forked from Archive/PX4-Autopilot
Changes to px4-stm32f4discovery for upstream Nuttx
This commit is contained in:
David Sidrane
Lorenz Meier
parent
feda3e8c5c
commit
f149adac54
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@ -1,5 +1,7 @@
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
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set(config_module_list
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@ -1,5 +1,5 @@
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/************************************************************************************
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* configs/stm32f4discovery/include/board.h
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* nuttx-configs/stm32f4discovery/include/board.h
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* include/arch/board/board.h
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*
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* Copyright (C) 2012 Gregory Nutt. All rights reserved.
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@ -151,11 +151,23 @@
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
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* otherwise frequency is 2xAPBx.
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* Note: TIM1,8 are on APB2, others on APB1
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* Note: TIM1,8-11 are on APB2, others on APB1
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*/
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#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
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#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
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#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
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#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
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#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
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#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
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#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
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#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
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#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
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/* LED definitions ******************************************************************/
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/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
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@ -1,5 +1,5 @@
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############################################################################
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# configs/px4-stm32f4discovery/nsh/Make.defs
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# nuttx-configs/px4stm32f4discovery/nsh/Make.defs
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#
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# Copyright (C) 2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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@ -35,14 +35,14 @@
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include ${TOPDIR}/.config
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include ${TOPDIR}/tools/Config.mk
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include $(TOPDIR)/PX4_Warnings.mk
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include $(TOPDIR)/PX4_Config.mk
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#
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# We only support building with the ARM bare-metal toolchain from
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# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
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#
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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@ -62,17 +62,19 @@ ARCHCPUFLAGS = -mcpu=cortex-m4 \
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-mfpu=fpv4-sp-d16 \
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-mfloat-abi=hard
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# Enable precise stack overflow tracking
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# enable precise stack overflow tracking
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ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
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INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
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endif
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# pull in *just* libm from the toolchain ... this is grody
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# Pull in *just* libm from the toolchain ... this is grody
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LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
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EXTRA_LIBS += $(LIBM)
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# use our linker script
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# Use our linker script
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LDSCRIPT = ld.script
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ifeq ($(WINTOOL),y)
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@ -94,18 +96,20 @@ else
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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else
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# Linux/Cygwin-native toolchain
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MKDEP = $(TOPDIR)/tools/mkdeps.sh
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MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
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ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
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ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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endif
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endif
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# tool versions
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# Tool versions
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ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
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ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
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# optimisation flags
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# Optimization flags
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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-fno-strict-aliasing \
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-fno-strength-reduce \
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@ -127,7 +131,8 @@ ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
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ARCHDEFINES =
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ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
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# this seems to be the only way to add linker flags
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# This seems to be the only way to add linker flags
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EXTRA_LIBS += --warn-common \
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--gc-sections
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@ -146,8 +151,8 @@ OBJEXT = .o
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LIBEXT = .a
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EXEEXT =
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# Produce partially-linked $1 from files in $2
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# produce partially-linked $1 from files in $2
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define PRELINK
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@echo "PRELINK: $1"
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$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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@ -1,48 +0,0 @@
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############################################################################
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# configs/px4fmu/nsh/appconfig
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#
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# Copyright (C) 2011 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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# Path to example in apps/examples containing the user_start entry point
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CONFIGURED_APPS += examples/nsh
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# The NSH application library
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CONFIGURED_APPS += nshlib
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CONFIGURED_APPS += system/readline
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#ifeq ($(CONFIG_USBDEV),y)
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#ifeq ($(CONFIG_CDCACM),y)
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CONFIGURED_APPS += examples/cdcacm
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#endif
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#endif
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File diff suppressed because it is too large
Load Diff
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@ -1,5 +1,5 @@
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#!/bin/bash
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# configs/stm3240g-eval/nsh/setenv.sh
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# nuttx-configs/px4-stm32f4discovery/nsh/setenv.sh
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#
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# Copyright (C) 2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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@ -1,5 +1,5 @@
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/****************************************************************************
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* configs/px4fmu-v1/scripts/ld.script
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* configs/px4-stm32f4discovery/scripts/ld.script
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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@ -1,5 +1,4 @@
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############################################################################
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# configs/px4fmu/src/Makefile
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#
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# Copyright (C) 2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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@ -80,5 +79,9 @@ distclean: clean
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$(call DELFILE, Make.dep)
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$(call DELFILE, .depend)
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ifneq ($(BOARD_CONTEXT),y)
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context:
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endif
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-include Make.dep
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@ -1,4 +1,4 @@
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/*
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* There are no source files here, but libboard.a can't be empty, so
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* There are no source files here, but libboard.a can't be empty, so
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* we have this empty source file to keep it company.
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*/
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@ -47,11 +47,6 @@
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32.h>
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#include <arch/board/board.h>
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#define UDID_START 0x1FFF7A10
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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@ -112,26 +107,15 @@ __BEGIN_DECLS
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extern void stm32_spiinitialize(void);
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extern void stm32_usbinitialize(void);
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/****************************************************************************
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* Name: nsh_archinitialize
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/****************************************************************************************************
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* Name: stm32_usbinitialize
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*
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* Description:
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* Perform architecture specific initialization for NSH.
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* Called to configure USB IO.
