARD_HAS_LED_PWM) || defined(BOARD_HAS_UI_LED_PWM)
|
||||
constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
|
||||
# if defined(BOARD_HAS_UI_LED_PWM)
|
||||
initIOTimer(Timer::Timer5),
|
||||
# endif
|
||||
# if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
|
||||
initIOTimer(Timer::Timer3),
|
||||
# endif
|
||||
};
|
||||
|
||||
/* Support driving active low (preferred) or active high LED
|
||||
* on both the onboard status LEDs or the [n]UI_LED_<color>[_EXTERNAL]
|
||||
*
|
||||
* Use open drain to drive the LED. This will ensure that
|
||||
* if the LED has a 5 Volt supply that the LED will be
|
||||
* off when high.
|
||||
*/
|
||||
#define CCER_C1_NUM_BITS 4
|
||||
#define ACTIVE_LOW(c) (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS))
|
||||
#define ACTIVE_HIGH(c) 0
|
||||
|
||||
#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
|
||||
# define POLARITY(c) ACTIVE_LOW(c)
|
||||
# define DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN)
|
||||
#else
|
||||
# define POLARITY(c) ACTIVE_HIGH((c))
|
||||
# define DRIVE_TYPE(p) (p)
|
||||
#endif
|
||||
|
||||
#if defined(BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW)
|
||||
# define UI_POLARITY(c) ACTIVE_LOW(c)
|
||||
# define UI_DRIVE_TYPE(p) ((p)|GPIO_OPENDRAIN)
|
||||
#else
|
||||
# define UI_POLARITY(c) ACTIVE_HIGH((c))
|
||||
# define UI_DRIVE_TYPE(p) (p)
|
||||
#endif
|
||||
|
||||
static inline constexpr timer_io_channels_t initIOTimerChannelUILED(const io_timers_t io_timers_conf[MAX_LED_TIMERS],
|
||||
Timer::TimerChannel timer, GPIO::GPIOPin pin, int ui_polarity)
|
||||
{
|
||||
timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
|
||||
ret.gpio_out = UI_DRIVE_TYPE(ret.gpio_out);
|
||||
ret.masks = UI_POLARITY(ui_polarity);
|
||||
return ret;
|
||||
}
|
||||
|
||||
static inline constexpr timer_io_channels_t initIOTimerChannelControlLED(const io_timers_t
|
||||
io_timers_conf[MAX_LED_TIMERS],
|
||||
Timer::TimerChannel timer, GPIO::GPIOPin pin, int polarity)
|
||||
{
|
||||
timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
|
||||
ret.gpio_out = DRIVE_TYPE(ret.gpio_out);
|
||||
ret.masks = POLARITY(polarity);
|
||||
return ret;
|
||||
}
|
||||
|
||||
constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
|
||||
# if defined(BOARD_HAS_UI_LED_PWM)
|
||||
# if defined(BOARD_UI_LED_SWAP_RG)
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}, 2),
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}, 1),
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}, 3),
|
||||
# else
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortH, GPIO::Pin10}, 1),
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortH, GPIO::Pin11}, 2),
|
||||
initIOTimerChannelUILED(led_pwm_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortH, GPIO::Pin12}, 3),
|
||||
# endif
|
||||
# endif
|
||||
# if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
|
||||
initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}, 4),
|
||||
initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}, 1),
|
||||
initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortC, GPIO::Pin7}, 2),
|
||||
# endif
|
||||
};
|
||||
#endif // BOARD_HAS_LED_PWM || BOARD_HAS_UI_LED_PWM
|
||||
Loading…
Reference in New Issue