forked from Archive/PX4-Autopilot
Adding px4flow-v2 bootloader
This commit is contained in:
David Sidrane
Lorenz Meier
parent
24e8c213ee
commit
f14a0ba107
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{
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"board_id": 24,
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"magic": "FLOWv1",
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"description": "Firmware for the PX4FLowV1 board",
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"image": "",
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"build_time": 0,
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"summary": "PX4FLOWv1",
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"version": "0.1",
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"image_size": 0,
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"git_identity": "",
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"board_revision": 0
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}
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include(nuttx/px4_impl_nuttx)
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px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)
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set(px4_src_base ${CMAKE_SOURCE_DIR}/src/)
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set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/)
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set(px4_module_base ${px4_src_base}modules/)
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#
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# UAVCAN boot loadable Module ID
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#
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# Bring in common uavcan hardware identity definitions
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#
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include(configs/uavcan_board_ident/px4flow-v2)
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set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
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set(config_module_list
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drivers/boards/px4flow-v2/bootloader
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)
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#
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# Bootloaders use a compact vector table not
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# from the lib, but exported in startup
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#
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set(nuttx_startup_files stm32_vectors.o)
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@ -0,0 +1,22 @@
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#
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# For a description of the syntax of this configuration file,
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# see misc/tools/kconfig-language.txt.
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#
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if CONFIG_ARCH_BOARD_PX4FLOW_V2
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config BOARD_HAS_PROBES
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bool "Board provides GPIO or other Hardware for signaling to timing analyze."
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default y
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---help---
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This board provides ADDR[0:2] as PROBE_1-3 to provide timing signals from selected drivers.
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config BOARD_USE_PROBES
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bool "Enable the use provides ADDR[0:2] as PROBE_1-3 to provide timing signals from selected drivers"
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default n
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depends on BOARD_HAS_PROBES
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---help---
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Select to use GPIO provides ADDR[0:2] as PROBE_1-3 to provide timing signals from selected drivers.
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endif
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@ -0,0 +1,164 @@
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############################################################################
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# nuttx-configs/px4flow-v2/bootloader/Make.defs
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#
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# Copyright (C) 2015 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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# David Sidrane <david_s5@nscdg.com>
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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
|
||||
# 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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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 $(TOPDIR)/PX4_Config.mk
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#
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# We only support building with the ARM bare-metal toolchain from
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# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
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#
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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CONFIG_BOOTLOADER=y
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CC = $(CROSSDEV)gcc
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CXX = $(CROSSDEV)g++
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CPP = $(CROSSDEV)gcc -E
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LD = $(CROSSDEV)ld
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AR = $(CROSSDEV)ar rcs
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NM = $(CROSSDEV)nm
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OBJCOPY = $(CROSSDEV)objcopy
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OBJDUMP = $(CROSSDEV)objdump
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MAXOPTIMIZATION = -Os
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ARCHCPUFLAGS = -mcpu=cortex-m4 \
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-mthumb \
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-march=armv7e-m \
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-mfpu=fpv4-sp-d16 \
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-mfloat-abi=hard
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# Enable precise stack overflow tracking
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ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
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INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
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endif
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# Use our linker script
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LDSCRIPT = bootloaderld.script
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ifeq ($(WINTOOL),y)
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# Windows-native toolchains
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DIRLINK = $(TOPDIR)/tools/copydir.sh
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DIRUNLINK = $(TOPDIR)/tools/unlink.sh
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MKDEP = $(TOPDIR)/tools/mknulldeps.sh
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ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
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ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
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ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
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else
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ifeq ($(PX4_WINTOOL),y)
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# Windows-native toolchains (MSYS)
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DIRLINK = $(TOPDIR)/tools/copydir.sh
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DIRUNLINK = $(TOPDIR)/tools/unlink.sh
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MKDEP = $(TOPDIR)/tools/mknulldeps.sh
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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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else
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# Linux/Cygwin-native toolchain
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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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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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# Optimization flags
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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-fno-strict-aliasing \
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-fno-strength-reduce \
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-fomit-frame-pointer \
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-funsafe-math-optimizations \
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-fno-builtin-printf \
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-ffunction-sections \
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-fdata-sections
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ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
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ARCHOPTIMIZATION += -g
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endif
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ARCHCFLAGS = -std=gnu99
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
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ARCHWARNINGS = $(PX4_ARCHWARNINGS)
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ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
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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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EXTRA_LIBS += --warn-common \
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--gc-sections
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CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
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CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
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CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
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CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
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CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
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AFLAGS = $(CFLAGS) -D__ASSEMBLY__
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NXFLATLDFLAGS1 = -r -d -warn-common
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NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
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LDNXFLATFLAGS = -e main -s 2048
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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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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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endef
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HOSTCC = gcc
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HOSTINCLUDES = -I.
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HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
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HOSTLDFLAGS =
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LDFLAGS += --wrap up_svcall
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@ -0,0 +1,182 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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* Author: Ben Dyer <ben_dyer@mac.com>
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* Pavel Kirienko <pavel.kirienko@zubax.com>
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* David Sidrane <david_s5@nscdg.com>
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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
|
||||
* are met:
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||||
*
|
||||
* 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.
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*
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****************************************************************************/
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This file currently list the SoC that are in uses and the features from the Mfg description.
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It includes what is current upported in Nuttx and nearest Soc to help with porting
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Pixhawk ESC- v1.2 - STM32F105RCT6
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Pixhawk ESC- v1.3 - STM32F105RCT6
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Pixhawk ESC- v1.4 - STM32F105RCT6
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Pixhawk ESC- v1.5 - STM32F205RCT6
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Pixhawk ESC- v1.5-prto -STM32F205RET6
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Pixhawk ESC- v1.6-prto -STM32F446RET6
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Px4Flow STM32F407VGT6
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Px4FlowFuture STM32F427VIT7 Rev_C silicon (no PB12 silicon bug, full 2M Flash available)
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Olimexino-STM32 STM32F103RBT6
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Olimex LPC-P11C24 LPC11C24FBD48
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freedom-kl25z MKL25Z128VLK4 MCU – 48 MHz, 128 KB flash, 16 KB SRAM, USB OTG (FS), 80LQFP
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freedom-kl26z MKL26Z128VLH4 MCU – 48 MHz, 128 KB flash, 16 KB SRAM, USB OTG (FS), 64 LQFP
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Using:
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Part Number Package Marketing Status Core Operating Frequency(F) (Processor speed) FLASH Size (Prog) Data E2PROM nom (B) Internal RAM Size 16-bit timers (IC/OC/PWM) 32-bit timer (IC/OC/PWM) Other timer functions A/D Converter I/Os (High Current) Display controller D/A Converter Integrated op-amps Serial Interface Supply Current(Icc) (Lowest power mode) typ (µA) Supply Current(Icc) (Run mode (per Mhz)) typ (µA) Operating Temperature min (°C) Operating Temperature max (°C)
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STM32F103RB LQFP 64 10x10x1.4 Active ARM Cortex-M3 72 128 - 20 4x16-bit - 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - - - 2xSPI 2xI2C 3xUSART(IrDA, ISO 7816) USB CAN 1.7 373 -40 85
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STM32F105RC LQFP 64 10x10x1.4 Active ARM Cortex-M3 72 256 - 64 7x16-bit - 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - 2x12-bit - 3xSPI 2xI2S 2xI2C 3xUSART 2xUART USB OTG FS 2xCAN 1.9 393 -40 105
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STM32F205RC LQFP 64 10x10x1.4 Active ARM Cortex-M3 120 256 - 96 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - 2x12-bit - 3xSPI 2xI2S 3xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN SDIO 2.5 188 -40 105
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STM32F205RE LQFP 64 10x10x1.4 Active ARM Cortex-M3 120 512 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - 2x12-bit - 3xSPI 2xI2S 3xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN SDIO 2.5 188 -40 105
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||||
|
||||
Nuttx:
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||||
STM32F103RB LQFP 64 10x10x1.4 Active ARM Cortex-M3 72 128 - 20 4x16-bit - 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - - - 2xSPI 2xI2C 3xUSART(IrDA, ISO 7816) USB CAN 1.7 373 -40 85
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STM32F207IG BGA 176; LQFP Active ARM Cortex-M3 120 1024 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 105
|
||||
STM32F207ZE LQFP 144 Active ARM Cortex-M3 120 512 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 85
|
||||
|
||||
Type number Core Clock speed [max] (MHz) Flash (kB) RAM (kB) GPIO CAN UART I²C SPI ADC channels ADC (bits) Timers Timer (bits) PWM Package name Temperature range (°C) Demoboard
|
||||
LPC11C24FBD48 Cortex-M0 50 32 8 36 1 1 1 2 8 10 4 16; 32 11 LQFP48 -40 °C to +85 °C OM13012
|
||||
|
||||
Products Parts Order Status Budgetary Price excluding tax(US$) HW dev. tools Core: Type Operating Frequency (Max) (MHz) Cache (KB) Total Flash (KB) Internal RAM (KB) Boot ROM (KB) UART SPI I2C I2S USB OTG USB features GPIOs ADC DAC 16-bit PWM (ch) 16-bit Timer (ch) Other Analog blocks Human Machine Interface VDD (min) (V) VDD (max) (V) Package type Pin count Package dimension (WxLxH) (mm3) Pin pitch (mm) Ambient Operating Temperature (Min-Max) (°C)
|
||||
KL2x MKL25Z128VLK4 N Active 10000 @ US$2.18 each FRDM-KL25Z, TWR-KL25Z48M ARM Cortex-M0+ 48 0.064 128 - - 3 2 2 - 1 (FS) USB OTG LS/FS 66 16-bit (SAR) x 1 12-bit x 1, 6-bit x 1 10 11 Comparator Touch System Interface 1.71 3.6 LQFP 80 12x12x1.6 0.5 -40 to 105
|
||||
KL2x MKL26Z128VLH4 Y Active 10000 @ US$1.90 each FRDM-KL26Z ARM Cortex-M0+ 48 0.064 128 - - 3 2 2 1 1 (FS) USB 2.0 FS Certified 50 16-bit (SAR) x 1 12-bit x 1, 6-bit x 1 10 11 Comparator Touch System Interface 1.71 3.6 LQFP 64 10x10x1.6 0.5 -40 to 105
|
||||
|
||||
Nuttx:
|
||||
STM32F103RB
|
||||
STM32F105VB
|
||||
STM32F107VC
|
||||
STM32F207IG BGA 176; LQFP 176 24x24x1.4 Active ARM Cortex-M3 120 1024 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 105
|
||||
STM32F207ZE LQFP 144 20x20x1.4 Active ARM Cortex-M3 120 512 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 85
|
||||
|
||||
|
||||
Nuttx HAS:
|
||||
STM32F100C8
|
||||
STM32F100CB
|
||||
STM32F100R8
|
||||
STM32F100RB
|
||||
STM32F100RC
|
||||
STM32F100RD
|
||||
STM32F100RE
|
||||
STM32F100V8
|
||||
STM32F100VB
|
||||
STM32F100VC
|
||||
STM32F100VD
|
||||
STM32F100VE
|
||||
STM32F102CB
|
||||
STM32F103C4
|
||||
STM32F103C8
|
||||
STM32F103CB
|
||||
STM32F103R8
|
||||
STM32F103RB
|
||||
STM32F103RC
|
||||
STM32F103RD
|
||||
STM32F103RE
|
||||
STM32F103RG
|
||||
STM32F103T8
|
||||
STM32F103TB
|
||||
STM32F103V8
|
||||
STM32F103VB
|
||||
STM32F103VC
|
||||
STM32F103VE
|
||||
STM32F103ZE
|
||||
STM32F105VB
|
||||
STM32F107VC
|
||||
STM32F207IG
|
||||
STM32F207ZE
|
||||
STM32F302CB
|
||||
STM32F302CC
|
||||
STM32F302RB
|
||||
STM32F302RC
|
||||
STM32F302VB
|
||||
STM32F302VC
|
||||
STM32F303CB
|
||||
STM32F303CC
|
||||
STM32F303RB
|
||||
STM32F303RC
|
||||
STM32F303VB
|
||||
STM32F303VC
|
||||
STM32F372C8
|
||||
STM32F372CB
|
||||
STM32F372CC
|
||||
STM32F372R8
|
||||
STM32F372RB
|
||||
STM32F372RC
|
||||
STM32F372V8
|
||||
STM32F372VB
|
||||
STM32F372VC
|
||||
STM32F373C8
|
||||
STM32F373CB
|
||||
STM32F373CC
|
||||
STM32F373R8
|
||||
STM32F373RB
|
||||
STM32F373RC
|
||||
STM32F373V8
|
||||
STM32F373VB
|
||||
STM32F373VC
|
||||
STM32F401RE
|
||||
STM32F405RG
|
||||
STM32F405VG
|
||||
STM32F405ZG
|
||||
STM32F407IE
|
||||
STM32F407IG
|
||||
STM32F407VE
|
||||
STM32F407VG
|
||||
STM32F407ZE
|
||||
STM32F407ZG
|
||||
STM32F411RE
|
||||
STM32F427I
|
||||
STM32F427V
|
||||
STM32F427Z
|
||||
STM32F429B
|
||||
STM32F429I
|
||||
STM32F429N
|
||||
STM32F429V
|
||||
STM32F429Z
|
||||
STM32L151C6
|
||||
STM32L151C8
|
||||
STM32L151CB
|
||||
STM32L151R6
|
||||
STM32L151R8
|
||||
STM32L151RB
|
||||
STM32L151V6
|
||||
STM32L151V8
|
||||
STM32L151VB
|
||||
STM32L152C6
|
||||
STM32L152C8
|
||||
STM32L152CB
|
||||
STM32L152R6
|
||||
STM32L152R8
|
||||
STM32L152RB
|
||||
STM32L152V6
|
||||
STM32L152V8
|
||||
STM32L152VB
|
||||
STM32L162VE
|
||||
STM32L162ZD
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,80 @@
|
|||
#!/bin/bash
|
||||
# nuttx-configs/px4flow-v2/setenv.sh
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
|
||||
if [ "$_" = "$0" ] ; then
|
||||
echo "You must source this script, not run it!" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
WD=`pwd`
|
||||
if [ ! -x "setenv.sh" ]; then
|
||||
echo "This script must be executed from the top-level NuttX build directory"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -z "${PATH_ORIG}" ]; then
|
||||
export PATH_ORIG="${PATH}"
|
||||
fi
|
||||
|
||||
# This is the Cygwin path to the location where I installed the RIDE
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the RIDE toolchain in any other location
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Users/MyName/MentorGraphics/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
|
||||
|
||||
# This is the Cygwin path to the location where I installed the CodeSourcery
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the CodeSourcery toolchain in any other location
|
||||
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
|
||||
|
||||
# These are the Cygwin paths to the locations where I installed the Atollic
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the Atollic toolchain in any other location. /usr/bin is added before
|
||||
# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
|
||||
# at those locations as well.
|
||||
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
|
||||
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
|
||||
|
||||
# This is the location where I installed the ARM "GNU Tools for ARM Embedded Processors"
|
||||
# You can this free toolchain here https://launchpad.net/gcc-arm-embedded
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/GNU Tools ARM Embedded/4.9 2014q4/bin"
|
||||
|
||||
# This is the Cygwin path to the location where I build the buildroot
|
||||
# toolchain.
|
||||
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||
|
||||
# Add the path to the toolchain to the PATH varialble
|
||||
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||
|
||||
echo "PATH : ${PATH}"
|
||||
|
|
@ -0,0 +1,2 @@
|
|||
This directory contains header files unique to the
|
||||
PX4 Flow V1 board using the STM32F427VIT7 Rev_C silicon (no PB12 silicon bug, full 2M Flash available)
|
||||
|
|
@ -0,0 +1,310 @@
|
|||
/************************************************************************************
|
||||
* nuttx-configs/px4flow-v2/include/board.h
|
||||
*
|
||||
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
* 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 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 __CONFIGS_PX4FLOW_V2_INCLUDE_BOARD_H
|
||||
#define __CONFIGS_PX4FLOW_V2_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
#include "stm32_rcc.h"
|
||||
#include "stm32_sdio.h"
|
||||
#include "stm32.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The PX4FLOW uses a 24MHz crystal connected to the HSE.
|
||||
*
|
||||
* This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
|
||||
* System Clock source : PLL (HSE)
|
||||
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
|
||||
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
|
||||
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
|
||||
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
|
||||
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
|
||||
* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
|
||||
* PLLM : 24 (STM32_PLLCFG_PLLM)
|
||||
* PLLN : 336 (STM32_PLLCFG_PLLN)
|
||||
* PLLP : 2 (STM32_PLLCFG_PLLP)
|
||||
* PLLQ : 7 (STM32_PLLCFG_PPQ)
|
||||
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
|
||||
* Flash Latency(WS) : 5
|
||||
* Prefetch Buffer : OFF
|
||||
* Instruction cache : ON
|
||||
* Data cache : ON
|
||||
* Require 48MHz for USB OTG FS, : Enabled
|
||||
* SDIO and RNG clock
|
||||
*/
|
||||
|
||||
/* HSI - 16 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - On-board crystal frequency is 24MHz
|
||||
* LSE - not installed
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 24000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
//#define STM32_LSE_FREQUENCY 32768
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE
|
||||
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* = (25,000,000 / 25) * 336
|
||||
* = 336,000,000
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* = 336,000,000 / 2 = 168,000,000
|
||||
* USB OTG FS, SDIO and RNG Clock
|
||||
* = PLL_VCO / PLLQ
|
||||
* = 48,000,000
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 168000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (168MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
|
||||
* otherwise frequency is 2xAPBx.
|
||||
* Note: TIM1,8-11 are on APB2, others on APB1
|
||||
*/
|
||||
|
||||
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
|
||||
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
|
||||
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
|
||||
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
|
||||
#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
|
||||
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
|
||||
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
|
||||
#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
|
||||
#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
|
||||
#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
|
||||
#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
|
||||
#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
|
||||
#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
|
||||
#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
|
||||
|
||||
|
||||
/* Leds *************************************************************************/
|
||||
|
||||
/* LED index values for use with board_setled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
#define BOARD_LED_RED BOARD_LED1
|
||||
#define BOARD_LED2 1
|
||||
#define BOARD_LED_GREEN BOARD_LED2
|
||||
#define BOARD_LED3 2
|
||||
#define BOARD_LED_BLUE BOARD_LED3
|
||||
#define BOARD_NLEDS 3
|
||||
|
||||
/* LED bits for use with board_setleds() */
|
||||
|
||||
#define BOARD_LED_RED_BIT (1 << BOARD_LED_RED)
|
||||
#define BOARD_LED_GREEN_BIT (1 << BOARD_LED_GREEN)
|
||||
#define BOARD_LED_BLUE_BIT (1 << BOARD_LED_BLUE)
|
||||
|
||||
/* TODO:define these
|
||||
* These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
|
||||
*
|
||||
* defined. In that case, the usage by the board port is as follows:
|
||||
*
|
||||
* SYMBOL Meaning LED state
|
||||
* Red Green Blue
|
||||
* ------------------------ -------------------------- ------ ------ ----*/
|
||||
|
||||
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
|
||||
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
|
||||
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
|
||||
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
|
||||
#define LED_INIRQ 4 /* In an interrupt N/C GLOW N/C */
|
||||
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
|
||||
#define LED_ASSERTION 6 /* An assertion failed GLOW GLOW N/C */
|
||||
#define LED_PANIC 7 /* The system has crashed Blk OFF N/C */
|
||||
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
|
||||
|
||||
/*
|
||||
* Thus if the blue is statically on, NuttX has successfully booted and is,
|
||||
* apparently, running normally. If the Red LED is flashing at
|
||||
* approximately 2Hz, then a fatal error has been detected and the system
|
||||
* has halted.
|
||||
*
|
||||
*/
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/* UARTs */
|
||||
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3
|
||||
|
||||
/* CAN
|
||||
*
|
||||
* CAN1 is routed to the onboard transceiver.
|
||||
*/
|
||||
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3
|
||||
|
||||
#if defined(CONFIG_BOARD_USE_PROBES)
|
||||
# define PROBE_N(n) (1<<((n)-1))
|
||||
# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTC | GPIO_PIN2)
|
||||
# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTC | GPIO_PIN4)
|
||||
# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL | GPIO_SPEED_50MHz | GPIO_OUTPUT_CLEAR | GPIO_PORTC | GPIO_PIN5)
|
||||
|
||||
# define PROBE_INIT(mask) \
|
||||
do { \
|
||||
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
|
||||
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
|
||||
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
|
||||
} while(0)
|
||||
|
||||
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
|
||||
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
|
||||
#else
|
||||
# define PROBE_INIT(mask)
|
||||
# define PROBE(n,s)
|
||||
# define PROBE_MARK(n)
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C"
|
||||
{
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void stm32_boardinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
|
||||
*
|
||||
* Description:
|
||||
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
|
||||
* CONFIG_ARCH_LEDS is not defined, then the following interfaces are available to
|
||||
* control the LEDs from user applications.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef CONFIG_ARCH_LEDS
|
||||
void stm32_led_initialize(void);
|
||||
void stm32_setled(int led, bool ledon);
|
||||
void stm32_setleds(uint8_t ledset);
|
||||
#endif
|
||||
|
||||
#if !defined(CONFIG_NSH_LIBRARY)
|
||||
int app_archinitialize(void);
|
||||
#else
|
||||
#define app_archinitialize() (-ENOSYS)
|
||||
#endif
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIGS_PX4FLOW_V2_INCLUDE_BOARD_H */
|
||||
|
|
@ -0,0 +1,159 @@
|
|||
############################################################################
|
||||
# nuttx-configs/px4flow-v2/nsh/Make.defs
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
include ${TOPDIR}/.config
|
||||
include ${TOPDIR}/tools/Config.mk
|
||||
include $(TOPDIR)/PX4_Warnings.mk
|
||||
include $(TOPDIR)/PX4_Config.mk
|
||||
|
||||
#
|
||||
# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
|
||||
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
CPP = $(CROSSDEV)gcc -E
|
||||
LD = $(CROSSDEV)ld
|
||||
AR = $(CROSSDEV)ar rcs
|
||||
NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
-mfpu=fpv4-sp-d16 \
|
||||
-mfloat-abi=hard
|
||||
|
||||
# Enable precise stack overflow tracking
|
||||
|
||||
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
|
||||
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
|
||||
endif
|
||||
|
||||
# Use our linker script
|
||||
|
||||
LDSCRIPT = ld.script
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
# Windows-native toolchains
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
|
||||
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
|
||||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
||||
else
|
||||
ifeq ($(PX4_WINTOOL),y)
|
||||
# Windows-native toolchains (MSYS)
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
else
|
||||
# Linux/Cygwin-native toolchain
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
endif
|
||||
endif
|
||||
|
||||
# Tool versions
|
||||
|
||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||
|
||||
# Optimization flags
|
||||
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||
ARCHOPTIMIZATION += -g
|
||||
endif
|
||||
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||
ARCHWARNINGS = $(PX4_ARCHWARNINGS)
|
||||
ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
# This seems to be the only way to add linker flags
|
||||
|
||||
EXTRA_LIBS += --warn-common \
|
||||
--gc-sections
|
||||
|
||||
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||
|
||||
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||
LDNXFLATFLAGS = -e main -s 2048
|
||||
|
||||
OBJEXT = .o
|
||||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
# Produce partially-linked $1 from files in $2
|
||||
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
HOSTINCLUDES = -I.
|
||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||
HOSTLDFLAGS =
|
||||
|
|
@ -0,0 +1,996 @@
|
|||
#
|
||||
# Automatically generated file; DO NOT EDIT.
|
||||
# Nuttx/ Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Build Setup
|
||||
#
|
||||
# CONFIG_EXPERIMENTAL is not set
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_HOST_LINUX=y
|
||||
# CONFIG_HOST_OSX is not set
|
||||
# CONFIG_HOST_WINDOWS is not set
|
||||
# CONFIG_HOST_OTHER is not set
|
||||
|
||||
#
|
||||
# Build Configuration
|
||||
#
|
||||
CONFIG_APPS_DIR="../apps"
|
||||
CONFIG_BUILD_FLAT=y
|
||||
# CONFIG_BUILD_2PASS is not set
|
||||
|
||||
#
|
||||
# Binary Output Formats
|
||||
#
|
||||
# CONFIG_RRLOAD_BINARY is not set
|
||||
# CONFIG_INTELHEX_BINARY is not set
|
||||
# CONFIG_MOTOROLA_SREC is not set
|
||||
CONFIG_RAW_BINARY=y
|
||||
# CONFIG_UBOOT_UIMAGE is not set
|
||||
|
||||
#
|
||||
# Customize Header Files
|
||||
#
|
||||
# CONFIG_ARCH_STDINT_H is not set
|
||||
# CONFIG_ARCH_STDBOOL_H is not set
|
||||
CONFIG_ARCH_MATH_H=y
|
||||
# CONFIG_ARCH_FLOAT_H is not set
|
||||
# CONFIG_ARCH_STDARG_H is not set
|
||||
|
||||
#
|
||||
# Debug Options
|
||||
#
|
||||
# CONFIG_DEBUG_FEATURES is not set
|
||||
CONFIG_ARCH_HAVE_HEAPCHECK=y
|
||||
CONFIG_DEBUG_VERBOSE=y
|
||||
|
||||
#
|
||||
# Subsystem Debug Options
|
||||
#
|
||||
# CONFIG_DEBUG_AUDIO is not set
|
||||
# CONFIG_DEBUG_BINFMT is not set
|
||||
# CONFIG_DEBUG_FS is not set
|
||||
# CONFIG_DEBUG_GRAPHICS is not set
|
||||
# CONFIG_DEBUG_LIB is not set
|
||||
# CONFIG_DEBUG_MM is not set
|
||||
# CONFIG_DEBUG_SCHED is not set
|
||||
|
||||
#
|
||||
# OS Function Debug Options
|
||||
#
|
||||
# CONFIG_DEBUG_DMA is not set
|
||||
# CONFIG_DEBUG_HEAP is not set
|
||||
# CONFIG_DEBUG_IRQ is not set
|
||||
|
||||
#
|
||||
# Driver Debug Options
|
||||
#
|
||||
# CONFIG_DEBUG_ANALOG is not set
|
||||
# CONFIG_DEBUG_GPIO is not set
|
||||
CONFIG_ARCH_HAVE_STACKCHECK=y
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_ARCH_HAVE_CUSTOMOPT=y
|
||||
# CONFIG_DEBUG_NOOPT is not set
|
||||
# CONFIG_DEBUG_CUSTOMOPT is not set
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
|
||||
#
|
||||
# System Type
|
||||
#
|
||||
CONFIG_ARCH_ARM=y
|
||||
# CONFIG_ARCH_AVR is not set
|
||||
# CONFIG_ARCH_HC is not set
|
||||
# CONFIG_ARCH_MIPS is not set
|
||||
# CONFIG_ARCH_RGMP is not set
|
||||
# CONFIG_ARCH_SH is not set
|
||||
# CONFIG_ARCH_SIM is not set
|
||||
# CONFIG_ARCH_X86 is not set
|
||||
# CONFIG_ARCH_Z16 is not set
|
||||
# CONFIG_ARCH_Z80 is not set
|
||||
CONFIG_ARCH="arm"
|
||||
|
||||
#
|
||||
# ARM Options
|
||||
#
|
||||
# CONFIG_ARCH_CHIP_A1X is not set
|
||||
# CONFIG_ARCH_CHIP_C5471 is not set
|
||||
# CONFIG_ARCH_CHIP_CALYPSO is not set
|
||||
# CONFIG_ARCH_CHIP_DM320 is not set
|
||||
# CONFIG_ARCH_CHIP_EFM32 is not set
|
||||
# CONFIG_ARCH_CHIP_IMX is not set
|
||||
# CONFIG_ARCH_CHIP_KINETIS is not set
|
||||
# CONFIG_ARCH_CHIP_KL is not set
|
||||
# CONFIG_ARCH_CHIP_LM is not set
|
||||
# CONFIG_ARCH_CHIP_TIVA is not set
|
||||
# CONFIG_ARCH_CHIP_LPC11XX is not set
|
||||
# CONFIG_ARCH_CHIP_LPC17XX is not set
|
||||
# CONFIG_ARCH_CHIP_LPC214X is not set
|
||||
# CONFIG_ARCH_CHIP_LPC2378 is not set
|
||||
# CONFIG_ARCH_CHIP_LPC31XX is not set
|
||||
# CONFIG_ARCH_CHIP_LPC43XX is not set
|
||||
# CONFIG_ARCH_CHIP_NUC1XX is not set
|
||||
# CONFIG_ARCH_CHIP_SAMA5 is not set
|
||||
# CONFIG_ARCH_CHIP_SAMD is not set
|
||||
# CONFIG_ARCH_CHIP_SAML is not set
|
||||
# CONFIG_ARCH_CHIP_SAM34 is not set
|
||||
# CONFIG_ARCH_CHIP_SAMV7 is not set
|
||||
CONFIG_ARCH_CHIP_STM32=y
|
||||
# CONFIG_ARCH_CHIP_STM32F7 is not set
|
||||
# CONFIG_ARCH_CHIP_STR71X is not set
|
||||
# CONFIG_ARCH_CHIP_MOXART is not set
|
||||
# CONFIG_ARCH_ARM7TDMI is not set
|
||||
# CONFIG_ARCH_ARM926EJS is not set
|
||||
# CONFIG_ARCH_ARM920T is not set
|
||||
# CONFIG_ARCH_CORTEXM0 is not set
|
||||
# CONFIG_ARCH_CORTEXM3 is not set
|
||||
CONFIG_ARCH_CORTEXM4=y
|
||||
# CONFIG_ARCH_CORTEXM7 is not set
|
||||
# CONFIG_ARCH_CORTEXA5 is not set
|
||||
# CONFIG_ARCH_CORTEXA8 is not set
|
||||
CONFIG_ARCH_FAMILY="armv7-m"
|
||||
CONFIG_ARCH_CHIP="stm32"
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARCH_HAVE_CMNVECTOR=y
|
||||
CONFIG_ARMV7M_CMNVECTOR=y
|
||||
# CONFIG_ARMV7M_LAZYFPU is not set
|
||||
CONFIG_ARCH_HAVE_FPU=y
|
||||
# CONFIG_ARCH_HAVE_DPFPU is not set
|
||||
CONFIG_ARCH_FPU=y
|
||||
# CONFIG_ARMV7M_MPU is not set
|
||||
# CONFIG_DEBUG_HARDFAULT is not set
|
||||
|
||||
#
|
||||
# ARMV7M Configuration Options
|
||||
#
|
||||
# CONFIG_ARMV7M_HAVE_ICACHE is not set
|
||||
# CONFIG_ARMV7M_HAVE_DCACHE is not set
|
||||
# CONFIG_ARMV7M_HAVE_ITCM is not set
|
||||
# CONFIG_ARMV7M_HAVE_DTCM is not set
|
||||
# CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT is not set
|
||||
# CONFIG_ARMV7M_TOOLCHAIN_CODEREDL is not set
|
||||
CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL=y
|
||||
# CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL is not set
|
||||
CONFIG_ARMV7M_HAVE_STACKCHECK=y
|
||||
# CONFIG_ARMV7M_STACKCHECK is not set
|
||||
# CONFIG_ARMV7M_ITMSYSLOG is not set
|
||||
# CONFIG_SERIAL_TERMIOS is not set
|
||||
|
||||
#
|
||||
# STM32 Configuration Options
|
||||
#
|
||||
# CONFIG_ARCH_CHIP_STM32L151C6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151R6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151R8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151V6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151V8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L151VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152C6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152R6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152R8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152V6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152V8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L152VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L162ZD is not set
|
||||
# CONFIG_ARCH_CHIP_STM32L162VE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100R8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100RC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100RD is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100RE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100V8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100VD is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F100VE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F102CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103T8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103TB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103C4 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103R8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103RC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103RD is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103RE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103RG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103V8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103VE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F103ZE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F105VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F107VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F205RG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F207IG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F207ZE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302K6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302K8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302CC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302RC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F302VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303K6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303K8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303C6 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303CC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303RC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303RD is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303RE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F303VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F372C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F372R8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F372V8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F372CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F372RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F372VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F372CC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F372RC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F372VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F373C8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F373R8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F373V8 is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F373CB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F373RB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F373VB is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F373CC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F373RC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F373VC is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F401RE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F411RE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F405RG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F405VG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F405ZG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407VE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407VG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407ZE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407ZG is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407IE is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F407IG is not set
|
||||
CONFIG_ARCH_CHIP_STM32F427V=y
|
||||
# CONFIG_ARCH_CHIP_STM32F427Z is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F427I is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F429V is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F429Z is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F429I is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F429B is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F429N is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F446M is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F446R is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F446V is not set
|
||||
# CONFIG_ARCH_CHIP_STM32F446Z is not set
|
||||
# CONFIG_STM32_STM32L15XX is not set
|
||||
# CONFIG_STM32_ENERGYLITE is not set
|
||||
# CONFIG_STM32_STM32F10XX is not set
|
||||
# CONFIG_STM32_VALUELINE is not set
|
||||
# CONFIG_STM32_CONNECTIVITYLINE is not set
|
||||
# CONFIG_STM32_PERFORMANCELINE is not set
|
||||
# CONFIG_STM32_USBACCESSLINE is not set
|
||||
# CONFIG_STM32_HIGHDENSITY is not set
|
||||
# CONFIG_STM32_MEDIUMDENSITY is not set
|
||||
# CONFIG_STM32_LOWDENSITY is not set
|
||||
# CONFIG_STM32_STM32F20XX is not set
|
||||
# CONFIG_STM32_STM32F205 is not set
|
||||
# CONFIG_STM32_STM32F207 is not set
|
||||
# CONFIG_STM32_STM32F30XX is not set
|
||||
# CONFIG_STM32_STM32F37XX is not set
|
||||
CONFIG_STM32_STM32F40XX=y
|
||||
# CONFIG_STM32_STM32F401 is not set
|
||||
# CONFIG_STM32_STM32F411 is not set
|
||||
# CONFIG_STM32_STM32F405 is not set
|
||||
# CONFIG_STM32_STM32F407 is not set
|
||||
CONFIG_STM32_STM32F427=y
|
||||
# CONFIG_STM32_STM32F429 is not set
|
||||
# CONFIG_STM32_STM32F446 is not set
|
||||
# CONFIG_STM32_DFU is not set
|
||||
|
||||
#
|
||||
# STM32 Peripheral Support
|
||||
#
|
||||
CONFIG_STM32_HAVE_CCM=y
|
||||
# CONFIG_STM32_HAVE_USBDEV is not set
|
||||
CONFIG_STM32_HAVE_OTGFS=y
|
||||
CONFIG_STM32_HAVE_FSMC=y
|
||||
CONFIG_STM32_HAVE_USART3=y
|
||||
CONFIG_STM32_HAVE_UART4=y
|
||||
CONFIG_STM32_HAVE_UART5=y
|
||||
CONFIG_STM32_HAVE_USART6=y
|
||||
CONFIG_STM32_HAVE_UART7=y
|
||||
CONFIG_STM32_HAVE_UART8=y
|
||||
CONFIG_STM32_HAVE_TIM1=y
|
||||
CONFIG_STM32_HAVE_TIM5=y
|
||||
CONFIG_STM32_HAVE_TIM6=y
|
||||
CONFIG_STM32_HAVE_TIM7=y
|
||||
CONFIG_STM32_HAVE_TIM8=y
|
||||
CONFIG_STM32_HAVE_TIM9=y
|
||||
CONFIG_STM32_HAVE_TIM10=y
|
||||
CONFIG_STM32_HAVE_TIM11=y
|
||||
CONFIG_STM32_HAVE_TIM12=y
|
||||
CONFIG_STM32_HAVE_TIM13=y
|
||||
CONFIG_STM32_HAVE_TIM14=y
|
||||
# CONFIG_STM32_HAVE_TIM15 is not set
|
||||
# CONFIG_STM32_HAVE_TIM16 is not set
|
||||
# CONFIG_STM32_HAVE_TIM17 is not set
|
||||
CONFIG_STM32_HAVE_ADC2=y
|
||||
CONFIG_STM32_HAVE_ADC3=y
|
||||
# CONFIG_STM32_HAVE_ADC4 is not set
|
||||
# CONFIG_STM32_HAVE_ADC1_DMA is not set
|
||||
# CONFIG_STM32_HAVE_ADC2_DMA is not set
|
||||
# CONFIG_STM32_HAVE_ADC3_DMA is not set
|
||||
# CONFIG_STM32_HAVE_ADC4_DMA is not set
|
||||
CONFIG_STM32_HAVE_CAN1=y
|
||||
CONFIG_STM32_HAVE_CAN2=y
|
||||
CONFIG_STM32_HAVE_RNG=y
|
||||
CONFIG_STM32_HAVE_ETHMAC=y
|
||||
CONFIG_STM32_HAVE_SPI2=y
|
||||
CONFIG_STM32_HAVE_SPI3=y
|
||||
CONFIG_STM32_HAVE_SPI4=y
|
||||
CONFIG_STM32_HAVE_SPI5=y
|
||||
CONFIG_STM32_HAVE_SPI6=y
|
||||
# CONFIG_STM32_HAVE_SAIPLL is not set
|
||||
# CONFIG_STM32_HAVE_I2SPLL is not set
|
||||
# CONFIG_STM32_ADC1 is not set
|
||||
# CONFIG_STM32_ADC2 is not set
|
||||
# CONFIG_STM32_ADC3 is not set
|
||||
# CONFIG_STM32_BKPSRAM is not set
|
||||
# CONFIG_STM32_CAN1 is not set
|
||||
# CONFIG_STM32_CAN2 is not set
|
||||
# CONFIG_STM32_CCMDATARAM is not set
|
||||
# CONFIG_STM32_CRC is not set
|
||||
# CONFIG_STM32_CRYP is not set
|
||||
CONFIG_STM32_DMA1=y
|
||||
CONFIG_STM32_DMA2=y
|
||||
# CONFIG_STM32_DAC1 is not set
|
||||
# CONFIG_STM32_DAC2 is not set
|
||||
# CONFIG_STM32_DCMI is not set
|
||||
# CONFIG_STM32_ETHMAC is not set
|
||||
# CONFIG_STM32_FSMC is not set
|
||||
# CONFIG_STM32_HASH is not set
|
||||
# CONFIG_STM32_I2C1 is not set
|
||||
# CONFIG_STM32_I2C2 is not set
|
||||
# CONFIG_STM32_I2C3 is not set
|
||||
# CONFIG_STM32_OTGFS is not set
|
||||
# CONFIG_STM32_OTGHS is not set
|
||||
CONFIG_STM32_PWR=y
|
||||
# CONFIG_STM32_RNG is not set
|
||||
# CONFIG_STM32_SDIO is not set
|
||||
# CONFIG_STM32_SPI1 is not set
|
||||
# CONFIG_STM32_SPI2 is not set
|
||||
# CONFIG_STM32_SPI3 is not set
|
||||
# CONFIG_STM32_SPI4 is not set
|
||||
# CONFIG_STM32_SPI5 is not set
|
||||
# CONFIG_STM32_SPI6 is not set
|
||||
CONFIG_STM32_SYSCFG=y
|
||||
# CONFIG_STM32_TIM1 is not set
|
||||
# CONFIG_STM32_TIM2 is not set
|
||||
CONFIG_STM32_TIM3=y
|
||||
# CONFIG_STM32_TIM4 is not set
|
||||
# CONFIG_STM32_TIM5 is not set
|
||||
# CONFIG_STM32_TIM6 is not set
|
||||
# CONFIG_STM32_TIM7 is not set
|
||||
# CONFIG_STM32_TIM8 is not set
|
||||
# CONFIG_STM32_TIM9 is not set
|
||||
# CONFIG_STM32_TIM10 is not set
|
||||
# CONFIG_STM32_TIM11 is not set
|
||||
# CONFIG_STM32_TIM12 is not set
|
||||
# CONFIG_STM32_TIM13 is not set
|
||||
# CONFIG_STM32_TIM14 is not set
|
||||
# CONFIG_STM32_USART1 is not set
|
||||
# CONFIG_STM32_USART2 is not set
|
||||
CONFIG_STM32_USART3=y
|
||||
# CONFIG_STM32_UART4 is not set
|
||||
# CONFIG_STM32_UART5 is not set
|
||||
# CONFIG_STM32_USART6 is not set
|
||||
# CONFIG_STM32_UART7 is not set
|
||||
# CONFIG_STM32_UART8 is not set
|
||||
# CONFIG_STM32_IWDG is not set
|
||||
# CONFIG_STM32_WWDG is not set
|
||||
# CONFIG_STM32_NOEXT_VECTORS is not set
|
||||
|
||||
#
|
||||
# Alternate Pin Mapping
|
||||
#
|
||||
CONFIG_STM32_FLASH_PREFETCH=y
|
||||
# CONFIG_STM32_JTAG_DISABLE is not set
|
||||
CONFIG_STM32_JTAG_FULL_ENABLE=y
|
||||
# CONFIG_STM32_JTAG_NOJNTRST_ENABLE is not set
|
||||
# CONFIG_STM32_JTAG_SW_ENABLE is not set
|
||||
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
|
||||
CONFIG_STM32_FORCEPOWER=y
|
||||
# CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG is not set
|
||||
CONFIG_STM32_CCMEXCLUDE=y
|
||||
# CONFIG_STM32_DMACAPABLE is not set
|
||||
# CONFIG_STM32_TIM3_PWM is not set
|
||||
CONFIG_STM32_USART=y
|
||||
CONFIG_STM32_SERIALDRIVER=y
|
||||
|
||||
#
|
||||
# U[S]ART Configuration
|
||||
#
|
||||
# CONFIG_USART3_RS485 is not set
|
||||
CONFIG_STM32_USART3_SERIALDRIVER=y
|
||||
CONFIG_USART3_RXDMA=y
|
||||
CONFIG_SERIAL_DISABLE_REORDERING=y
|
||||
# CONFIG_STM32_FLOWCONTROL_BROKEN is not set
|
||||
# CONFIG_STM32_USART_SINGLEWIRE is not set
|
||||
# CONFIG_STM32_HAVE_RTC_COUNTER is not set
|
||||
# CONFIG_STM32_HAVE_RTC_SUBSECONDS is not set
|
||||
|
||||
#
|
||||
# USB FS Host Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# USB HS Host Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# USB Host Debug Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# USB Device Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Architecture Options
|
||||
#
|
||||
# CONFIG_ARCH_NOINTC is not set
|
||||
# CONFIG_ARCH_VECNOTIRQ is not set
|
||||
CONFIG_ARCH_DMA=y
|
||||
CONFIG_ARCH_HAVE_IRQPRIO=y
|
||||
# CONFIG_ARCH_L2CACHE is not set
|
||||
# CONFIG_ARCH_HAVE_COHERENT_DCACHE is not set
|
||||
# CONFIG_ARCH_HAVE_ADDRENV is not set
|
||||
# CONFIG_ARCH_NEED_ADDRENV_MAPPING is not set
|
||||
CONFIG_ARCH_HAVE_VFORK=y
|
||||
# CONFIG_ARCH_HAVE_MMU is not set
|
||||
CONFIG_ARCH_HAVE_MPU=y
|
||||
# CONFIG_ARCH_NAND_HWECC is not set
|
||||
# CONFIG_ARCH_HAVE_EXTCLK is not set
|
||||
# CONFIG_ARCH_HAVE_POWEROFF is not set
|
||||
CONFIG_ARCH_HAVE_RESET=y
|
||||
# CONFIG_ARCH_USE_MPU is not set
|
||||
CONFIG_ARCH_IRQPRIO=y
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
# CONFIG_ENDIAN_BIG is not set
|
||||
# CONFIG_ARCH_IDLE_CUSTOM is not set
|
||||
# CONFIG_ARCH_HAVE_RAMFUNCS is not set
|
||||
CONFIG_ARCH_HAVE_RAMVECTORS=y
|
||||
# CONFIG_ARCH_RAMVECTORS is not set
|
||||
|
||||
#
|
||||
# Board Settings
|
||||
#
|
||||
CONFIG_BOARD_LOOPSPERMSEC=5483
|
||||
# CONFIG_ARCH_CALIBRATION is not set
|
||||
|
||||
#
|
||||
# Interrupt options
|
||||
#
|
||||
CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=360
|
||||
CONFIG_ARCH_HAVE_HIPRI_INTERRUPT=y
|
||||
CONFIG_ARCH_HIPRI_INTERRUPT=y
|
||||
|
||||
#
|
||||
# Boot options
|
||||
#
|
||||
# CONFIG_BOOT_RUNFROMEXTSRAM is not set
|
||||
CONFIG_BOOT_RUNFROMFLASH=y
|
||||
# CONFIG_BOOT_RUNFROMISRAM is not set
|
||||
# CONFIG_BOOT_RUNFROMSDRAM is not set
|
||||
# CONFIG_BOOT_COPYTORAM is not set
|
||||
|
||||
#
|
||||
# Boot Memory Configuration
|
||||
#
|
||||
CONFIG_RAM_START=0x20000000
|
||||
CONFIG_RAM_SIZE=20480
|
||||
# CONFIG_ARCH_HAVE_SDRAM is not set
|
||||
|
||||
#
|
||||
# Board Selection
|
||||
#
|
||||
# CONFIG_ARCH_BOARD_MAPLE is not set
|
||||
CONFIG_ARCH_BOARD_PX4FLOW_V2=y
|
||||
# CONFIG_ARCH_BOARD_CUSTOM is not set
|
||||
CONFIG_ARCH_BOARD="px4flow-v2"
|
||||
|
||||
#
|
||||
# Custom Board Configuration
|
||||
#
|
||||
# CONFIG_BOARD_CRASHDUMP is not set
|
||||
# CONFIG_BOARD_CUSTOM_LEDS is not set
|
||||
# CONFIG_BOARD_CUSTOM_BUTTONS is not set
|
||||
|
||||
#
|
||||
# Common Board Options
|
||||
#
|
||||
CONFIG_ARCH_HAVE_LEDS=y
|
||||
CONFIG_ARCH_LEDS=y
|
||||
|
||||
#
|
||||
# Board-Specific Options
|
||||
#
|
||||
# CONFIG_LIB_BOARDCTL is not set
|
||||
CONFIG_BOARD_HAS_PROBES=y
|
||||
# CONFIG_BOARD_USE_PROBES is not set
|
||||
|
||||
#
|
||||
# RTOS Features
|
||||
#
|
||||
# CONFIG_DISABLE_OS_API is not set
|
||||
|
||||
#
|
||||
# Clocks and Timers
|
||||
#
|
||||
CONFIG_ARCH_HAVE_TICKLESS=y
|
||||
# CONFIG_SCHED_TICKLESS is not set
|
||||
CONFIG_USEC_PER_TICK=10000
|
||||
# CONFIG_SYSTEM_TIME64 is not set
|
||||
# CONFIG_CLOCK_MONOTONIC is not set
|
||||
# CONFIG_JULIAN_TIME is not set
|
||||
CONFIG_START_YEAR=2014
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_START_DAY=20
|
||||
CONFIG_MAX_WDOGPARMS=2
|
||||
CONFIG_PREALLOC_WDOGS=4
|
||||
CONFIG_WDOG_INTRESERVE=2
|
||||
CONFIG_PREALLOC_TIMERS=2
|
||||
|
||||
#
|
||||
# Tasks and Scheduling
|
||||
#
|
||||
# CONFIG_INIT_NONE is not set
|
||||
CONFIG_INIT_ENTRYPOINT=y
|
||||
# CONFIG_INIT_FILEPATH is not set
|
||||
CONFIG_USER_ENTRYPOINT="flow_start"
|
||||
CONFIG_RR_INTERVAL=0
|
||||
# CONFIG_SCHED_SPORADIC is not set
|
||||
CONFIG_TASK_NAME_SIZE=12
|
||||
CONFIG_MAX_TASKS=4
|
||||
# CONFIG_SCHED_HAVE_PARENT is not set
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
|
||||
#
|
||||
# Pthread Options
|
||||
#
|
||||
# CONFIG_MUTEX_TYPES is not set
|
||||
CONFIG_NPTHREAD_KEYS=0
|
||||
|
||||
#
|
||||
# Performance Monitoring
|
||||
#
|
||||
# CONFIG_SCHED_CPULOAD is not set
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
|
||||
#
|
||||
# Files and I/O
|
||||
#
|
||||
CONFIG_DEV_CONSOLE=y
|
||||
# CONFIG_FDCLONE_DISABLE is not set
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_NFILE_DESCRIPTORS=5
|
||||
CONFIG_NFILE_STREAMS=1
|
||||
CONFIG_NAME_MAX=8
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=4
|
||||
CONFIG_SEM_NNESTPRIO=4
|
||||
|
||||
#
|
||||
# RTOS hooks
|
||||
#
|
||||
CONFIG_BOARD_INITIALIZE=y
|
||||
# CONFIG_BOARD_INITTHREAD is not set
|
||||
# CONFIG_SCHED_STARTHOOK is not set
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_ATEXIT_MAX=1
|
||||
# CONFIG_SCHED_ONEXIT is not set
|
||||
|
||||
#
|
||||
# Signal Numbers
|
||||
#
|
||||
CONFIG_SIG_SIGUSR1=1
|
||||
CONFIG_SIG_SIGUSR2=2
|
||||
CONFIG_SIG_SIGALARM=3
|
||||
CONFIG_SIG_SIGCONDTIMEDOUT=16
|
||||
|
||||
#
|
||||
# POSIX Message Queue Options
|
||||
#
|
||||
CONFIG_PREALLOC_MQ_MSGS=4
|
||||
CONFIG_MQ_MAXMSGSIZE=8
|
||||
|
||||
#
|
||||
# Work Queue Support
|
||||
#
|
||||
# CONFIG_SCHED_WORKQUEUE is not set
|
||||
# CONFIG_SCHED_HPWORK is not set
|
||||
# CONFIG_SCHED_LPWORK is not set
|
||||
|
||||
#
|
||||
# Stack and heap information
|
||||
#
|
||||
CONFIG_IDLETHREAD_STACKSIZE=272
|
||||
CONFIG_USERMAIN_STACKSIZE=1024
|
||||
CONFIG_PTHREAD_STACK_MIN=516
|
||||
CONFIG_PTHREAD_STACK_DEFAULT=516
|
||||
# CONFIG_LIB_SYSCALL is not set
|
||||
|
||||
#
|
||||
# Device Drivers
|
||||
#
|
||||
# CONFIG_DISABLE_POLL is not set
|
||||
# CONFIG_DEV_NULL is not set
|
||||
# CONFIG_DEV_ZERO is not set
|
||||
# CONFIG_LOOP is not set
|
||||
|
||||
#
|
||||
# Buffering
|
||||
#
|
||||