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*
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* CONFIG_NSH_ARCHINIT=y :
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* Called from the NSH library
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*
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* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
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* CONFIG_NSH_ARCHINIT=n :
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* Called from board_initialize().
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*
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****************************************************************************/
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****************************************************************************************************/
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#ifdef CONFIG_NSH_LIBRARY
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int nsh_archinitialize(void);
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#endif
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extern void stm32_usbinitialize(void);
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#include "../common/board_common.h"
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@ -35,10 +35,10 @@
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* @file px4discovery_init.c
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*
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* PX4-stm32f4discovery specific early startup code. This file implements the
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* nsh_archinitialize() function that is called early by nsh during startup.
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* board_app_initialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialisation.
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* subsystems and perform board-specific initialization.
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*/
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/****************************************************************************
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@ -53,12 +53,13 @@
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#include <errno.h>
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#include <nuttx/arch.h>
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#include <nuttx/spi.h>
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#include <nuttx/i2c.h>
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#include <nuttx/board.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/sdio.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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#include <nuttx/gran.h>
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#include <nuttx/mm/gran.h>
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#include <stm32.h>
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#include "board_config.h"
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@ -82,13 +83,13 @@
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#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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# define message(...) lowsyslog(__VA_ARGS__)
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# define message(...) syslog(__VA_ARGS__)
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# else
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# define message(...) printf(__VA_ARGS__)
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# endif
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#else
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# ifdef CONFIG_DEBUG
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# define message lowsyslog
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# define message syslog
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# else
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# define message printf
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# endif
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@ -116,22 +117,51 @@ __EXPORT void
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stm32_boardinitialize(void)
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{
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/* configure LEDs */
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up_ledinit();
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board_autoled_initialize();
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}
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/****************************************************************************
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* Name: nsh_archinitialize
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* Name: board_app_initialize
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*
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* Description:
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* Perform architecture specific initialization
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* Perform application specific initialization. This function is never
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* called directly from application code, but only indirectly via the
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* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
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*
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* Input Parameters:
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* arg - The boardctl() argument is passed to the board_app_initialize()
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* implementation without modification. The argument has no
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* meaning to NuttX; the meaning of the argument is a contract
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* between the board-specific initalization logic and the the
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* matching application logic. The value cold be such things as a
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* mode enumeration value, a set of DIP switch switch settings, a
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* pointer to configuration data read from a file or serial FLASH,
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* or whatever you would like to do with it. Every implementation
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* should accept zero/NULL as a default configuration.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure to indicate the nature of the failure.
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*
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****************************************************************************/
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#include <math.h>
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__EXPORT int nsh_archinitialize(void)
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__EXPORT int board_app_initialize(uintptr_t arg)
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{
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#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
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/* run C++ ctors before we go any further */
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up_cxxinitialize();
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# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
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# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
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# endif
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#else
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# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
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#endif
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/* configure the high-resolution time/callout interface */
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hrt_init();
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@ -159,3 +189,7 @@ __EXPORT int nsh_archinitialize(void)
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return OK;
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}
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__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
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{
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}
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|
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@ -44,7 +44,7 @@
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#include "stm32.h"
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#include "board_config.h"
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#include <arch/board/board.h>
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#include <nuttx/board.h>
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/*
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* Ideally we'd be able to get these from up_internal.h,
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@ -60,37 +60,39 @@ extern void led_off(int led);
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extern void led_toggle(int led);
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__END_DECLS
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__EXPORT void led_init()
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__EXPORT void board_autoled_initialize(void)
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{
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/* Configure LED1 GPIO for output */
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px4_arch_configgpio(GPIO_LED1);
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stm32_configgpio(GPIO_LED1);
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}
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__EXPORT void led_on(int led)
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__EXPORT void board_autoled_on(int led)
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{
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if (led == 1) {
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/* Pull down to switch on */
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px4_arch_gpiowrite(GPIO_LED1, false);
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stm32_gpiowrite(GPIO_LED1, false);
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}
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}
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__EXPORT void led_off(int led)
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__EXPORT void board_autoled_off(int led)
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{
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if (led == 1) {
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/* Pull up to switch off */
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px4_arch_gpiowrite(GPIO_LED1, true);
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stm32_gpiowrite(GPIO_LED1, true);
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}
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}
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__EXPORT void led_toggle(int led)
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{
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if (led == 1) {
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if (px4_arch_gpioread(GPIO_LED1)) {
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px4_arch_gpiowrite(GPIO_LED1, false);
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if (stm32_gpioread(GPIO_LED1)) {
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stm32_gpiowrite(GPIO_LED1, false);
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} else {
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px4_arch_gpiowrite(GPIO_LED1, true);
|
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stm32_gpiowrite(GPIO_LED1, true);
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}
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}
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}
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|
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|
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@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
|
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/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
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|
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#ifdef CONFIG_STM32_OTGFS
|
||||
px4_arch_configgpio(GPIO_OTGFS_VBUS);
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
/* XXX We only support device mode
|
||||
px4_arch_configgpio(GPIO_OTGFS_PWRON);
|
||||
px4_arch_configgpio(GPIO_OTGFS_OVER);
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
#endif
|
||||
}
|
||||
|
|
@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
|
|||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
//ulldbg("resume: %d\n", resume);
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue