forked from Archive/PX4-Autopilot
CAN node STM32F7 support and Freefly RTK GPS CAN node
This commit is contained in:
Daniel Agar
GitHub
parent
1ad25369e7
commit
ecf2cd3afb
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@ -48,6 +48,8 @@ pipeline {
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"cuav_x7pro_default",
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"cubepilot_cubeorange_default",
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"cubepilot_cubeyellow_default",
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"freefly_can-rtk-gps_canbootloader",
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"freefly_can-rtk-gps_default",
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"holybro_can-gps-v1_canbootloader",
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"holybro_can-gps-v1_default",
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"holybro_durandal-v1_default",
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@ -32,6 +32,8 @@ jobs:
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cubepilot_cubeyellow_default,
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cubepilot_cubeyellow_test,
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cubepilot_io-v2_default,
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freefly_can-rtk-gps_canbootloader,
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freefly_can-rtk-gps_default,
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holybro_can-gps-v1_canbootloader,
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holybro_can-gps-v1_debug,
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holybro_can-gps-v1_default,
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@ -17,6 +17,7 @@ jobs:
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config: [
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ark_can-flow_default,
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cuav_can-gps-v1_default,
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freefly_can-rtk-gps_default,
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holybro_can-gps-v1_default,
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#nxp_ucans32k146_default,
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px4_fmu-v4_cannode
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@ -106,6 +106,16 @@ CONFIG:
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buildType: MinSizeRel
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settings:
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CONFIG: emlid_navio2_default
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freefly_can-rtk-gps_default:
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short: freefly_can-rtk-gps_default
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buildType: MinSizeRel
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settings:
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CONFIG: freefly_can-rtk-gps_default
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freefly_can-rtk-gps_canbootloader:
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short: freefly_can-rtk-gps_canbootloader
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buildType: MinSizeRel
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settings:
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CONFIG: freefly_can-rtk-gps_canbootloader
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holybro_can-gps-v1_canbootloader:
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short: holybro_can-gps-v1_canbootloader
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buildType: MinSizeRel
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@ -0,0 +1,14 @@
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include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
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px4_add_board(
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PLATFORM nuttx
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VENDOR freefly
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MODEL can-rtk-gps
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LABEL canbootloader
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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CONSTRAINED_MEMORY
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DRIVERS
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bootloaders
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lights/rgbled_ncp5623c
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)
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@ -0,0 +1,37 @@
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include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
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px4_add_board(
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PLATFORM nuttx
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VENDOR freefly
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MODEL can-rtk-gps
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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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#CONSTRAINED_FLASH
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ROMFSROOT cannode
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UAVCAN_INTERFACES 1
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DRIVERS
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barometer/bmp388
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bootloaders
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gps
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lights/rgbled_ncp5623c
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magnetometer/isentek/ist8310
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imu/st/lsm9ds1
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uavcannode
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MODULES
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#ekf2
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load_mon
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sensors
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SYSTEMCMDS
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led_control
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mft
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mtd
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param
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perf
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reboot
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system_time
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top
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# topic_listener
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ver
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work_queue
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)
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@ -0,0 +1,13 @@
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{
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"board_id": 85,
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"magic": "PX4FWv1",
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"description": "Firmware for the FreeFly RTK GPS",
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"image": "",
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"build_time": 0,
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"summary": "FFRTK",
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 2080768,
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"git_identity": "",
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"board_revision": 0
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}
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@ -0,0 +1,14 @@
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#!/bin/sh
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#
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# board sensors init
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#------------------------------------------------------------------------------
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rgbled_ncp5623c -I -b 1 -a 0x39 start
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ist8310 start -I -b 1 -a 0x0E
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bmp388 start -I -b b -a 0x77
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safety_button start
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gps start -d /dev/ttyS0 -g 115200 -p ubx
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@ -0,0 +1,67 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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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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CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
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CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
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CONFIG_ARCH_CHIP="stm32f7"
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CONFIG_ARCH_CHIP_STM32F722RE=y
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CONFIG_ARCH_CHIP_STM32F7=y
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CONFIG_ARCH_INTERRUPTSTACK=4096
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CONFIG_ARMV7M_MEMCPY=y
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CONFIG_ARMV7M_USEBASEPRI=y
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CONFIG_BINFMT_DISABLE=y
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CONFIG_BOARD_CUSTOM_LEDS=y
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CONFIG_BOARD_LOOPSPERMSEC=16717
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CONFIG_C99_BOOL8=y
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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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CONFIG_DEFAULT_SMALL=y
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CONFIG_DISABLE_MOUNTPOINT=y
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CONFIG_DISABLE_MQUEUE=y
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CONFIG_DISABLE_PTHREAD=y
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CONFIG_EXPERIMENTAL=y
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CONFIG_FDCLONE_DISABLE=y
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CONFIG_FDCLONE_STDIO=y
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CONFIG_HAVE_CXX=y
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CONFIG_HAVE_CXXINITIALIZE=y
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CONFIG_I2C=y
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CONFIG_I2C_POLLED=y
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CONFIG_I2C_RESET=y
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CONFIG_IDLETHREAD_STACKSIZE=4096
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CONFIG_LIBC_FLOATINGPOINT=y
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CONFIG_LIBC_LONG_LONG=y
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CONFIG_LIBC_STRERROR=y
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CONFIG_LIB_BOARDCTL=y
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CONFIG_MAX_TASKS=0
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CONFIG_MM_REGIONS=2
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CONFIG_NAME_MAX=0
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CONFIG_NUNGET_CHARS=0
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CONFIG_PREALLOC_TIMERS=0
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CONFIG_PTHREAD_STACK_MIN=512
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CONFIG_RAM_SIZE=262144
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CONFIG_RAM_START=0x20010000
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CONFIG_RAW_BINARY=y
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CONFIG_SDCLONE_DISABLE=y
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CONFIG_SIG_DEFAULT=y
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CONFIG_SIG_SIGALRM_ACTION=y
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CONFIG_SIG_SIGUSR1_ACTION=y
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CONFIG_SIG_SIGUSR2_ACTION=y
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CONFIG_STACK_COLORATION=y
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CONFIG_START_DAY=30
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CONFIG_START_MONTH=11
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CONFIG_STDIO_DISABLE_BUFFERING=y
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CONFIG_STM32F7_CAN1=y
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CONFIG_STM32F7_I2C1=y
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CONFIG_STM32F7_PROGMEM=y
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CONFIG_STM32F7_TIM8=y
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CONFIG_TASK_NAME_SIZE=0
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CONFIG_USEC_PER_TICK=1000
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CONFIG_USERMAIN_STACKSIZE=4096
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@ -0,0 +1,267 @@
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/************************************************************************************
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* configs/px4fmu/include/board.h
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* include/arch/board/board.h
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*
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* Copyright (C) 2009 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#pragma once
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#include "board_dma_map.h"
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#include <nuttx/config.h>
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#ifndef __ASSEMBLY__
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# include <stdint.h>
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#endif
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#include "stm32_rcc.h"
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/* HSI - 16 MHz RC factory-trimmed
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* LSI - 32 KHz RC
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* HSE - 16 MHz Crystal
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* LSE - not installed
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*/
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#define STM32_BOARD_XTAL 16000000ul
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#define STM32_HSI_FREQUENCY 16000000ul
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#define STM32_LSI_FREQUENCY 32000
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#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
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#define STM32_LSE_FREQUENCY 0
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/* Main PLL Configuration.
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*
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* PLL source is HSE = 16,000,000
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*
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* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
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* Subject to:
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*
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* 2 <= PLLM <= 63
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* 192 <= PLLN <= 432
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* 192 MHz <= PLL_VCO <= 432MHz
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*
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* SYSCLK = PLL_VCO / PLLP
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* Subject to
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*
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* PLLP = {2, 4, 6, 8}
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* SYSCLK <= 216 MHz
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*
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* USB OTG FS, SDMMC and RNG Clock = PLL_VCO / PLLQ
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* Subject to
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* The USB OTG FS requires a 48 MHz clock to work correctly. The SDMMC
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* and the random number generator need a frequency lower than or equal
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* to 48 MHz to work correctly.
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*
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* 2 <= PLLQ <= 15
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*/
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/* Highest SYSCLK with USB OTG FS clock = 48 MHz
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*
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* PLL_VCO = (16,000,000 / 8) * 216 = 432 MHz
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* SYSCLK = 432 MHz / 2 = 216 MHz
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* USB OTG FS, SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz
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*/
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#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
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#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(216)
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#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
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#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(9)
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#define STM32_VCO_FREQUENCY ((STM32_HSE_FREQUENCY / 8) * 216)
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#define STM32_SYSCLK_FREQUENCY (STM32_VCO_FREQUENCY / 2)
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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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#define STM32_RCC_PLLSAICFGR_PLLSAIQ RCC_PLLSAICFGR_PLLSAIQ(4)
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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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#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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#define STM32_RCC_DCKCFGR1_SAI1SRC RCC_DCKCFGR1_SAI1SEL(0)
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#define STM32_RCC_DCKCFGR1_SAI2SRC RCC_DCKCFGR1_SAI2SEL(0)
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#define STM32_RCC_DCKCFGR1_TIMPRESRC 0
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#define STM32_RCC_DCKCFGR1_DFSDM1SRC 0
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#define STM32_RCC_DCKCFGR1_ADFSDM1SRC 0
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/* Configure factors for PLLI2S clock */
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#define CONFIG_STM32F7_PLLI2S 1
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#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
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#define STM32_RCC_PLLI2SCFGR_PLLI2SP RCC_PLLI2SCFGR_PLLI2SP(2)
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#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
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#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
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/* Configure Dedicated Clock Configuration Register 2 */
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#define STM32_RCC_DCKCFGR2_USART1SRC RCC_DCKCFGR2_USART1SEL_APB
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#define STM32_RCC_DCKCFGR2_USART2SRC RCC_DCKCFGR2_USART2SEL_APB
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#define STM32_RCC_DCKCFGR2_UART4SRC RCC_DCKCFGR2_UART4SEL_APB
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#define STM32_RCC_DCKCFGR2_UART5SRC RCC_DCKCFGR2_UART5SEL_APB
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#define STM32_RCC_DCKCFGR2_USART6SRC RCC_DCKCFGR2_USART6SEL_APB
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#define STM32_RCC_DCKCFGR2_UART7SRC RCC_DCKCFGR2_UART7SEL_APB
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#define STM32_RCC_DCKCFGR2_UART8SRC RCC_DCKCFGR2_UART8SEL_APB
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#define STM32_RCC_DCKCFGR2_I2C1SRC RCC_DCKCFGR2_I2C1SEL_HSI
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#define STM32_RCC_DCKCFGR2_I2C2SRC RCC_DCKCFGR2_I2C2SEL_HSI
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#define STM32_RCC_DCKCFGR2_I2C3SRC RCC_DCKCFGR2_I2C3SEL_HSI
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#define STM32_RCC_DCKCFGR2_I2C4SRC RCC_DCKCFGR2_I2C4SEL_HSI
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#define STM32_RCC_DCKCFGR2_LPTIM1SRC RCC_DCKCFGR2_LPTIM1SEL_APB
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#define STM32_RCC_DCKCFGR2_CECSRC RCC_DCKCFGR2_CECSEL_HSI
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#define STM32_RCC_DCKCFGR2_CK48MSRC RCC_DCKCFGR2_CK48MSEL_PLL
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#define STM32_RCC_DCKCFGR2_SDMMCSRC RCC_DCKCFGR2_SDMMCSEL_48MHZ
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#define STM32_RCC_DCKCFGR2_SDMMC2SRC RCC_DCKCFGR2_SDMMC2SEL_48MHZ
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#define STM32_RCC_DCKCFGR2_DSISRC RCC_DCKCFGR2_DSISEL_PHY
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/* Several prescalers allow the configuration of the two AHB buses, the
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* high-speed APB (APB2) and the low-speed APB (APB1) domains. The maximum
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* frequency of the two AHB buses is 216 MHz while the maximum frequency of
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* the high-speed APB domains is 108 MHz. The maximum allowed frequency of
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* the low-speed APB domain is 54 MHz.
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*/
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/* AHB clock (HCLK) is SYSCLK (216 MHz) */
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#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
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#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
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#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
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/* APB1 clock (PCLK1) is HCLK/4 (54 MHz) */
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||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
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/* Timers driven from APB1 will be twice PCLK1 */
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#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
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/* APB2 clock (PCLK2) is HCLK/2 (108MHz) */
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#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
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#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
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/* Timers driven from APB2 will be twice PCLK2 */
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#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
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/* FLASH wait states
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*
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* --------- ---------- -----------
|
||||
* VDD MAX SYSCLK WAIT STATES
|
||||
* --------- ---------- -----------
|
||||
* 1.7-2.1 V 180 MHz 8
|
||||
* 2.1-2.4 V 216 MHz 9
|
||||
* 2.4-2.7 V 216 MHz 8
|
||||
* 2.7-3.6 V 216 MHz 7
|
||||
* --------- ---------- -----------
|
||||
*/
|
||||
|
||||
#define BOARD_FLASH_WAITSTATES 7
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* The board has numerous LEDs but 1, RED LED
|
||||
|
||||
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
|
||||
* The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
|
||||
/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
|
||||
* include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
|
||||
* events as follows:
|
||||
*
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* Red
|
||||
* ---------------------- -------------------------- ------ */
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF */
|
||||
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF */
|
||||
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF */
|
||||
#define LED_INIRQ 4 /* In an interrupt N/C */
|
||||
#define LED_SIGNAL 5 /* In a signal handler N/C */
|
||||
#define LED_ASSERTION 6 /* An assertion failed GLOW N/C GLOW */
|
||||
#define LED_PANIC 7 /* The system has crashed Blink OFF N/C */
|
||||
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
|
||||
|
||||
|
||||
/* UARTs */
|
||||
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_1 /* PA2 */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1 /* PA3 */
|
||||
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_1 /* PB10 */
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_1 /* PB11 */
|
||||
|
||||
|
||||
/* CAN */
|
||||
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_2 /* PB8 */
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_2 /* PB9 */
|
||||
|
||||
|
||||
/* I2C */
|
||||
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1 /* PB6 */
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1 /* PB7 */
|
||||
|
||||
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 /* PA8 */
|
||||
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1 /* PC9 */
|
||||
|
||||
|
||||
/* SPI */
|
||||
|
||||
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2 /* PC11 */
|
||||
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_3 /* PC12 */
|
||||
#define GPIO_SPI3_SCK GPIO_SPI3_SCK_1 /* PB3 */
|
||||
|
||||
|
|
@ -0,0 +1,102 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
/*
|
||||
| DMA1 | Stream 0 | Stream 1 | Stream 2 | Stream 3 | Stream 4 | Stream 5 | Stream 6 | Stream 7 |
|
||||
|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
|
||||
| Channel 0 | SPI3_RX_1 | SPDIFRX_DT | SPI3_RX_2 | SPI2_RX | SPI2_TX | SPI3_TX_1 | SPDIFRX_CS | SPI3_TX_2 |
|
||||
| Channel 1 | I2C1_RX | I2C3_RX | TIM7_UP_1 | - | TIM7_UP_2 | I2C1_RX_1 | I2C1_TX | I2C1_TX_1 |
|
||||
| Channel 2 | TIM4_CH1 | - | I2C4_RX | TIM4_CH2 | - | I2C4_RX | TIM4_UP | TIM4_CH3 |
|
||||
| Channel 3 | - | TIM2_UP_1 | I2C3_RX_1 | - | I2C3_TX | TIM2_CH1 | TIM2_CH2 | TIM2_UP_2 |
|
||||
| | | TIM2_CH3 | | | | | TIM2_CH4_1 | TIM2_CH4_2 |
|
||||
| Channel 4 | UART5_RX | USART3_RX | UART4_RX | USART3_TX_1 | UART4_TX | USART2_RX | USART2_TX | UART5_TX |
|
||||
| Channel 5 | UART8_TX | UART7_TX | TIM3_CH4 | UART7_RX | TIM3_CH1 | TIM3_CH2 | UART8_RX | TIM3_CH3 |
|
||||
| | | | TIM3_UP | | TIM3_TRIG | | | |
|
||||
| Channel 6 | TIM5_CH3 | TIM5_CH4_1 | TIM5_CH1 | TIM5_CH4_2 | TIM5_CH2 | - | TIM5_UP_2 | - |
|
||||
| | TIM5_UP_1 | TIM5_TRIG_1 | | TIM5_TRIG_2 | | | | |
|
||||
| Channel 7 | - | TIM6_UP | I2C2_RX | I2C2_RX_1 | USART3_TX_2 | DAC1 | DAC2 | I2C2_TX |
|
||||
| Channel 8 | I2C3_TX | I2C4_RX | - | - | I2C2_TX | - | I2C4_TX | - |
|
||||
| Channel 9 | - | SPI2_RX | - | - | - | - | SPI2_TX | - |
|
||||
| | | | | | | | | |
|
||||
| Usage | SPI3_RX_1 | | | | | USART2_RX | USART2_TX | SPI3_TX_2 |
|
||||
|
||||
|
||||
| DMA2 | Stream 0 | Stream 1 | Stream 2 | Stream 3 | Stream 4 | Stream 5 | Stream 6 | Stream 7 |
|
||||
|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
|
||||
| Channel 0 | ADC1_1 | SAI1_A | TIM8_CH1_1 | SAI1_A_1 | ADC1_2 | SAI1_B_1 | TIM1_CH1_1 | SAI2_B_2 |
|
||||
| | | | TIM8_CH2_1 | | | | TIM1_CH2_1 | |
|
||||
| | | | TIM8_CH3_1 | | | | TIM1_CH3_1 | |
|
||||
| Channel 1 | - | DCMI_1 | ADC2_1 | ADC2_2 | SAI1_B | SPI6_TX | SPI6_RX | DCMI_2 |
|
||||
| Channel 2 | ADC3_1 | ADC3_2 | - | SPI5_RX_1 | SPI5_TX_1 | CRYP_OUT | CRYP_IN | HASH_IN |
|
||||
| Channel 3 | SPI1_RX_1 | - | SPI1_RX_2 | SPI1_TX_1 | SAI2_A | SPI1_TX_2 | SAI2_B | QUADSPI |
|
||||
| Channel 4 | SPI4_RX_1 | SPI4_TX_1 | USART1_RX_1 | SDMMC1_1 | - | USART1_RX_2 | SDMMC1_2 | USART1_TX |
|
||||
| Channel 5 | - | USART6_RX_1 | USART6_RX_2 | SPI4_RX_2 | SPI4_TX_2 | - | USART6_TX_1 | USART6_TX_2 |
|
||||
| Channel 6 | TIM1_TRIG_1 | TIM1_CH1_2 | TIM1_CH2_2 | TIM1_CH1 | TIM1_CH4 | TIM1_UP | TIM1_CH3_2 | - |
|
||||
| | | | | | TIM1_TRIG_2 | | | |
|
||||
| | | | | | TIM1_COM | | | |
|
||||
| Channel 7 | - | TIM8_UP | TIM8_CH1_2 | TIM8_CH2_2 | TIM8_CH3_2 | SPI5_RX_2 | SPI5_TX_2 | TIM8_CH4 |
|
||||
| | | | | | | | | TIM8_TRIG |
|
||||
| | | | | | | | | TIM8_COM |
|
||||
| Channel 8 | DSFDM1_FLT0 | DSFDM1_FLT1 | DSFDM1_FLT2 | DSFDM1_FLT3 | DSFDM1_FLT0 | DSFDM1_FLT1 | DSFDM1_FLT2 | DSFDM1_FLT3 |
|
||||
| Channel 9 | JPEG_IN | JPEG_OUT | SPI4_TX | JPEG_IN | JPEG_OUT | SPI5_RX | - | - |
|
||||
| Channel 10 | SAI1_B | SAI2_B | SAI2_A | - | - | - | SAI1_A | - |
|
||||
| Channel 11 | SDMMC2 | - | QUADSPI | - | - | SDMMC2 | - | - |
|
||||
| | | | | | | | | |
|
||||
| Usage | SPI4_RX_1 | TIM8_UP | | | SPI4_TX_2 | TIM1_UP | | |
|
||||
*/
|
||||
|
||||
// DMA1 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
// SPI3_RX_1 // DMA1, Stream 0, Channel 0
|
||||
// AVAILABLE // DMA1, Stream 1
|
||||
// AVAILABLE // DMA1, Stream 1
|
||||
// AVAILABLE // DMA1, Stream 3
|
||||
// AVAILABLE // DMA1, Stream 4
|
||||
// DMAMAP_USART2_RX // DMA1, Stream 5, Channel 4
|
||||
// DMAMAP_USART2_TX // DMA1, Stream 6, Channel 4
|
||||
// SPI3_TX_2 // DMA1, Stream 7, Channel 0
|
||||
|
||||
|
||||
// DMA2 Channel/Stream Selections
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
// AVAILABLE // DMA1, Stream 0
|
||||
// AVAILABLE // DMA1, Stream 1
|
||||
#define DMAMAP_USART1_RX USART1_RX_1 // DMA1, Stream 2, Channel 4
|
||||
// AVAILABLE // DMA1, Stream 3
|
||||
// AVAILABLE // DMA1, Stream 4
|
||||
// AVAILABLE // DMA1, Stream 5
|
||||
// AVAILABLE // DMA1, Stream 6
|
||||
// DMAMAP_USART1_TX USART1_TX // DMA1, Stream 7, Channel 5
|
||||
|
||||
|
|
@ -0,0 +1,175 @@
|
|||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_OS_API is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32f7"
|
||||
CONFIG_ARCH_CHIP_STM32F722RE=y
|
||||
CONFIG_ARCH_CHIP_STM32F7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x0016
|
||||
CONFIG_CDCACM_PRODUCTSTR="PX4 FreeFly RTK GPS"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x26ac
|
||||
CONFIG_CDCACM_VENDORSTR="Freefly"
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MM_REGIONS=2
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NFILE_DESCRIPTORS=12
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARCHROMFS=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_MB=y
|
||||
CONFIG_NSH_DISABLE_MH=y
|
||||
CONFIG_NSH_DISABLE_MW=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAMTRON_WRITEWAIT=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32F7_CAN1=y
|
||||
CONFIG_STM32F7_DMA1=y
|
||||
CONFIG_STM32F7_DMA2=y
|
||||
CONFIG_STM32F7_DMACAPABLE=y
|
||||
CONFIG_STM32F7_I2C1=y
|
||||
CONFIG_STM32F7_I2C3=y
|
||||
CONFIG_STM32F7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32F7_OTGFS=y
|
||||
CONFIG_STM32F7_PROGMEM=y
|
||||
CONFIG_STM32F7_PWR=y
|
||||
CONFIG_STM32F7_RTC=y
|
||||
CONFIG_STM32F7_RTC_HSECLOCK=y
|
||||
CONFIG_STM32F7_RTC_MAGIC=0xfacefeee
|
||||
CONFIG_STM32F7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32F7_RTC_MAGIC_TIME_SET=0xfacefeef
|
||||
CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32F7_SPI3=y
|
||||
CONFIG_STM32F7_TIM8=y
|
||||
CONFIG_STM32F7_USART2=y
|
||||
CONFIG_STM32F7_USART3=y
|
||||
CONFIG_STM32F7_USART_BREAKS=y
|
||||
CONFIG_STM32F7_WWDG=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_TXBUFSIZE=1100
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_RXBUFSIZE=600
|
||||
CONFIG_USART3_SERIAL_CONSOLE=y
|
||||
CONFIG_USART3_TXBUFSIZE=1100
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2624
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
|
|
@ -0,0 +1,155 @@
|
|||
/****************************************************************************
|
||||
* nuttx-config/scripts/canbootloader_script.ld
|
||||
*
|
||||
* Copyright (C) 2015 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 STM32F722ZE has 512 KiB of main FLASH memory. This FLASH memory
|
||||
* can be accessed from either the AXIM interface at address 0x0800:0000 or
|
||||
* from the ITCM interface at address 0x0020:0000.
|
||||
*
|
||||
* Additional information, including the option bytes, is available at at
|
||||
* FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
|
||||
*
|
||||
* In the STM32F32RE, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash on ITCM at 0x0020:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x0010:0000
|
||||
*
|
||||
* NuttX does not modify these option bytes. On the unmodified NUCLEO-144
|
||||
* board, the BOOT0 pin is at ground so by default, the STM32F32RE will
|
||||
* boot from address 0x0020:0000 in ITCM FLASH.
|
||||
*
|
||||
* The STM32F32RE also has 256 KiB of data SRAM (in addition to ITCM SRAM).
|
||||
* SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 64 KiB of DTCM SRM beginning at address 0x2000:0000
|
||||
* 2) 176 KiB of SRAM1 beginning at address 0x2001:0000
|
||||
* 3) 16 KiB of SRAM2 beginning at address 0x2003:c000
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
itcm (rwx) : ORIGIN = 0x00200000, LENGTH = 512K
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 32K
|
||||
dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
sram1 (rwx) : ORIGIN = 0x20010000, LENGTH = 176K
|
||||
sram2 (rwx) : ORIGIN = 0x2003c000, LENGTH = 16K
|
||||
}
|
||||
|
||||
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(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = 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(.);
|
||||
} > sram1 AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram1
|
||||
|
||||
/* 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) }
|
||||
}
|
||||
|
|
@ -0,0 +1,169 @@
|
|||
/****************************************************************************
|
||||
* scripts/script.ld
|
||||
*
|
||||
* Copyright (C) 2016 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 STM32F32RE has 512 KiB of main FLASH memory. This FLASH memory
|
||||
* can be accessed from either the AXIM interface at address 0x0800:0000 or
|
||||
* from the ITCM interface at address 0x0020:0000.
|
||||
*
|
||||
* Additional information, including the option bytes, is available at at
|
||||
* FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
|
||||
*
|
||||
* In the STM32F32RE, two different boot spaces can be selected through
|
||||
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
|
||||
* BOOT_ADD1 option bytes:
|
||||
*
|
||||
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
|
||||
* ST programmed value: Flash on ITCM at 0x0020:0000
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x0010:0000
|
||||
*
|
||||
* NuttX does not modify these option bytes. On the unmodified NUCLEO-144
|
||||
* board, the BOOT0 pin is at ground so by default, the STM32F32RE will
|
||||
* boot from address 0x0020:0000 in ITCM FLASH.
|
||||
*
|
||||
* The STM32F32RE also has 256 KiB of data SRAM (in addition to ITCM SRAM).
|
||||
* SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 64 KiB of DTCM SRM beginning at address 0x2000:0000
|
||||
* 2) 176 KiB of SRAM1 beginning at address 0x2001:0000
|
||||
* 3) 16 KiB of SRAM2 beginning at address 0x2003:c000
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
itcm (rwx) : ORIGIN = 0x00200000, LENGTH = 512K
|
||||
flash (rx) : ORIGIN = 0x08010000, LENGTH = 512K-64K
|
||||
dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
sram1 (rwx) : ORIGIN = 0x20010000, LENGTH = 176K
|
||||
sram2 (rwx) : ORIGIN = 0x2003c000, LENGTH = 16K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
EXTERN(_vectors)
|
||||
ENTRY(_stext)
|
||||
|
||||
/*
|
||||
* 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)
|
||||
EXTERN(_bootdelay_signature)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = ALIGN(8);
|
||||
/*
|
||||
* This section positions the app_descriptor_t used
|
||||
* by the make_can_boot_descriptor.py tool to set
|
||||
* the application image's descriptor so that the
|
||||
* uavcan bootloader has the ability to validate the
|
||||
* image crc, size etc
|
||||
*/
|
||||
KEEP(*(.app_descriptor))
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.glue_7)
|
||||
*(.glue_7t)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = 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(.);
|
||||
} > sram1 AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram1
|
||||
|
||||
/* 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) }
|
||||
}
|
||||
|
|
@ -0,0 +1,67 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
if("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
|
||||
|
||||
add_library(drivers_board
|
||||
boot_config.h
|
||||
boot.c
|
||||
i2c.cpp
|
||||
led.cpp
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
canbootloader
|
||||
)
|
||||
target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
|
||||
|
||||
else()
|
||||
add_library(drivers_board
|
||||
can.c
|
||||
i2c.cpp
|
||||
init.c
|
||||
spi.cpp
|
||||
usb.c
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_spi
|
||||
nuttx_arch
|
||||
nuttx_drivers
|
||||
px4_layer
|
||||
arch_io_pins
|
||||
)
|
||||
endif()
|
||||
|
|
@ -0,0 +1,72 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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
|
||||
*
|
||||
* board internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/* BUTTON *************************************************************************** */
|
||||
|
||||
#define BUTTON_SAFETY /* PC14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN14|GPIO_EXTI)
|
||||
|
||||
#define GPIO_LED_SAFETY (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN6)
|
||||
#define GPIO_BTN_SAFETY (BUTTON_SAFETY & ~GPIO_EXTI)
|
||||
|
||||
|
||||
#define FLASH_BASED_PARAMS
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 2 /* use timer 2 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */
|
||||
|
||||
#define BOARD_ENABLE_CONSOLE_BUFFER
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
|
|
@ -0,0 +1,192 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
* Author: Ben Dyer <ben_dyer@mac.com>
|
||||
* Pavel Kirienko <pavel.kirienko@zubax.com>
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <stdint.h>
|
||||
#include "boot_config.h"
|
||||
#include "led.h"
|
||||
#include "board.h"
|
||||
|
||||
#include <debug.h>
|
||||
#include <string.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
|
||||
stm32_configgpio(GPIO_CAN1_RX);
|
||||
stm32_configgpio(GPIO_CAN1_TX);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
|
||||
stm32_configgpio(GPIO_LED_SAFETY);
|
||||
|
||||
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
|
||||
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_deinitialize
|
||||
*
|
||||
* Description:
|
||||
* This function is called by the bootloader code prior to booting
|
||||
* the application. Is should place the HW into an benign initialized state.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_deinitialize(void)
|
||||
{
|
||||
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_product_name
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the product name. The returned value is a assumed
|
||||
* to be written to a pascal style string that will be length prefixed
|
||||
* and not null terminated
|
||||
*
|
||||
* Input Parameters:
|
||||
* product_name - A pointer to a buffer to write the name.
|
||||
* maxlen - The maximum number of charter that can be written
|
||||
*
|
||||
* Returned Value:
|
||||
* The length of characters written to the buffer.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
|
||||
{
|
||||
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
||||
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_get_hardware_version
|
||||
*
|
||||
* Description:
|
||||
* Called to retrieve the hardware version information. The function
|
||||
* will first initialize the the callers struct to all zeros.
|
||||
*
|
||||
* Input Parameters:
|
||||
* hw_version - A pointer to a uavcan_hardwareversion_t.
|
||||
*
|
||||
* Returned Value:
|
||||
* Length of the unique_id
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
|
||||
{
|
||||
memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
|
||||
|
||||
hw_version->major = HW_VERSION_MAJOR;
|
||||
hw_version->minor = HW_VERSION_MINOR;
|
||||
|
||||
return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_indicate
|
||||
*
|
||||
* Description:
|
||||
* Provides User feedback to indicate the state of the bootloader
|
||||
* on board specific hardware.
|
||||
*
|
||||
* Input Parameters:
|
||||
* indication - A member of the uiindication_t
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
|
||||
|
||||
typedef begin_packed_struct struct led_t {
|
||||
uint8_t red;
|
||||
uint8_t green;
|
||||
uint8_t blue;
|
||||
uint8_t hz;
|
||||
} end_packed_struct led_t;
|
||||
|
||||
static const led_t i2l[] = {
|
||||
|
||||
led(0, off, 0, 0, 0, 0),
|
||||
led(1, reset, 10, 63, 31, 255),
|
||||
led(2, autobaud_start, 0, 63, 0, 1),
|
||||
led(3, autobaud_end, 0, 63, 0, 2),
|
||||
led(4, allocation_start, 0, 0, 31, 2),
|
||||
led(5, allocation_end, 0, 63, 31, 3),
|
||||
led(6, fw_update_start, 15, 63, 31, 3),
|
||||
led(7, fw_update_erase_fail, 15, 63, 15, 3),
|
||||
led(8, fw_update_invalid_response, 31, 0, 0, 1),
|
||||
led(9, fw_update_timeout, 31, 0, 0, 2),
|
||||
led(a, fw_update_invalid_crc, 31, 0, 0, 4),
|
||||
led(b, jump_to_app, 0, 63, 0, 10),
|
||||
|
||||
};
|
||||
|
||||
void board_indicate(uiindication_t indication)
|
||||
{
|
||||
rgb_led(i2l[indication].red << 3,
|
||||
i2l[indication].green << 2,
|
||||
i2l[indication].blue << 3,
|
||||
i2l[indication].hz);
|
||||
}
|
||||
|
||||
__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
|
||||
{
|
||||
}
|
||||
|
|
@ -0,0 +1,134 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 boot_config.h
|
||||
*
|
||||
* bootloader definitions that configures the behavior and options
|
||||
* of the Boot loader
|
||||
* This file is relies on the parent folder's boot_config.h file and defines
|
||||
* different usages of the hardware for bootloading
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
/* Bring in the board_config.h definitions
|
||||
* todo:make this be pulled in from a targed's build
|
||||
* files in nuttx*/
|
||||
|
||||
#include "board_config.h"
|
||||
#include "uavcan.h"
|
||||
#include <nuttx/compiler.h>
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <hardware/stm32_flash.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
|
||||
|
||||
//todo:wrap OPT_x in in ifdefs for command line definitions
|
||||
#define OPT_TBOOT_MS 5000
|
||||
#define OPT_NODE_STATUS_RATE_MS 800
|
||||
#define OPT_NODE_INFO_RATE_MS 50
|
||||
#define OPT_BL_NUMBER_TIMERS 7
|
||||
|
||||
/*
|
||||
* This Option set is set to 1 ensure a provider of firmware has an
|
||||
* opportunity update the node's firmware.
|
||||
* This Option is the default policy and can be overridden by
|
||||
* a jumper
|
||||
* When this Policy is set, the node will ignore tboot and
|
||||
* wait indefinitely for a GetNodeInfo request before booting.
|
||||
*
|
||||
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
|
||||
* the polarity of the jumper to be True Active
|
||||
*
|
||||
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
|
||||
* Jumper
|
||||
* yes 1 0 x
|
||||
* yes 1 1 Active
|
||||
* no 1 1 Not Active
|
||||
* no 0 0 X
|
||||
* yes 0 1 Active
|
||||
* no 0 1 Not Active
|
||||
*
|
||||
*/
|
||||
#define OPT_WAIT_FOR_GETNODEINFO 0
|
||||
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
|
||||
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
|
||||
|
||||
#define OPT_ENABLE_WD 1
|
||||
|
||||
#define OPT_RESTART_TIMEOUT_MS 20000
|
||||
|
||||
/* Reserved for the Booloader */
|
||||
#define OPT_BOOTLOADER_SIZE_IN_K (1024*64)
|
||||
|
||||
/* Reserved for the application out of the total
|
||||
* system flash minus the BOOTLOADER_SIZE_IN_K
|
||||
*/
|
||||
#define OPT_APPLICATION_RESERVER_IN_K 0
|
||||
|
||||
#define OPT_APPLICATION_IMAGE_OFFSET OPT_BOOTLOADER_SIZE_IN_K
|
||||
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
|
||||
|
||||
|
||||
#define FLASH_BASE STM32_FLASH_BASE
|
||||
#define FLASH_SIZE STM32_FLASH_SIZE
|
||||
|
||||
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
|
||||
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
|
||||
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
|
||||
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
|
||||
|
||||
/* If this board uses big flash that have large sectors */
|
||||
|
||||
#define OPT_USE_YIELD
|
||||
|
||||
/* I2C LED needs 8 bytes */
|
||||
|
||||
#define OPT_SIMPLE_MALLOC_HEAP_SIZE 8
|
||||
|
||||
/* Bootloader Option*****************************************************************
|
||||
*
|
||||
*/
|
||||
#define GPIO_GETNODEINFO_JUMPER GPIO_BTN_SAFETY
|
||||
|
|
@ -0,0 +1,127 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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 can.c
|
||||
*
|
||||
* Board-specific CAN functions.
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_CAN
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/can/can.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "arm_arch.h"
|
||||
|
||||
#include "chip.h"
|
||||
#include "stm32_can.h"
|
||||
#include "board_config.h"
|
||||
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
|
||||
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
|
||||
# undef CONFIG_STM32_CAN2
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_CAN1
|
||||
# define CAN_PORT 1
|
||||
#else
|
||||
# define CAN_PORT 2
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
int can_devinit(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: can_devinit
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following interface to work with
|
||||
* examples/can.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int can_devinit(void)
|
||||
{
|
||||
static bool initialized = false;
|
||||
struct can_dev_s *can;
|
||||
int ret;
|
||||
|
||||
/* Check if we have already initialized */
|
||||
|
||||
if (!initialized) {
|
||||
/* Call stm32_caninitialize() to get an instance of the CAN interface */
|
||||
|
||||
can = stm32_caninitialize(CAN_PORT);
|
||||
|
||||
if (can == NULL) {
|
||||
canerr("ERROR: Failed to get CAN interface\n");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Register the CAN driver at "/dev/can0" */
|
||||
|
||||
ret = can_register("/dev/can0", can);
|
||||
|
||||
if (ret < 0) {
|
||||
canerr("ERROR: can_register failed: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
/* Now we are initialized */
|
||||
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusInternal(1),
|
||||
initI2CBusInternal(3),
|
||||
};
|
||||
|
|
@ -0,0 +1,148 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 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 init.c
|
||||
*
|
||||
* 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 initialization.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/tasks.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 <chip.h>
|
||||
#include <stm32_uart.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <drivers/drv_watchdog.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
# if defined(FLASH_BASED_PARAMS)
|
||||
# include <parameters/flashparams/flashfs.h>
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
//watchdog_init();
|
||||
|
||||
// Configure CAN interface
|
||||
stm32_configgpio(GPIO_CAN1_RX);
|
||||
stm32_configgpio(GPIO_CAN1_TX);
|
||||
|
||||
stm32_configgpio(GPIO_LED_SAFETY);
|
||||
stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
|
||||
// Configure SPI all interfaces GPIO & enable power.
|
||||
stm32_spiinitialize();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
* 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)
|
||||
{
|
||||
px4_platform_init();
|
||||
|
||||
#if defined(FLASH_BASED_PARAMS)
|
||||
static sector_descriptor_t params_sector_map[] = {
|
||||
{1, 32 * 1024, 0x08008000},
|
||||
{2, 32 * 1024, 0x08010000},
|
||||
{0, 0, 0},
|
||||
};
|
||||
|
||||
/* Initialize the flashfs layer to use heap allocated memory */
|
||||
int result = parameter_flashfs_init(params_sector_map, NULL, 0);
|
||||
|
||||
if (result != OK) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
#endif // FLASH_BASED_PARAMS
|
||||
|
||||
//px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
|
@ -0,0 +1,239 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include "led.h"
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include <hardware/stm32_tim.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <lib/led/led.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
#include "cxx_init.h"
|
||||
void board_autoled_on(int led);
|
||||
void board_autoled_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
using namespace time_literals;
|
||||
#define MODULE_NAME "LED"
|
||||
|
||||
#define ADDR 0x39 /**< I2C adress of NCP5623C */
|
||||
|
||||
#define NCP5623_LED_CURRENT 0x20 /**< Current register */
|
||||
#define NCP5623_LED_PWM0 0x40 /**< pwm0 register */
|
||||
#define NCP5623_LED_PWM1 0x60 /**< pwm1 register */
|
||||
#define NCP5623_LED_PWM2 0x80 /**< pwm2 register */
|
||||
|
||||
#define NCP5623_LED_BRIGHT 0x1f /**< full brightness */
|
||||
#define NCP5623_LED_OFF 0x00 /**< off */
|
||||
|
||||
|
||||
class RGBLED_NPC5623C : public device::I2C
|
||||
{
|
||||
public:
|
||||
RGBLED_NPC5623C(const int bus, int bus_frequency, const int address);
|
||||
virtual ~RGBLED_NPC5623C() = default;
|
||||
|
||||
int init() override;
|
||||
int probe() override;
|
||||
|
||||
int send_led_rgb(uint8_t red, uint8_t green, uint8_t blue);
|
||||
|
||||
|
||||
private:
|
||||
float _brightness{1.0f};
|
||||
float _max_brightness{1.0f};
|
||||
|
||||
int write(uint8_t reg, uint8_t data);
|
||||
};
|
||||
|
||||
RGBLED_NPC5623C::RGBLED_NPC5623C(const int bus, int bus_frequency, const int address) :
|
||||
I2C(DRV_LED_DEVTYPE_RGBLED_NCP5623C, MODULE_NAME, bus, address, bus_frequency)
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
RGBLED_NPC5623C::write(uint8_t reg, uint8_t data)
|
||||
{
|
||||
uint8_t msg[1] = { 0x00 };
|
||||
msg[0] = ((reg & 0xe0) | (data & 0x1f));
|
||||
|
||||
int ret = transfer(&msg[0], 1, nullptr, 0);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
RGBLED_NPC5623C::init()
|
||||
{
|
||||
int ret = I2C::init();
|
||||
|
||||
if (ret != OK) {
|
||||
return ret;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
RGBLED_NPC5623C::probe()
|
||||
{
|
||||
_retries = 4;
|
||||
|
||||
return write(NCP5623_LED_CURRENT, 0x00);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Send RGB PWM settings to LED driver according to current color and brightness
|
||||
*/
|
||||
int
|
||||
RGBLED_NPC5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue)
|
||||
{
|
||||
|
||||
uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80};
|
||||
uint8_t brightness = 0x1f * _max_brightness;
|
||||
|
||||
msg[0] = NCP5623_LED_CURRENT | (brightness & 0x1f);
|
||||
msg[2] = NCP5623_LED_PWM0 | (uint8_t(red * _brightness) & 0x1f);
|
||||
msg[4] = NCP5623_LED_PWM1 | (uint8_t(green * _brightness) & 0x1f);
|
||||
msg[6] = NCP5623_LED_PWM2 | (uint8_t(blue * _brightness) & 0x1f);
|
||||
|
||||
return transfer(&msg[0], 7, nullptr, 0);
|
||||
}
|
||||
|
||||
static RGBLED_NPC5623C instance(1, 100000, ADDR);
|
||||
|
||||
#define TMR_BASE STM32_TIM1_BASE
|
||||
#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
|
||||
#define TMR_REG(o) (TMR_BASE+(o))
|
||||
|
||||
static uint8_t _rgb[] = {0, 0, 0};
|
||||
|
||||
static int timerInterrupt(int irq, void *context, void *arg)
|
||||
{
|
||||
putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
|
||||
|
||||
static int d2 = 1;
|
||||
(d2++ & 1) ? instance.send_led_rgb(0, 0, 0) : instance.send_led_rgb(_rgb[0], _rgb[1], _rgb[2]);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void rgb_led(int r, int g, int b, int freqs)
|
||||
{
|
||||
long fosc = TMR_FREQUENCY;
|
||||
long prescale = 1536;
|
||||
long p1s = fosc / prescale;
|
||||
long p0p5s = p1s / 2;
|
||||
uint16_t val;
|
||||
static bool once = false;
|
||||
|
||||
if (!once) {
|
||||
cxx_initialize();
|
||||
|
||||
if (instance.init() != PX4_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
|
||||
|
||||
/* Reload */
|
||||
val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
|
||||
val |= ATIM_EGR_UG;
|
||||
putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
|
||||
|
||||
/* Set Prescaler STM32_TIM_SETCLOCK */
|
||||
putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
|
||||
|
||||
/* Enable STM32_TIM_SETMODE*/
|
||||
putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
|
||||
|
||||
|
||||
irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
|
||||
up_enable_irq(STM32_IRQ_TIM1CC);
|
||||
putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
|
||||
once = true;
|
||||
}
|
||||
|
||||
long p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
|
||||
putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
|
||||
putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
|
||||
_rgb[0] = r;
|
||||
_rgb[1] = g;
|
||||
_rgb[2] = b;
|
||||
|
||||
val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
|
||||
if (freqs == 0) {
|
||||
val &= ~ATIM_CR1_CEN;
|
||||
|
||||
} else {
|
||||
val |= ATIM_CR1_CEN;
|
||||
}
|
||||
|
||||
putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_on
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT void board_autoled_on(int led)
|
||||
{
|
||||
if (led == LED_ASSERTION || led == LED_PANIC) {
|
||||
stm32_gpiowrite(GPIO_LED_SAFETY, true);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_off
|
||||
****************************************************************************/
|
||||
|
||||
__EXPORT void board_autoled_off(int led)
|
||||
{
|
||||
if (led == LED_ASSERTION || led == LED_PANIC) {
|
||||
stm32_gpiowrite(GPIO_LED_SAFETY, false);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,37 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
__BEGIN_DECLS
|
||||
void rgb_led(int r, int g, int b, int freqs);
|
||||
__END_DECLS
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI3, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG, SPI::CS{GPIO::PortA, GPIO::Pin15}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
|
|
@ -0,0 +1,93 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2021 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 usb.c
|
||||
*
|
||||
* 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 <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include <arm_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_otg.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the 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 GPIO_OTGFS_VBUS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#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)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
|
|
@ -0,0 +1,17 @@
|
|||
# UAVCAN boot loadable Module ID
|
||||
set(uavcanblid_sw_version_major 0)
|
||||
set(uavcanblid_sw_version_minor 1)
|
||||
add_definitions(
|
||||
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
|
||||
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
|
||||
)
|
||||
|
||||
set(uavcanblid_hw_version_major 0)
|
||||
set(uavcanblid_hw_version_minor 85)
|
||||
set(uavcanblid_name "\"org.freefly.can-rtk-gps\"")
|
||||
|
||||
add_definitions(
|
||||
-DHW_UAVCAN_NAME=${uavcanblid_name}
|
||||
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
|
||||
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
|
||||
)
|
||||
|
|
@ -72,6 +72,7 @@ elseif("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
|
|||
-Wl,-wrap,nxsched_process_timer
|
||||
-Wl,-wrap,nxsem_post
|
||||
-Wl,-wrap,nxsem_wait
|
||||
-Wl,-wrap,nxsem_wait_uninterruptible
|
||||
-Wl,-wrap,arm_svcall
|
||||
-Wl,-wrap,nx_start
|
||||
-Wl,-wrap,exit
|
||||
|
|
@ -248,6 +249,9 @@ if(NOT NUTTX_DIR MATCHES "external")
|
|||
elseif(CONFIG_ARCH_CHIP_STM32F469I)
|
||||
set(DEBUG_DEVICE "STM32F469II")
|
||||
set(DEBUG_SVD_FILE "STM32F469.svd")
|
||||
elseif(CONFIG_ARCH_CHIP_STM32F722RE)
|
||||
set(DEBUG_DEVICE "STM32F722RE")
|
||||
set(DEBUG_SVD_FILE "STM32F7x2.svd")
|
||||
elseif(CONFIG_ARCH_CHIP_STM32F745VG)
|
||||
set(DEBUG_DEVICE "STM32F745VG")
|
||||
set(DEBUG_SVD_FILE "STM32F7x5.svd")
|
||||
|
|
|
|||
|
|
@ -40,6 +40,7 @@ px4_add_library(canbootloader
|
|||
sched/timer.c
|
||||
uavcan/main.c
|
||||
util/random.c
|
||||
util/cxx_init.c
|
||||
)
|
||||
|
||||
include_directories(include)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,44 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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_directories(../../../include)
|
||||
|
||||
px4_add_library(arch_canbootloader
|
||||
board_identity.c
|
||||
drivers/can/driver.c
|
||||
)
|
||||
|
||||
target_link_libraries(arch_canbootloader
|
||||
PRIVATE
|
||||
arch_watchdog_iwdg
|
||||
)
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2017 PX4 Development Team. All rights reserved.
|
||||
* Author: @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 board_identity.c
|
||||
* Implementation of STM32 based Board identity API
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
|
||||
|
||||
int board_get_mfguid(mfguid_t mfgid)
|
||||
{
|
||||
uint32_t *chip_uuid = (uint32_t *) STM32_SYSMEM_UID;
|
||||
uint32_t *rv = (uint32_t *) &mfgid[0];
|
||||
|
||||
for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
|
||||
*rv++ = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]);
|
||||
}
|
||||
|
||||
return PX4_CPU_MFGUID_BYTE_LENGTH;
|
||||
}
|
||||
|
|
@ -0,0 +1,566 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
* Author: Ben Dyer <ben_dyer@mac.com>
|
||||
* Pavel Kirienko <pavel.kirienko@zubax.com>
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include "boot_config.h"
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <errno.h>
|
||||
#include <limits.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include <hardware/stm32_can.h>
|
||||
#include "nvic.h"
|
||||
|
||||
#include "board.h"
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include "can.h"
|
||||
#include "timer.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <lib/systemlib/crc.h>
|
||||
|
||||
#define INAK_TIMEOUT 65535
|
||||
|
||||
#define CAN_TX_TIMEOUT_MS (200 /(1000/(1000000/CONFIG_USEC_PER_TICK)))
|
||||
|
||||
#define SJW_POS 24
|
||||
#define BS1_POS 16
|
||||
#define BS2_POS 20
|
||||
|
||||
#define CAN_TSR_RQCP_SHFTS 8
|
||||
|
||||
#define FILTER_ID 1
|
||||
#define FILTER_MASK 2
|
||||
|
||||
#if STM32_PCLK1_FREQUENCY == 54000000
|
||||
/* Sample 85.7 % */
|
||||
# define QUANTA 18
|
||||
# define BS1_VALUE 14
|
||||
# define BS2_VALUE 1
|
||||
#elif STM32_PCLK1_FREQUENCY == 48000000
|
||||
/* Sample 85.7 % */
|
||||
# define QUANTA 16
|
||||
# define BS1_VALUE 12
|
||||
# define BS2_VALUE 1
|
||||
#elif STM32_PCLK1_FREQUENCY == 45000000 || STM32_PCLK1_FREQUENCY == 36000000
|
||||
/* Sample 88.9 % */
|
||||
# define QUANTA 9
|
||||
# define BS1_VALUE 6
|
||||
# define BS2_VALUE 0
|
||||
#elif STM32_PCLK1_FREQUENCY == 42000000
|
||||
/* Sample 85.7 % */
|
||||
# define QUANTA 14
|
||||
# define BS1_VALUE 10
|
||||
# define BS2_VALUE 1
|
||||
#else
|
||||
# warning Undefined QUANTA bsed on Clock Rate
|
||||
/* Sample 85.7 % */
|
||||
# define QUANTA 14
|
||||
# define BS1_VALUE 10
|
||||
# define BS2_VALUE 1
|
||||
#endif
|
||||
|
||||
#define CAN_1MBAUD_SJW 0
|
||||
#define CAN_1MBAUD_BS1 BS1_VALUE
|
||||
#define CAN_1MBAUD_BS2 BS2_VALUE
|
||||
#define CAN_1MBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/1000000/QUANTA)
|
||||
|
||||
#define CAN_500KBAUD_SJW 0
|
||||
#define CAN_500KBAUD_BS1 BS1_VALUE
|
||||
#define CAN_500KBAUD_BS2 BS2_VALUE
|
||||
#define CAN_500KBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/500000/QUANTA)
|
||||
|
||||
#define CAN_250KBAUD_SJW 0
|
||||
#define CAN_250KBAUD_BS1 BS1_VALUE
|
||||
#define CAN_250KBAUD_BS2 BS2_VALUE
|
||||
#define CAN_250KBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/250000/QUANTA)
|
||||
|
||||
#define CAN_125KBAUD_SJW 0
|
||||
#define CAN_125KBAUD_BS1 BS1_VALUE
|
||||
#define CAN_125KBAUD_BS2 BS2_VALUE
|
||||
#define CAN_125KBAUD_PRESCALER (STM32_PCLK1_FREQUENCY/125000/QUANTA)
|
||||
|
||||
#define CAN_BTR_LBK_SHIFT 30
|
||||
|
||||
// Number of CPU cycles for a single bit time at the supported speeds
|
||||
#define CAN_125KBAUD_BIT_CYCLES (8*(TIMER_HRT_CYCLES_PER_US))
|
||||
|
||||
#define CAN_BAUD_TIME_IN_MS 200
|
||||
#define CAN_BAUD_SAMPLES_NEEDED 32
|
||||
#define CAN_BAUD_SAMPLES_DISCARDED 8
|
||||
|
||||
static inline uint32_t read_msr_rx(void)
|
||||
{
|
||||
return getreg32(STM32_CAN1_MSR) & CAN_MSR_RX;
|
||||
}
|
||||
|
||||
static uint32_t read_msr(time_hrt_cycles_t *now)
|
||||
{
|
||||
__asm__ __volatile__("\tcpsid i\n");
|
||||
*now = timer_hrt_read();
|
||||
uint32_t msr = read_msr_rx();
|
||||
__asm__ __volatile__("\tcpsie i\n");
|
||||
return msr;
|
||||
}
|
||||
|
||||
static int read_bits_times(time_hrt_cycles_t *times, size_t max)
|
||||
{
|
||||
uint32_t samplecnt = 0;
|
||||
bl_timer_id ab_timer = timer_allocate(modeTimeout | modeStarted, CAN_BAUD_TIME_IN_MS, 0);
|
||||
time_ref_t ab_ref = timer_ref(ab_timer);
|
||||
uint32_t msr;
|
||||
uint32_t last_msr = read_msr(times);
|
||||
|
||||
while (samplecnt < max && !timer_ref_expired(ab_ref)) {
|
||||
do {
|
||||
msr = read_msr(×[samplecnt]);
|
||||
} while (!(msr ^ last_msr) && !timer_ref_expired(ab_ref));
|
||||
|
||||
last_msr = msr;
|
||||
samplecnt++;
|
||||
}
|
||||
|
||||
timer_free(ab_timer);
|
||||
return samplecnt;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: can_speed2freq
|
||||
*
|
||||
* Description:
|
||||
* This function maps a can_speed_t to a bit rate in Hz
|
||||
*
|
||||
* Input Parameters:
|
||||
* can_speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
|
||||
*
|
||||
* Returned value:
|
||||
* Bit rate in Hz
|
||||
*
|
||||
****************************************************************************/
|
||||
int can_speed2freq(can_speed_t speed)
|
||||
|
||||
{
|
||||
return 1000000 >> (CAN_1MBAUD - speed);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: can_speed2freq
|
||||
*
|
||||
* Description:
|
||||
* This function maps a frequency in Hz to a can_speed_t in the range
|
||||
* CAN_125KBAUD to CAN_1MBAUD.
|
||||
*
|
||||
* Input Parameters:
|
||||
* freq - Bit rate in Hz
|
||||
*
|
||||
* Returned value:
|
||||
* A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
|
||||
*
|
||||
****************************************************************************/
|
||||
can_speed_t can_freq2speed(int freq)
|
||||
{
|
||||
return (freq == 1000000u ? CAN_1MBAUD : freq == 500000u ? CAN_500KBAUD : freq == 250000u ? CAN_250KBAUD : CAN_125KBAUD);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: can_tx
|
||||
*
|
||||
* Description:
|
||||
* This function is called to transmit a CAN frame using the supplied
|
||||
* mailbox. It will busy wait on the mailbox if not available.
|
||||
*
|
||||
* Input Parameters:
|
||||
* message_id - The CAN message's EXID field
|
||||
* length - The number of bytes of data - the DLC field
|
||||
* message - A pointer to 8 bytes of data to be sent (all 8 bytes will be
|
||||
* loaded into the CAN transmitter but only length bytes will
|
||||
* be sent.
|
||||
* mailbox - A can_fifo_mailbox_t MBxxx value to choose the outgoing
|
||||
* mailbox.
|
||||
*
|
||||
* Returned value:
|
||||
* The CAN_OK of the data sent or CAN_ERROR if a time out occurred
|
||||
*
|
||||
****************************************************************************/
|
||||
uint8_t can_tx(uint32_t message_id, size_t length, const uint8_t *message, uint8_t mailbox)
|
||||
{
|
||||
uint32_t data[2];
|
||||
|
||||
memcpy(data, message, sizeof(data));
|
||||
|
||||
/*
|
||||
* Just block while waiting for the mailbox.
|
||||
*/
|
||||
|
||||
uint32_t mask = CAN_TSR_TME0 << mailbox;
|
||||
|
||||
/* Reset the indication of timer expired */
|
||||
|
||||
timer_hrt_clear_wrap();
|
||||
uint32_t cnt = CAN_TX_TIMEOUT_MS;
|
||||
|
||||
while ((getreg32(STM32_CAN1_TSR) & mask) == 0) {
|
||||
if (timer_hrt_wrap()) {
|
||||
timer_hrt_clear_wrap();
|
||||
|
||||
if (--cnt == 0) {
|
||||
return CAN_ERROR;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* To allow detection of completion - Set the LEC to
|
||||
* 'No error' state off all 1s
|
||||
*/
|
||||
|
||||
putreg32(CAN_ESR_LEC_MASK, STM32_CAN1_ESR);
|
||||
|
||||
putreg32(length & CAN_TDTR_DLC_MASK, STM32_CAN1_TDTR(mailbox));
|
||||
putreg32(data[0], STM32_CAN1_TDLR(mailbox));
|
||||
putreg32(data[1], STM32_CAN1_TDHR(mailbox));
|
||||
putreg32((message_id << CAN_TIR_EXID_SHIFT) | CAN_TIR_IDE | CAN_TIR_TXRQ,
|
||||
STM32_CAN1_TIR(mailbox));
|
||||
return CAN_OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: can_rx
|
||||
*
|
||||
* Description:
|
||||
* This function is called to receive a CAN frame from a supplied fifo.
|
||||
* It does not block if there is not available, but returns 0
|
||||
*
|
||||
* Input Parameters:
|
||||
* message_id - A pointer to return the CAN message's EXID field
|
||||
* length - A pointer to return the number of bytes of data - the DLC field
|
||||
* message - A pointer to return 8 bytes of data to be sent (all 8 bytes will
|
||||
* be written from the CAN receiver but only length bytes will be sent.
|
||||
* fifo A can_fifo_mailbox_t fifixxx value to choose the incoming fifo.
|
||||
*
|
||||
* Returned value:
|
||||
* The length of the data read or 0 if the fifo was empty
|
||||
*
|
||||
****************************************************************************/
|
||||
uint8_t can_rx(uint32_t *message_id, size_t *length, uint8_t *message, uint8_t fifo)
|
||||
{
|
||||
uint32_t data[2];
|
||||
uint8_t rv = 0;
|
||||
const uint32_t fifos[] = { STM32_CAN1_RF0R, STM32_CAN1_RF1R };
|
||||
|
||||
if (getreg32(fifos[fifo & 1]) & CAN_RFR_FMP_MASK) {
|
||||
|
||||
rv = 1;
|
||||
/* If so, process it */
|
||||
|
||||
*message_id = (getreg32(STM32_CAN1_RIR(fifo)) & CAN_RIR_EXID_MASK) >>
|
||||
CAN_RIR_EXID_SHIFT;
|
||||
*length = (getreg32(STM32_CAN1_RDTR(fifo)) & CAN_RDTR_DLC_MASK) >>
|
||||
CAN_RDTR_DLC_SHIFT;
|
||||
data[0] = getreg32(STM32_CAN1_RDLR(fifo));
|
||||
data[1] = getreg32(STM32_CAN1_RDHR(fifo));
|
||||
|
||||
putreg32(CAN_RFR_RFOM, fifos[fifo & 1]);
|
||||
|
||||
memcpy(message, data, sizeof(data));
|
||||
}
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: can_autobaud
|
||||
*
|
||||
* Description:
|
||||
* This function will attempt to detect the bit rate in use on the CAN
|
||||
* interface until the timeout provided expires or the successful detection
|
||||
* occurs.
|
||||
*
|
||||
* It will initialize the CAN block for a given bit rate
|
||||
* to test that a message can be received. The CAN interface is left
|
||||
* operating at the detected bit rate and in CAN_Mode_Normal mode.
|
||||
*
|
||||
* Input Parameters:
|
||||
* can_speed - A pointer to return detected can_speed_t from CAN_UNKNOWN to
|
||||
* CAN_1MBAUD
|
||||
* timeout - The timer id of a timer to use as the maximum time to wait for
|
||||
* successful bit rate detection. This timer may be not running
|
||||
* in which case the auto baud code will try indefinitely to
|
||||
* detect the bit rate.
|
||||
*
|
||||
* Returned value:
|
||||
* CAN_OK - on Success or a CAN_BOOT_TIMEOUT
|
||||
*
|
||||
****************************************************************************/
|
||||
int can_autobaud(can_speed_t *can_speed, bl_timer_id timeout)
|
||||
{
|
||||
*can_speed = CAN_UNKNOWN;
|
||||
|
||||
volatile int attempt = 0;
|
||||
/* Threshold are at 1.5 Bit times */
|
||||
|
||||
/*
|
||||
* We are here because there was a reset or the app invoked
|
||||
* the bootloader with no bit rate set.
|
||||
*/
|
||||
|
||||
time_hrt_cycles_t bit_time;
|
||||
time_hrt_cycles_t min_cycles;
|
||||
int sample;
|
||||
can_speed_t speed = CAN_125KBAUD;
|
||||
|
||||
time_hrt_cycles_t samples[128];
|
||||
|
||||
while (1) {
|
||||
|
||||
|
||||
while (1) {
|
||||
|
||||
min_cycles = ULONG_MAX;
|
||||
int samplecnt = read_bits_times(samples, arraySize(samples));
|
||||
|
||||
if (timer_expired(timeout)) {
|
||||
return CAN_BOOT_TIMEOUT;
|
||||
}
|
||||
|
||||
if ((getreg32(STM32_CAN1_RF0R) | getreg32(STM32_CAN1_RF1R)) &
|
||||
CAN_RFR_FMP_MASK) {
|
||||
*can_speed = speed;
|
||||
can_init(speed, CAN_Mode_Normal);
|
||||
return CAN_OK;
|
||||
}
|
||||
|
||||
if (samplecnt < CAN_BAUD_SAMPLES_NEEDED) {
|
||||
continue;
|
||||
}
|
||||
|
||||
for (sample = 0; sample < samplecnt; sample += 2) {
|
||||
bit_time = samples[sample] = timer_hrt_elapsed(samples[sample], samples[sample + 1]);
|
||||
|
||||
if (sample > CAN_BAUD_SAMPLES_DISCARDED && bit_time < min_cycles) {
|
||||
min_cycles = bit_time;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
uint32_t bit34 = CAN_125KBAUD_BIT_CYCLES - CAN_125KBAUD_BIT_CYCLES / 4;
|
||||
samples[1] = min_cycles;
|
||||
speed = CAN_125KBAUD;
|
||||
|
||||
while (min_cycles < bit34 && speed < CAN_1MBAUD) {
|
||||
speed++;
|
||||
bit34 /= 2;
|
||||
}
|
||||
|
||||
attempt++;
|
||||
can_init(speed, CAN_Mode_Silent);
|
||||
|
||||
|
||||
} /* while(1) */
|
||||
|
||||
return CAN_OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: can_init
|
||||
*
|
||||
* Description:
|
||||
* This function is used to initialize the CAN block for a given bit rate and
|
||||
* mode.
|
||||
*
|
||||
* Input Parameters:
|
||||
* speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
|
||||
* mode - One of the can_mode_t of Normal, LoopBack and Silent or
|
||||
* combination thereof.
|
||||
*
|
||||
* Returned value:
|
||||
* OK - on Success or a negate errno value
|
||||
*
|
||||
****************************************************************************/
|
||||
int can_init(can_speed_t speed, can_mode_t mode)
|
||||
{
|
||||
int speedndx = speed - 1;
|
||||
/*
|
||||
* TODO: use full-word writes to reduce the number of loads/stores.
|
||||
*
|
||||
* Also consider filter use -- maybe set filters for all the message types we
|
||||
* want. */
|
||||
const uint32_t bitrates[] = {
|
||||
(CAN_125KBAUD_SJW << SJW_POS) |
|
||||
(CAN_125KBAUD_BS1 << BS1_POS) |
|
||||
(CAN_125KBAUD_BS2 << BS2_POS) | (CAN_125KBAUD_PRESCALER - 1),
|
||||
|
||||
(CAN_250KBAUD_SJW << SJW_POS) |
|
||||
(CAN_250KBAUD_BS1 << BS1_POS) |
|
||||
(CAN_250KBAUD_BS2 << BS2_POS) | (CAN_250KBAUD_PRESCALER - 1),
|
||||
|
||||
(CAN_500KBAUD_SJW << SJW_POS) |
|
||||
(CAN_500KBAUD_BS1 << BS1_POS) |
|
||||
(CAN_500KBAUD_BS2 << BS2_POS) | (CAN_500KBAUD_PRESCALER - 1),
|
||||
|
||||
(CAN_1MBAUD_SJW << SJW_POS) |
|
||||
(CAN_1MBAUD_BS1 << BS1_POS) |
|
||||
(CAN_1MBAUD_BS2 << BS2_POS) | (CAN_1MBAUD_PRESCALER - 1)
|
||||
};
|
||||
|
||||
/* Remove Unknow Offset */
|
||||
if (speedndx < 0 || speedndx > (int)arraySize(bitrates)) {
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
uint32_t timeout;
|
||||
/*
|
||||
* Reset state is 0x0001 0002 CAN_MCR_DBF|CAN_MCR_SLEEP
|
||||
* knock down Sleep and raise CAN_MCR_INRQ
|
||||
*/
|
||||
|
||||
putreg32(CAN_MCR_DBF | CAN_MCR_INRQ, STM32_CAN1_MCR);
|
||||
|
||||
/* Wait until initialization mode is acknowledged */
|
||||
|
||||
for (timeout = INAK_TIMEOUT; timeout > 0; timeout--) {
|
||||
if ((getreg32(STM32_CAN1_MSR) & CAN_MSR_INAK) != 0) {
|
||||
/* We are in initialization mode */
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (timeout < 1) {
|
||||
/*
|
||||
* Initialization failed, not much we can do now other than try a normal
|
||||
* startup. */
|
||||
return -ETIME;
|
||||
}
|
||||
|
||||
|
||||
putreg32(bitrates[speedndx] | mode << CAN_BTR_LBK_SHIFT, STM32_CAN1_BTR);
|
||||
putreg32(CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_DBF | CAN_MCR_TXFP, STM32_CAN1_MCR);
|
||||
|
||||
for (timeout = INAK_TIMEOUT; timeout > 0; timeout--) {
|
||||
if ((getreg32(STM32_CAN1_MSR) & CAN_MSR_INAK) == 0) {
|
||||
/* We are in initialization mode */
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (timeout < 1) {
|
||||
return -ETIME;
|
||||
}
|
||||
|
||||
/*
|
||||
* CAN filter initialization -- accept everything on RX FIFO 0, and only
|
||||
* GetNodeInfo requests on RX FIFO 1. */
|
||||
|
||||
/* Set FINIT - Initialization mode for the filters- */
|
||||
putreg32(CAN_FMR_FINIT, STM32_CAN1_FMR);
|
||||
|
||||
putreg32(0, STM32_CAN1_FA1R); /* Disable all filters */
|
||||
|
||||
putreg32(3, STM32_CAN1_FS1R); /* Single 32-bit scale configuration for filters 0 and 1 */
|
||||
|
||||
/* Filter 0 masks -- DTIDGetNodeInfo requests only */
|
||||
|
||||
uavcan_protocol_t protocol;
|
||||
|
||||
protocol.id.u32 = 0;
|
||||
protocol.ser.type_id = DTIDReqGetNodeInfo;
|
||||
protocol.ser.service_not_message = true;
|
||||
protocol.ser.request_not_response = true;
|
||||
|
||||
/* Set the Filter ID */
|
||||
putreg32(protocol.id.u32 << CAN_RIR_EXID_SHIFT, STM32_CAN1_FIR(0, FILTER_ID));
|
||||
|
||||
/* Set the Filter Mask */
|
||||
protocol.ser.type_id = BIT_MASK(LengthUavCanServiceTypeID);
|
||||
|
||||
putreg32(protocol.id.u32 << CAN_RIR_EXID_SHIFT, STM32_CAN1_FIR(0, FILTER_MASK));
|
||||
|
||||
/* Filter 1 masks -- everything is don't-care */
|
||||
putreg32(0, STM32_CAN1_FIR(1, FILTER_ID));
|
||||
putreg32(0, STM32_CAN1_FIR(1, FILTER_MASK));
|
||||
|
||||
putreg32(0, STM32_CAN1_FM1R); /* Mask mode for all filters */
|
||||
putreg32(1, STM32_CAN1_FFA1R); /* FIFO 1 for filter 0, FIFO 0 for the
|
||||
* rest of filters */
|
||||
putreg32(3, STM32_CAN1_FA1R); /* Enable filters 0 and 1 */
|
||||
|
||||
/* Clear FINIT - Active mode for the filters- */
|
||||
|
||||
putreg32(0, STM32_CAN1_FMR);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: can_cancel_on_error
|
||||
*
|
||||
* Description:
|
||||
* This function will test for transition completion or any error.
|
||||
* If the is a error the the transmit will be aborted.
|
||||
*
|
||||
* Input Parameters:
|
||||
* mailbox - A can_fifo_mailbox_t MBxxx value to choose the outgoing
|
||||
* mailbox.
|
||||
*
|
||||
* Returned value:
|
||||
* CAN_OK - on Success or a CAN_ERROR if the cancellation was needed
|
||||
*
|
||||
****************************************************************************/
|
||||
void can_cancel_on_error(uint8_t mailbox)
|
||||
{
|
||||
uint32_t rvalue;
|
||||
|
||||
/* Wait for completion the all 1's wat set in the tx code*/
|
||||
while (CAN_ESR_LEC_MASK == ((rvalue = (getreg32(STM32_CAN1_ESR) & CAN_ESR_LEC_MASK))));
|
||||
|
||||
/* Any errors */
|
||||
if (rvalue) {
|
||||
|
||||
putreg32(0, STM32_CAN1_ESR);
|
||||
|
||||
/* Abort the the TX in case of collision wuth NART false */
|
||||
|
||||
putreg32(CAN_TSR_ABRQ0 << (mailbox * CAN_TSR_RQCP_SHFTS), STM32_CAN1_TSR);
|
||||
}
|
||||
}
|
||||
|
|
@ -40,6 +40,7 @@
|
|||
#include "nuttx/arch.h"
|
||||
#include "arm_internal.h"
|
||||
|
||||
#include "boot_config.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
|
|
@ -81,6 +82,12 @@ int main(int argc, char **argv);
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
int __wrap_nxsem_wait_uninterruptible(void *sem)
|
||||
{
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
int __wrap_nxsem_wait(void *sem)
|
||||
{
|
||||
return 0;
|
||||
|
|
@ -174,13 +181,27 @@ void __wrap_nx_start(void)
|
|||
* Name: malloc
|
||||
*
|
||||
* Description:
|
||||
* This function hijacks the OS's malloc and provides no allocation
|
||||
* This function hijacks the OS's malloc and provides no or small
|
||||
* allocation
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
FAR void *malloc(size_t size)
|
||||
{
|
||||
#if defined(OPT_SIMPLE_MALLOC_HEAP_SIZE)
|
||||
static int aloc = 0;
|
||||
static uint8_t mem[OPT_SIMPLE_MALLOC_HEAP_SIZE];
|
||||
void *rv = &mem[aloc];
|
||||
aloc += size;
|
||||
|
||||
if (aloc > OPT_SIMPLE_MALLOC_HEAP_SIZE) {
|
||||
PANIC();
|
||||
}
|
||||
|
||||
return rv;
|
||||
#else
|
||||
return NULL;
|
||||
#endif
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
|
|
|
|||
|
|
@ -0,0 +1,51 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <David.Sidrnae@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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************
|
||||
* Name: cxx_initialize
|
||||
*
|
||||
* Description:
|
||||
* This function initialises static C++N objects
|
||||
*
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
void cxx_initialize(void);
|
||||
|
|
@ -0,0 +1,126 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sched.h>
|
||||
#include <stdlib.h>
|
||||
#include <assert.h>
|
||||
|
||||
#ifdef CONFIG_HAVE_CXXINITIALIZE
|
||||
#include "cxx_init.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/* This type defines one entry in initialization array */
|
||||
|
||||
typedef CODE void (*initializer_t)(void);
|
||||
|
||||
/****************************************************************************
|
||||
* External References
|
||||
****************************************************************************/
|
||||
|
||||
/* _sinit and _einit are symbols exported by the linker script that mark the
|
||||
* beginning and the end of the C++ initialization section.
|
||||
*/
|
||||
|
||||
extern initializer_t _sinit;
|
||||
extern initializer_t _einit;
|
||||
|
||||
/* _stext and _etext are symbols exported by the linker script that mark the
|
||||
* beginning and the end of text.
|
||||
*/
|
||||
|
||||
extern uintptr_t _stext;
|
||||
extern uintptr_t _etext;
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: cxx_initialize
|
||||
*
|
||||
* Description:
|
||||
* If C++ and C++ static constructors are supported, then this function
|
||||
* must be provided by board-specific logic in order to perform
|
||||
* initialization of the static C++ class instances.
|
||||
*
|
||||
* This function should then be called in the application-specific
|
||||
* user_start logic in order to perform the C++ initialization. NOTE
|
||||
* that no component of the core NuttX RTOS logic is involved; this
|
||||
* function definition only provides the 'contract' between application
|
||||
* specific C++ code and platform-specific toolchain support.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void cxx_initialize(void)
|
||||
{
|
||||
static int inited = 0;
|
||||
|
||||
if (inited == 0) {
|
||||
initializer_t *initp;
|
||||
|
||||
sinfo("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
|
||||
&_sinit, &_einit, &_stext, &_etext);
|
||||
|
||||
/* Visit each entry in the initialization table */
|
||||
|
||||
for (initp = &_sinit; initp != &_einit; initp++) {
|
||||
initializer_t initializer = *initp;
|
||||
sinfo("initp: %p initializer: %p\n", initp, initializer);
|
||||
|
||||
/* Make sure that the address is non-NULL and lies in the text
|
||||
* region defined by the linker script. Some toolchains may put
|
||||
* NULL values or counts in the initialization table.
|
||||
*/
|
||||
|
||||
if ((FAR void *)initializer >= (FAR void *)&_stext &&
|
||||
(FAR void *)initializer < (FAR void *)&_etext) {
|
||||
sinfo("Calling %p\n", initializer);
|
||||
initializer();
|
||||
}
|
||||
}
|
||||
|
||||
inited = 1;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -45,4 +45,4 @@ add_subdirectory(../stm32_common/tone_alarm tone_alarm)
|
|||
add_subdirectory(../stm32_common/version version)
|
||||
|
||||
add_subdirectory(px4io_serial)
|
||||
|
||||
add_subdirectory(watchdog)
|
||||
|
|
|
|||
|
|
@ -39,11 +39,15 @@ __BEGIN_DECLS
|
|||
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_STM32F7
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_can.h>
|
||||
#include <hardware/stm32_flash.h>
|
||||
#include <arm_internal.h> //include up_systemreset() which is included on stm32.h
|
||||
#include <stm32_bbsram.h>
|
||||
#define PX4_BBSRAM_SIZE STM32F7_BBSRAM_SIZE
|
||||
#define PX4_BBSRAM_GETDESC_IOCTL STM32F7_BBSRAM_GETDESC_IOCTL
|
||||
#if defined(CONFIG_STM32F7_BKPSRAM)
|
||||
# include <stm32_bbsram.h>
|
||||
# define PX4_BBSRAM_SIZE STM32F7_BBSRAM_SIZE
|
||||
# define PX4_BBSRAM_GETDESC_IOCTL STM32F7_BBSRAM_GETDESC_IOCTL
|
||||
#endif // CONFIG_STM32F7_BKPSRAM
|
||||
#define PX4_FLASH_BASE 0x08000000
|
||||
#define PX4_NUMBER_I2C_BUSES STM32F7_NI2C
|
||||
#define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 18
|
||||
|
|
|
|||
|
|
@ -0,0 +1,36 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 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_library(arch_watchdog_iwdg
|
||||
iwdg.c
|
||||
)
|
||||
|
|
@ -0,0 +1,104 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david.sidrane@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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include "arm_internal.h"
|
||||
#include "arm_arch.h"
|
||||
#include "chip.h"
|
||||
|
||||
#include "nvic.h"
|
||||
|
||||
#include "stm32_wdg.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Name: watchdog_pet()
|
||||
*
|
||||
* Description:
|
||||
* This function resets the Independent watchdog (IWDG)
|
||||
*
|
||||
*
|
||||
* Input Parameters:
|
||||
* none.