# CONFIG_DRVR_WRITEBUFFER is not set
|
||||
# CONFIG_DRVR_READAHEAD is not set
|
||||
# CONFIG_RAMDISK is not set
|
||||
# CONFIG_CAN is not set
|
||||
# CONFIG_ARCH_HAVE_PWM_PULSECOUNT is not set
|
||||
# CONFIG_PWM is not set
|
||||
CONFIG_ARCH_HAVE_I2CRESET=y
|
||||
# CONFIG_I2C is not set
|
||||
# CONFIG_SPI is not set
|
||||
# CONFIG_I2S is not set
|
||||
|
||||
#
|
||||
# Timer Driver Support
|
||||
#
|
||||
# CONFIG_TIMER is not set
|
||||
# CONFIG_RTC is not set
|
||||
# CONFIG_WATCHDOG is not set
|
||||
# CONFIG_ANALOG is not set
|
||||
# CONFIG_AUDIO_DEVICES is not set
|
||||
# CONFIG_VIDEO_DEVICES is not set
|
||||
# CONFIG_BCH is not set
|
||||
# CONFIG_INPUT is not set
|
||||
# CONFIG_IOEXPANDER is not set
|
||||
# CONFIG_LCD is not set
|
||||
# CONFIG_MMCSD is not set
|
||||
# CONFIG_MTD is not set
|
||||
# CONFIG_EEPROM is not set
|
||||
# CONFIG_PIPES is not set
|
||||
# CONFIG_PM is not set
|
||||
# CONFIG_POWER is not set
|
||||
# CONFIG_SENSORS is not set
|
||||
# CONFIG_SERCOMM_CONSOLE is not set
|
||||
CONFIG_SERIAL=y
|
||||
# CONFIG_DEV_LOWCONSOLE is not set
|
||||
# CONFIG_16550_UART is not set
|
||||
# CONFIG_UART_SERIALDRIVER is not set
|
||||
# CONFIG_UART0_SERIALDRIVER is not set
|
||||
# CONFIG_UART1_SERIALDRIVER is not set
|
||||
# CONFIG_UART2_SERIALDRIVER is not set
|
||||
# CONFIG_UART3_SERIALDRIVER is not set
|
||||
# CONFIG_UART4_SERIALDRIVER is not set
|
||||
# CONFIG_UART5_SERIALDRIVER is not set
|
||||
# CONFIG_UART6_SERIALDRIVER is not set
|
||||
# CONFIG_UART7_SERIALDRIVER is not set
|
||||
# CONFIG_UART8_SERIALDRIVER is not set
|
||||
# CONFIG_SCI0_SERIALDRIVER is not set
|
||||
# CONFIG_SCI1_SERIALDRIVER is not set
|
||||
# CONFIG_USART0_SERIALDRIVER is not set
|
||||
# CONFIG_USART1_SERIALDRIVER is not set
|
||||
# CONFIG_USART2_SERIALDRIVER is not set
|
||||
CONFIG_USART3_SERIALDRIVER=y
|
||||
# CONFIG_USART4_SERIALDRIVER is not set
|
||||
# CONFIG_USART5_SERIALDRIVER is not set
|
||||
# CONFIG_USART6_SERIALDRIVER is not set
|
||||
# CONFIG_USART7_SERIALDRIVER is not set
|
||||
# CONFIG_USART8_SERIALDRIVER is not set
|
||||
# CONFIG_OTHER_UART_SERIALDRIVER is not set
|
||||
|
||||
#
|
||||
# USART Configuration
|
||||
#
|
||||
CONFIG_MCU_SERIAL=y
|
||||
CONFIG_STANDARD_SERIAL=y
|
||||
CONFIG_SERIAL_NPOLLWAITERS=2
|
||||
# CONFIG_SERIAL_IFLOWCONTROL is not set
|
||||
# CONFIG_SERIAL_OFLOWCONTROL is not set
|
||||
# CONFIG_SERIAL_TIOCSERGSTRUCT is not set
|
||||
CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y
|
||||
CONFIG_USART3_SERIAL_CONSOLE=y
|
||||
# CONFIG_OTHER_SERIAL_CONSOLE is not set
|
||||
# CONFIG_NO_SERIAL_CONSOLE is not set
|
||||
|
||||
#
|
||||
# USART3 Configuration
|
||||
#
|
||||
CONFIG_USART3_RXBUFSIZE=32
|
||||
CONFIG_USART3_TXBUFSIZE=32
|
||||
CONFIG_USART3_BAUD=115200
|
||||
CONFIG_USART3_BITS=8
|
||||
CONFIG_USART3_PARITY=0
|
||||
CONFIG_USART3_2STOP=0
|
||||
# CONFIG_USART3_IFLOWCONTROL is not set
|
||||
# CONFIG_USART3_OFLOWCONTROL is not set
|
||||
# CONFIG_USBDEV is not set
|
||||
# CONFIG_USBHOST is not set
|
||||
# CONFIG_WIRELESS is not set
|
||||
|
||||
#
|
||||
# System Logging Device Options
|
||||
#
|
||||
|
||||
#
|
||||
# System Logging
|
||||
#
|
||||
# CONFIG_RAMLOG is not set
|
||||
# CONFIG_CONSOLE_SYSLOG is not set
|
||||
|
||||
#
|
||||
# Networking Support
|
||||
#
|
||||
# CONFIG_ARCH_HAVE_NET is not set
|
||||
# CONFIG_ARCH_HAVE_PHY is not set
|
||||
# CONFIG_NET is not set
|
||||
|
||||
#
|
||||
# Crypto API
|
||||
#
|
||||
# CONFIG_CRYPTO is not set
|
||||
|
||||
#
|
||||
# File Systems
|
||||
#
|
||||
|
||||
#
|
||||
# File system configuration
|
||||
#
|
||||
# CONFIG_DISABLE_MOUNTPOINT is not set
|
||||
# CONFIG_FS_AUTOMOUNTER is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_FS_READABLE is not set
|
||||
# CONFIG_FS_WRITABLE is not set
|
||||
# CONFIG_FS_NAMED_SEMAPHORES is not set
|
||||
CONFIG_FS_MQUEUE_MPATH="/var/mqueue"
|
||||
# CONFIG_FS_RAMMAP is not set
|
||||
# CONFIG_FS_FAT is not set
|
||||
# CONFIG_FS_NXFFS is not set
|
||||
# CONFIG_FS_ROMFS is not set
|
||||
# CONFIG_FS_SMARTFS is not set
|
||||
# CONFIG_FS_BINFS is not set
|
||||
# CONFIG_FS_PROCFS is not set
|
||||
# CONFIG_FS_UNIONFS is not set
|
||||
|
||||
#
|
||||
# System Logging
|
||||
#
|
||||
# CONFIG_SYSLOG is not set
|
||||
# CONFIG_SYSLOG_TIMESTAMP is not set
|
||||
|
||||
#
|
||||
# Graphics Support
|
||||
#
|
||||
# CONFIG_NX is not set
|
||||
|
||||
#
|
||||
# Memory Management
|
||||
#
|
||||
# CONFIG_MM_SMALL is not set
|
||||
CONFIG_MM_REGIONS=1
|
||||
# CONFIG_ARCH_HAVE_HEAP2 is not set
|
||||
# CONFIG_GRAN is not set
|
||||
|
||||
#
|
||||
# Audio Support
|
||||
#
|
||||
# CONFIG_AUDIO is not set
|
||||
|
||||
#
|
||||
# Binary Loader
|
||||
#
|
||||
# CONFIG_BINFMT_DISABLE is not set
|
||||
# CONFIG_BINFMT_EXEPATH is not set
|
||||
# CONFIG_NXFLAT is not set
|
||||
# CONFIG_ELF is not set
|
||||
CONFIG_BUILTIN=y
|
||||
# CONFIG_PIC is not set
|
||||
CONFIG_SYMTAB_ORDEREDBYNAME=y
|
||||
|
||||
#
|
||||
# Library Routines
|
||||
#
|
||||
|
||||
#
|
||||
# Standard C Library Options
|
||||
#
|
||||
CONFIG_STDIO_BUFFER_SIZE=64
|
||||
CONFIG_STDIO_LINEBUFFER=y
|
||||
CONFIG_NUNGET_CHARS=2
|
||||
CONFIG_LIB_HOMEDIR="/"
|
||||
# CONFIG_NOPRINTF_FIELDWIDTH is not set
|
||||
# CONFIG_LIBC_FLOATINGPOINT is not set
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
# CONFIG_LIBC_IOCTL_VARIADIC is not set
|
||||
CONFIG_LIB_RAND_ORDER=1
|
||||
# CONFIG_EOL_IS_CR is not set
|
||||
# CONFIG_EOL_IS_LF is not set
|
||||
# CONFIG_EOL_IS_BOTH_CRLF is not set
|
||||
CONFIG_EOL_IS_EITHER_CRLF=y
|
||||
# CONFIG_LIBC_EXECFUNCS is not set
|
||||
CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=394
|
||||
CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=394
|
||||
# CONFIG_LIBC_STRERROR is not set
|
||||
# CONFIG_LIBC_PERROR_STDOUT is not set
|
||||
CONFIG_ARCH_LOWPUTC=y
|
||||
# CONFIG_LIBC_LOCALTIME is not set
|
||||
# CONFIG_TIME_EXTENDED is not set
|
||||
CONFIG_LIB_SENDFILE_BUFSIZE=0
|
||||
# CONFIG_ARCH_ROMGETC is not set
|
||||
# CONFIG_ARCH_OPTIMIZED_FUNCTIONS is not set
|
||||
# CONFIG_LIBC_NETDB is not set
|
||||
|
||||
#
|
||||
# Non-standard Library Support
|
||||
#
|
||||
# CONFIG_LIB_KBDCODEC is not set
|
||||
# CONFIG_LIB_SLCDCODEC is not set
|
||||
|
||||
#
|
||||
# Basic CXX Support
|
||||
#
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
# CONFIG_CXX_NEWLONG is not set
|
||||
|
||||
#
|
||||
# uClibc++ Standard C++ Library
|
||||
#
|
||||
# CONFIG_UCLIBCXX is not set
|
||||
|
||||
#
|
||||
# Application Configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Built-In Applications
|
||||
#
|
||||
CONFIG_BUILTIN_PROXY_STACKSIZE=392
|
||||
|
||||
#
|
||||
# Examples
|
||||
#
|
||||
# CONFIG_EXAMPLES_BUTTONS is not set
|
||||
# CONFIG_EXAMPLES_CONFIGDATA is not set
|
||||
# CONFIG_EXAMPLES_CPUHOG is not set
|
||||
# CONFIG_EXAMPLES_CXXTEST is not set
|
||||
# CONFIG_EXAMPLES_DHCPD is not set
|
||||
# CONFIG_EXAMPLES_ELF is not set
|
||||
# CONFIG_EXAMPLES_FTPC is not set
|
||||
# CONFIG_EXAMPLES_FTPD is not set
|
||||
# CONFIG_EXAMPLES_HELLO is not set
|
||||
# CONFIG_EXAMPLES_HELLOXX is not set
|
||||
# CONFIG_EXAMPLES_JSON is not set
|
||||
# CONFIG_EXAMPLES_HIDKBD is not set
|
||||
# CONFIG_EXAMPLES_KEYPADTEST is not set
|
||||
# CONFIG_EXAMPLES_IGMP is not set
|
||||
# CONFIG_EXAMPLES_MM is not set
|
||||
# CONFIG_EXAMPLES_MODBUS is not set
|
||||
# CONFIG_EXAMPLES_MOUNT is not set
|
||||
# CONFIG_EXAMPLES_NRF24L01TERM is not set
|
||||
# CONFIG_EXAMPLES_NSH is not set
|
||||
CONFIG_EXAMPLES_NULL=y
|
||||
# CONFIG_EXAMPLES_NX is not set
|
||||
# CONFIG_EXAMPLES_NXTERM is not set
|
||||
# CONFIG_EXAMPLES_NXFFS is not set
|
||||
# CONFIG_EXAMPLES_NXHELLO is not set
|
||||
# CONFIG_EXAMPLES_NXIMAGE is not set
|
||||
# CONFIG_EXAMPLES_NXLINES is not set
|
||||
# CONFIG_EXAMPLES_NXTEXT is not set
|
||||
# CONFIG_EXAMPLES_OSTEST is not set
|
||||
# CONFIG_EXAMPLES_PIPE is not set
|
||||
# CONFIG_EXAMPLES_POLL is not set
|
||||
# CONFIG_EXAMPLES_PPPD is not set
|
||||
# CONFIG_EXAMPLES_POSIXSPAWN is not set
|
||||
# CONFIG_EXAMPLES_QENCODER is not set
|
||||
# CONFIG_EXAMPLES_RGMP is not set
|
||||
# CONFIG_EXAMPLES_SENDMAIL is not set
|
||||
# CONFIG_EXAMPLES_SERIALBLASTER is not set
|
||||
# CONFIG_EXAMPLES_SERIALRX is not set
|
||||
# CONFIG_EXAMPLES_SERLOOP is not set
|
||||
# CONFIG_EXAMPLES_SLCD is not set
|
||||
# CONFIG_EXAMPLES_SMART is not set
|
||||
# CONFIG_EXAMPLES_TCPECHO is not set
|
||||
# CONFIG_EXAMPLES_TELNETD is not set
|
||||
# CONFIG_EXAMPLES_TIFF is not set
|
||||
# CONFIG_EXAMPLES_TOUCHSCREEN is not set
|
||||
# CONFIG_EXAMPLES_WEBSERVER is not set
|
||||
# CONFIG_EXAMPLES_USBSERIAL is not set
|
||||
# CONFIG_EXAMPLES_USBTERM is not set
|
||||
# CONFIG_EXAMPLES_WATCHDOG is not set
|
||||
|
||||
#
|
||||
# Graphics Support
|
||||
#
|
||||
# CONFIG_TIFF is not set
|
||||
# CONFIG_GRAPHICS_TRAVELER is not set
|
||||
|
||||
#
|
||||
# Interpreters
|
||||
#
|
||||
# CONFIG_INTERPRETERS_FICL is not set
|
||||
# CONFIG_INTERPRETERS_PCODE is not set
|
||||
# CONFIG_INTERPRETERS_MICROPYTHON is not set
|
||||
|
||||
#
|
||||
# FreeModBus
|
||||
#
|
||||
# CONFIG_MODBUS is not set
|
||||
|
||||
#
|
||||
# Network Utilities
|
||||
#
|
||||
# CONFIG_NETUTILS_CODECS is not set
|
||||
# CONFIG_NETUTILS_FTPC is not set
|
||||
# CONFIG_NETUTILS_JSON is not set
|
||||
# CONFIG_NETUTILS_SMTP is not set
|
||||
|
||||
#
|
||||
# NSH Library
|
||||
#
|
||||
# CONFIG_NSH_LIBRARY is not set
|
||||
|
||||
#
|
||||
# NxWidgets/NxWM
|
||||
#
|
||||
|
||||
#
|
||||
# Platform-specific Support
|
||||
#
|
||||
# CONFIG_PLATFORM_CONFIGDATA is not set
|
||||
|
||||
#
|
||||
# System Libraries and NSH Add-Ons
|
||||
#
|
||||
# CONFIG_SYSTEM_FREE is not set
|
||||
# CONFIG_SYSTEM_CLE is not set
|
||||
# CONFIG_SYSTEM_CUTERM is not set
|
||||
# CONFIG_SYSTEM_INSTALL is not set
|
||||
# CONFIG_SYSTEM_HEX2BIN is not set
|
||||
# CONFIG_SYSTEM_INIFILE is not set
|
||||
# CONFIG_SYSTEM_RAMTEST is not set
|
||||
# CONFIG_READLINE_HAVE_EXTMATCH is not set
|
||||
CONFIG_SYSTEM_READLINE=y
|
||||
CONFIG_READLINE_ECHO=y
|
||||
# CONFIG_READLINE_TABCOMPLETION is not set
|
||||
# CONFIG_READLINE_CMD_HISTORY is not set
|
||||
# CONFIG_SYSTEM_RAMTRON is not set
|
||||
# CONFIG_SYSTEM_SDCARD is not set
|
||||
# CONFIG_SYSTEM_SUDOKU is not set
|
||||
# CONFIG_SYSTEM_VI is not set
|
||||
# CONFIG_SYSTEM_STACKMONITOR is not set
|
||||
# CONFIG_SYSTEM_ZMODEM is not set
|
||||
|
||||
#
|
||||
# The following line is needed because the upstream tools that generates
|
||||
# the include/nuttx/include/config.h file adds logic that relies on this
|
||||
# and our build flags include -Werror=undef
|
||||
#
|
||||
CONFIG_NSOCKET_DESCRIPTORS=0
|
||||
|
|
@ -0,0 +1,80 @@
|
|||
#!/bin/bash
|
||||
# nuttx-configs/px4flow-v2/nsh/setenv.sh
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
|
||||
if [ "$_" = "$0" ] ; then
|
||||
echo "You must source this script, not run it!" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
WD=`pwd`
|
||||
if [ ! -x "setenv.sh" ]; then
|
||||
echo "This script must be executed from the top-level NuttX build directory"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -z "${PATH_ORIG}" ]; then
|
||||
export PATH_ORIG="${PATH}"
|
||||
fi
|
||||
|
||||
# This is the Cygwin path to the location where I installed the RIDE
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the RIDE toolchain in any other location
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Users/MyName/MentorGraphics/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
|
||||
|
||||
# This is the Cygwin path to the location where I installed the CodeSourcery
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the CodeSourcery toolchain in any other location
|
||||
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
|
||||
|
||||
# These are the Cygwin paths to the locations where I installed the Atollic
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the Atollic toolchain in any other location. /usr/bin is added before
|
||||
# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
|
||||
# at those locations as well.
|
||||
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
|
||||
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
|
||||
|
||||
# This is the location where I installed the ARM "GNU Tools for ARM Embedded Processors"
|
||||
# You can this free toolchain here https://launchpad.net/gcc-arm-embedded
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/GNU Tools ARM Embedded/4.9 2014q4/bin"
|
||||
|
||||
# This is the Cygwin path to the location where I build the buildroot
|
||||
# toolchain.
|
||||
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||
|
||||
# Add the path to the toolchain to the PATH varialble
|
||||
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||
|
||||
echo "PATH : ${PATH}"
|
||||
|
|
@ -0,0 +1,134 @@
|
|||
/****************************************************************************
|
||||
* nuttx-configs/px4flow-v2/scripts/bootloaderld.script
|
||||
*
|
||||
* 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 STM32F427 has 2048KiB of FLASH beginning at address 0x0800:0000 and
|
||||
* 256KiB of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112KiB of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16KiB of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64KiB of SRAM beginning at address 0x2002:0000
|
||||
* 4) 64KiB of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The bootloader only uses the first 16KiB of flash.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08000000, LENGTH = 16K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
} > 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(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
|
|
@ -0,0 +1,157 @@
|
|||
/****************************************************************************
|
||||
* nuttx-configs/px4cannode-v1/scripts/ld.script
|
||||
*
|
||||
* 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 STM32F427 has 2048KiB of FLASH beginning at address 0x0800:0000 and
|
||||
* 256KiB of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112KiB of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16KiB of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64KiB of SRAM beginning at address 0x2002:0000
|
||||
* 4) 64KiB of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The bootloader only uses the first 16KiB of flash.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
. = 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.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
|
|
@ -0,0 +1,100 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
# 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 NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
-include $(TOPDIR)/Make.defs
|
||||
|
||||
CFLAGS += -I$(TOPDIR)/sched
|
||||
|
||||
ASRCS =
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
|
||||
ifeq ($(CONFIG_BOOTLOADER),)
|
||||
CSRCS = empty.c
|
||||
endif
|
||||
ifeq ($(CONFIG_BOOTLOADER),y)
|
||||
|
||||
SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan
|
||||
|
||||
CSRCS = ostubs.c
|
||||
|
||||
CFLAGS += $(addprefix -I,$(SRC_SEARCH))
|
||||
DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH))
|
||||
VPATH= $(SRC_SEARCH)
|
||||
endif
|
||||
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
||||
ifeq ($(WINTOOL),y)
|
||||
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
||||
else
|
||||
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
||||
endif
|
||||
|
||||
all: libboard$(LIBEXT)
|
||||
|
||||
$(AOBJS): %$(OBJEXT): %.S
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
libboard$(LIBEXT): $(OBJS)
|
||||
$(call ARCHIVE, $@, $(OBJS))
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
$(call DELFILE, libboard$(LIBEXT))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
ifneq ($(BOARD_CONTEXT),y)
|
||||
context:
|
||||
endif
|
||||
|
||||
-include Make.dep
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
/*
|
||||
* There are no source files here, but libboard.a can't be empty, so
|
||||
* we have this empty source file to keep it company.
|
||||
*/
|
||||
|
|
@ -0,0 +1,215 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <nuttx/init.h>
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/kmalloc.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <syslog.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
|
||||
#include "up_internal.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
volatile dq_queue_t g_readytorun;
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
void timer_init(void);
|
||||
int __wrap_up_svcall(int irq, FAR void *context);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: os_start
|
||||
*
|
||||
* Description:
|
||||
* This function hijacks the entry point of the OS. Normally called by the
|
||||
* statup code for a given architecture
|
||||
*
|
||||
****************************************************************************/
|
||||
#ifdef CONFIG_STACK_COLORATION
|
||||
inline static void irq_stack_collor(void *pv, unsigned int nwords)
|
||||
{
|
||||
#ifdef CONFIG_ARCH_INTERRUPTSTACK
|
||||
/* Set the Interrupt stack to the stack coloration value then jump to
|
||||
* os_start(). We take extreme care here because were currently
|
||||
* executing on this stack.
|
||||
*
|
||||
* We want to avoid sneak stack access generated by the compiler.