|
||||
*
|
||||
* Returned value:
|
||||
* none.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void watchdog_pet(void)
|
||||
{
|
||||
putreg32(IWDG_KR_KEY_RELOAD, STM32_IWDG_KR);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: watchdog_init()
|
||||
*
|
||||
* Description:
|
||||
* This function initialize the Independent watchdog (IWDG)
|
||||
*
|
||||
*
|
||||
* Input Parameters:
|
||||
* none.
|
||||
*
|
||||
* Returned value:
|
||||
* none.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void watchdog_init(void)
|
||||
{
|
||||
#if defined(CONFIG_STM32F7_JTAG_FULL_ENABLE) || \
|
||||
defined(CONFIG_STM32F7_JTAG_NOJNTRST_ENABLE) || \
|
||||
defined(CONFIG_STM32F7_JTAG_SW_ENABLE)
|
||||
putreg32(getreg32(STM32_DBGMCU_APB1_FZ) | DBGMCU_APB1_IWDGSTOP, STM32_DBGMCU_APB1_FZ);
|
||||
#endif
|
||||
|
||||
/* unlock */
|
||||
|
||||
putreg32(IWDG_KR_KEY_ENABLE, STM32_IWDG_KR);
|
||||
|
||||
/* Set the prescale value */
|
||||
|
||||
putreg32(IWDG_PR_DIV16, STM32_IWDG_PR);
|
||||
|
||||
/* Set the reload value */
|
||||
|
||||
putreg32(IWDG_RLR_MAX, STM32_IWDG_RLR);
|
||||
|
||||
/* Start the watch dog */
|
||||
|
||||
putreg32(IWDG_KR_KEY_START, STM32_IWDG_KR);
|
||||
|
||||
watchdog_pet();
|
||||
}
|
||||
|
|
@ -0,0 +1,162 @@
|
|||
/************************************************************************************
|
||||
* arch/arm/src/stm32/hardware/stm32_wdg.h
|
||||
*
|
||||
* Copyright (C) 2009, 2011-2013 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ARCH_ARM_SRC_STM32_HARDWARE_STM32_WDG_H
|
||||
#define __ARCH_ARM_SRC_STM32_HARDWARE_STM32_WDG_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include "chip.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Register Offsets *****************************************************************/
|
||||
|
||||
#define STM32_IWDG_KR_OFFSET 0x0000 /* Key register (32-bit) */
|
||||
#define STM32_IWDG_PR_OFFSET 0x0004 /* Prescaler register (32-bit) */
|
||||
#define STM32_IWDG_RLR_OFFSET 0x0008 /* Reload register (32-bit) */
|
||||
#define STM32_IWDG_SR_OFFSET 0x000c /* Status register (32-bit) */
|
||||
#if defined(CONFIG_STM32_STM32F30XX)
|
||||
# define STM32_IWDG_WINR_OFFSET 0x000c /* Window register (32-bit) */
|
||||
#endif
|
||||
|
||||
#define STM32_WWDG_CR_OFFSET 0x0000 /* Control Register (32-bit) */
|
||||
#define STM32_WWDG_CFR_OFFSET 0x0004 /* Configuration register (32-bit) */
|
||||
#define STM32_WWDG_SR_OFFSET 0x0008 /* Status register (32-bit) */
|
||||
|
||||
/* Register Addresses ***************************************************************/
|
||||
|
||||
#define STM32_IWDG_KR (STM32_IWDG_BASE+STM32_IWDG_KR_OFFSET)
|
||||
#define STM32_IWDG_PR (STM32_IWDG_BASE+STM32_IWDG_PR_OFFSET)
|
||||
#define STM32_IWDG_RLR (STM32_IWDG_BASE+STM32_IWDG_RLR_OFFSET)
|
||||
#define STM32_IWDG_SR (STM32_IWDG_BASE+STM32_IWDG_SR_OFFSET)
|
||||
#if defined(CONFIG_STM32_STM32F30XX)
|
||||
# define STM32_IWDG_WINR (STM32_IWDG_BASE+STM32_IWDG_WINR_OFFSET)
|
||||
#endif
|
||||
|
||||
#define STM32_WWDG_CR (STM32_WWDG_BASE+STM32_WWDG_CR_OFFSET)
|
||||
#define STM32_WWDG_CFR (STM32_WWDG_BASE+STM32_WWDG_CFR_OFFSET)
|
||||
#define STM32_WWDG_SR (STM32_WWDG_BASE+STM32_WWDG_SR_OFFSET)
|
||||
|
||||
/* Register Bitfield Definitions ****************************************************/
|
||||
|
||||
/* Key register (32-bit) */
|
||||
|
||||
#define IWDG_KR_KEY_SHIFT (0) /* Bits 15-0: Key value (write only, read 0000h) */
|
||||
#define IWDG_KR_KEY_MASK (0xffff << IWDG_KR_KEY_SHIFT)
|
||||
|
||||
#define IWDG_KR_KEY_ENABLE (0x5555) /* Enable register access */
|
||||
#define IWDG_KR_KEY_DISABLE (0x0000) /* Disable register access */
|
||||
#define IWDG_KR_KEY_RELOAD (0xaaaa) /* Reload the counter */
|
||||
#define IWDG_KR_KEY_START (0xcccc) /* Start the watchdog */
|
||||
|
||||
/* Prescaler register (32-bit) */
|
||||
|
||||
#define IWDG_PR_SHIFT (0) /* Bits 2-0: Prescaler divider */
|
||||
#define IWDG_PR_MASK (7 << IWDG_PR_SHIFT)
|
||||
# define IWDG_PR_DIV4 (0 << IWDG_PR_SHIFT) /* 000: divider /4 */
|
||||
# define IWDG_PR_DIV8 (1 << IWDG_PR_SHIFT) /* 001: divider /8 */
|
||||
# define IWDG_PR_DIV16 (2 << IWDG_PR_SHIFT) /* 010: divider /16 */
|
||||
# define IWDG_PR_DIV32 (3 << IWDG_PR_SHIFT) /* 011: divider /32 */
|
||||
# define IWDG_PR_DIV64 (4 << IWDG_PR_SHIFT) /* 100: divider /64 */
|
||||
# define IWDG_PR_DIV128 (5 << IWDG_PR_SHIFT) /* 101: divider /128 */
|
||||
# define IWDG_PR_DIV256 (6 << IWDG_PR_SHIFT) /* 11x: divider /256 */
|
||||
|
||||
/* Reload register (32-bit) */
|
||||
|
||||
#define IWDG_RLR_RL_SHIFT (0) /* Bits11:0 RL[11:0]: Watchdog counter reload value */
|
||||
#define IWDG_RLR_RL_MASK (0x0fff << IWDG_RLR_RL_SHIFT)
|
||||
|
||||
#define IWDG_RLR_MAX (0xfff)
|
||||
|
||||
/* Status register (32-bit) */
|
||||
|
||||
#define IWDG_SR_PVU (1 << 0) /* Bit 0: Watchdog prescaler value update */
|
||||
#define IWDG_SR_RVU (1 << 1) /* Bit 1: Watchdog counter reload value update */
|
||||
|
||||
#if defined(CONFIG_STM32_STM32F30XX)
|
||||
# define IWDG_SR_WVU (1 << 2) /* Bit 2: */
|
||||
#endif
|
||||
|
||||
/* Window register (32-bit) */
|
||||
|
||||
#if defined(CONFIG_STM32_STM32F30XX)
|
||||
# define IWDG_WINR_SHIFT (0)
|
||||
# define IWDG_WINR_MASK (0x0fff << IWDG_WINR_SHIFT)
|
||||
#endif
|
||||
|
||||
/* Control Register (32-bit) */
|
||||
|
||||
#define WWDG_CR_T_SHIFT (0) /* Bits 6:0 T[6:0]: 7-bit counter (MSB to LSB) */
|
||||
#define WWDG_CR_T_MASK (0x7f << WWDG_CR_T_SHIFT)
|
||||
# define WWDG_CR_T_MAX (0x3f << WWDG_CR_T_SHIFT)
|
||||
# define WWDG_CR_T_RESET (0x40 << WWDG_CR_T_SHIFT)
|
||||
#define WWDG_CR_WDGA (1 << 7) /* Bit 7: Activation bit */
|
||||
|
||||
/* Configuration register (32-bit) */
|
||||
|
||||
#define WWDG_CFR_W_SHIFT (0) /* Bits 6:0 W[6:0] 7-bit window value */
|
||||
#define WWDG_CFR_W_MASK (0x7f << WWDG_CFR_W_SHIFT)
|
||||
#define WWDG_CFR_WDGTB_SHIFT (7) /* Bits 8:7 [1:0]: Timer Base */
|
||||
#define WWDG_CFR_WDGTB_MASK (3 << WWDG_CFR_WDGTB_SHIFT)
|
||||
# define WWDG_CFR_PCLK1 (0 << WWDG_CFR_WDGTB_SHIFT) /* 00: CK Counter Clock (PCLK1 div 4096) div 1 */
|
||||
# define WWDG_CFR_PCLK1d2 (1 << WWDG_CFR_WDGTB_SHIFT) /* 01: CK Counter Clock (PCLK1 div 4096) div 2 */
|
||||
# define WWDG_CFR_PCLK1d4 (2 << WWDG_CFR_WDGTB_SHIFT) /* 10: CK Counter Clock (PCLK1 div 4096) div 4 */
|
||||
# define WWDG_CFR_PCLK1d8 (3 << WWDG_CFR_WDGTB_SHIFT) /* 11: CK Counter Clock (PCLK1 div 4096) div 8 */
|
||||
#define WWDG_CFR_EWI (1 << 9) /* Bit 9: Early Wakeup Interrupt */
|
||||
|
||||
/* Status register (32-bit) */
|
||||
|
||||
#define WWDG_SR_EWIF (1 << 0) /* Bit 0: Early Wakeup Interrupt Flag */
|
||||
|
||||
/************************************************************************************
|
||||
* Public Types
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
#endif /* __ARCH_ARM_SRC_STM32_HARDWARE_STM32_WDG_H */
|
||||
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Reference in New Issue