|
||||
*/
|
||||
|
||||
__asm__ __volatile__
|
||||
(
|
||||
"\tmov r0, %[addr]\n" /* R0 = Address */
|
||||
"\tmovs r1, %[nwords]\n" /* R1 = nbyts*/
|
||||
"\tbeq 2f\n" /* (should not happen) */
|
||||
|
||||
"\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */
|
||||
"\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */
|
||||
"\tmovt r2, #0xdead\n"
|
||||
|
||||
"1:\n" /* Top of the loop */
|
||||
"\tsub r1, r1, #1\n" /* R1 nwords-- */
|
||||
"\tcmp r1, #0\n" /* Check (nwords == 0) */
|
||||
"\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */
|
||||
"\tbne 1b\n" /* Bottom of the loop */
|
||||
|
||||
"2:\n"
|
||||
:
|
||||
: [addr]"r" (pv), [nwords]"r" (nwords) /* Address*/
|
||||
: /* No clobbers */
|
||||
|
||||
);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
void os_start(void)
|
||||
{
|
||||
|
||||
/* Color the irq stack */
|
||||
#ifdef CONFIG_STACK_COLORATION
|
||||
|
||||
irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK/sizeof(uint32_t));
|
||||
|
||||
#endif
|
||||
|
||||
/* Initialize the timer software subsystem */
|
||||
|
||||
timer_init();
|
||||
|
||||
/* Initialize the interrupt subsystem */
|
||||
|
||||
up_irqinitialize();
|
||||
|
||||
/* Initialize the OS's timer subsystem */
|
||||
#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \
|
||||
!defined(CONFIG_SYSTEMTICK_EXTCLK)
|
||||
up_timer_initialize();
|
||||
#endif
|
||||
|
||||
/* Keep the compiler happy for a no return function */
|
||||
|
||||
while (1)
|
||||
{
|
||||
main(0, 0);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: malloc
|
||||
*
|
||||
* Description:
|
||||
* This function hijacks the OS's malloc and provides no allocation
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
FAR void *malloc(size_t size)
|
||||
{
|
||||
return NULL;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: malloc
|
||||
*
|
||||
* Description:
|
||||
* This function hijacks the systems exit
|
||||
*
|
||||
****************************************************************************/
|
||||
void exit(int status)
|
||||
{
|
||||
while (1);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: sched_ufree
|
||||
*
|
||||
* Description:
|
||||
* This function hijacks the systems sched_ufree that my be called during
|
||||
* exception processing.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void sched_ufree(FAR void *address)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_svcall
|
||||
*
|
||||
* Description:
|
||||
* This function hijacks by the way of a compile time wrapper the systems
|
||||
* up_svcall
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int __wrap_up_svcall(int irq, FAR void *context)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,69 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
message(FATAL_ERROR Configuraton is incomplete")
|
||||
|
||||
include_directories(../../bootloaders/include)
|
||||
|
||||
set(SRCS)
|
||||
list(APPEND SRCS
|
||||
../common/board_name.c
|
||||
px4flow_init.c
|
||||
px4flow_led.c
|
||||
px4flow_can.c
|
||||
../../../drivers/bootloaders/src/common/boot_app_shared.c
|
||||
../../../drivers/bootloaders/src/util/crc.c
|
||||
)
|
||||
|
||||
if(${OS} STREQUAL "nuttx")
|
||||
if (NOT ${BOARD} STREQUAL "sim")
|
||||
list(APPEND SRCS
|
||||
../../../drivers/device/device_nuttx.cpp
|
||||
../../../drivers/device/cdev.cpp
|
||||
)
|
||||
endif()
|
||||
else()
|
||||
list(APPEND SRCS
|
||||
../../../drivers/device/device_posix.cpp
|
||||
../../../drivers/device/vdev.cpp
|
||||
)
|
||||
endif()
|
||||
|
||||
px4_add_module(
|
||||
MODULE drivers__boards__px4flow-v2
|
||||
COMPILE_FLAGS
|
||||
-Os
|
||||
SRCS ${SRCS}
|
||||
DEPENDS
|
||||
platforms__common
|
||||
)
|
||||
|
|
@ -0,0 +1,385 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* PX4FLOWv2 internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
#if STM32_NSPI < 1
|
||||
# undef CONFIG_STM32_SPI1
|
||||
# undef CONFIG_STM32_SPI2
|
||||
#elif STM32_NSPI < 2
|
||||
# undef CONFIG_STM32_SPI2
|
||||
#endif
|
||||
|
||||
/* High-resolution timer
|
||||
*/
|
||||
#define HRT_TIMER 8 /* use timer1 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 8 /* use capture/compare channel */
|
||||
|
||||
/* GPIO ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PA[00] PA0/TIM2_CH1/TIM5_CH1/USART2_CTS/UART4_TX 23 TIM5_CH1
|
||||
* PA[01] PA1/TIM2_CH2/TIM5_CH2/USART2_RTS/UART4_RX 24 TIM5_CH2 NC.
|
||||
* PA[02] PA2/TIM2_CH3/TIM5_CH3/TIM9_CH1/USART2_TX 25 TIM5_CH3_EXPOSURE
|
||||
* PA[03] PA3/TIM2_CH4/TIM5_CH4/TIM9_CH2/USART2_RX 26 TIM5_CH4_STANDBY
|
||||
* PA[04] PA4/SPI1_NSS/SPI3_NSS/DCMI_HSYNC/LCD_VSYNC 29 DCMI_HSYNC
|
||||
* PA[05] PA5/TIM2_CH1/TIM2_ETR/TIM8_CH1N/SPI1_SCK 30 CAM_NRESET
|
||||
* PA[06] PA6/TIM3_CH1/SPI1_MISO/TIM13_CH1/DCMI_PIXCLK 31 DCMI_PIXCK
|
||||
* PA[07] PA7/TIM1,8_CH1N/TIM3_CH2/SPI1_MOSI/TIM14_CH1 32 SPI1_MOSI---
|
||||
* PA[08] PA8/MCO1/TIM1_CH1/I2C3_SCL/USART1_CK/LCD_R6/ 67 MPU_CS
|
||||
* PA[09] PA9/TIM1_CH2/USART1_TX/DCMI_D0/OTG_FS_VBUS 68 VBUS
|
||||
* PA[10] PA10/TIM1_CH3/USART1_RX/OTG_FS_ID/DCMI_D1 69 OTG_FS_ID
|
||||
* PA[11] PA11/TIM1_CH4/USART1_CTS/CAN1_RX/LCD_R4/OTG_FS_DM 70 OTG_FS_N
|
||||
* PA[12] PA12/TIM1_ETR/USART1_RTS/CAN1_TX/LCD_R5/OTG_FS_DP 71 OTG_FS_P
|
||||
* PA[13] PA13/JTMS-SWDIO 72 JTMS-SWDIO
|
||||
* PA[14] PA14/JTCK-SWCLK 76 JTCK-SWCLK
|
||||
* PA[15] PA15/JTDI/TIM2_CH1/TIM2_ETR/SPI1_NSS 77 JTDI
|
||||
*
|
||||
*/
|
||||
/*
|
||||
* PB[00] PB0/TIM1_CH2N/TIM3_CH3/TIM8_CH2N/OTG_HS_ULPI_D1 35 PRES_DRDY---
|
||||
* PB[01] PB1/TIM1,8_CH3N/TIM3_CH4/LCD_R6/OTG_HS_ULPI_D2 36 MAG_DRDY---
|
||||
* PB[02] PB2/BOOT1 37 PB2-BOOT1
|
||||
* PB[03] PB3/JTDO/TRACESWO/TIM2_CH2/SPI1_SCK/SPI3_SCK 89 JTDO
|
||||
* PB[04] PB4/NJTRST/TIM3_CH1/SPI1_MISO/SPI3_MISO 90 JTRST
|
||||
* PB[05] PB5/TIM3_CH2/SPI1_MOSI/SPI3_MOSI/CAN2_RX/DCMI_D10 91 PCM1_D10 N.C
|
||||
* PB[06] PB6/TIM4_CH1/I2C1_SCL/USART1_TX/CAN2_TX/DCMI_D5 92 PCMI_D5
|
||||
* PB[07] PB7/TIM4_CH2/I2C1_SDA/USART1_RX/FMC_NL/DCMI_VSYNC 93 DCMI_VSYNC
|
||||
* PB[08] PB8/TIM4_CH3/TIM10_CH1/I2C1_SCL/CAN1_RX/DCMI_D6 95 J2C1_SCL
|
||||
* PB[09] PB9/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX/ 96 J2C1_SDA
|
||||
* PB[10] PB10/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX 47 J2C2_SCL
|
||||
* PB[11] PB11/TIM2_CH4/I2C2_SDA/USART3_RX/OTG_HS_ULPI_D4 48 J2C2_SDA
|
||||
* PB[12] PB12/TIM1_BKIN/I2C2_SMBA/SPI2_NSS/CAN2_RX 51 SPI2_NSS
|
||||
* PB[13] PB13/TIM1_CH1N/SPI2_SCK/USART3_CTS/CAN2_TX 52 SPI2_SCK
|
||||
* PB[14] PB14/TIM1,8_CH2N/SPI2_MISO/USART3_RTS/TIM12_CH1 53 SPI2_MISO
|
||||
* PB[15] PB15/TIM1_CH3N/TIM8_CH3N/SPI2_MOSI/TIM12_CH2 54 SPI2_MOSI
|
||||
|
||||
|
||||
* PC[00] PC0/OTG_HS_ULPI_STP/FMC_SDNWE 15 ADC123_IN10
|
||||
* PC[01] PC1/ETH_MDC 16 ADC123_IN11
|
||||
* PC[02] PC2/SPI2_MISO/I2S2ext_SD 17 ADC123_IN12
|
||||
* PC[03] PC3/SPI2_MOSI/I2S2_SD 18 ADC123_IN13
|
||||
* PC[04] PC4/ETH_MII_RXD0/ETH_RMII_RXD0 33 ADC123_IN4
|
||||
* PC[05] PC5/ETH_MII_RXD1/ETH_RMII_RXD1 34 ADC123_IN5
|
||||
* PC[06] PC6/TIM3_CH1/TIM8_CH1/USART6_TX/SDIO_D6/DCMI_D0 63 DCMI_O0
|
||||
* PC[07] PC7/TIM3_CH2/TIM8_CH2/USART6_RX/SDIO_D7/DCMI_D1 64 DCMI_O1
|
||||
* PC[08] PC8/TIM3_CH3/TIM8_CH3/USART6_CK/SDIO_D0/DCMI_D2 65 TIM8_CH3_MASTERCLOCK
|
||||
* PC[09] PC9/MCO2/TIM3_CH3/TIM8_CH4/SDIO_D1/DCMI_D3 66 TIM8_CH4_LED_OUT
|
||||
* PC[10] PC10/SPI3_SCK/USART3_TX/UART4_TX/SDIO_D2/DCMI_D8 78 DCMI_D8
|
||||
* PC[11] PC11/SPI3_MISO/USART3_RX/UART4_RX/SDIO_D3DCMI_D4 78 UART4_RX
|
||||
* PC[12] PC12/SPI3_MOSI/USART3_CK/UART5_TX/SDIO_CK/DCMI_D9 80 DCMI_09
|
||||
* PC[13] PC13 7 ADDR0 NC
|
||||
* PC[14] PC14 8 ADDR1 NC
|
||||
* PC[15] PC15 9 ADDR2 NC
|
||||
|
||||
* PD[00] PD0/CAN1_RX/FMC_D2 81 CAN1_RX
|
||||
* PD[01] PD1/CAN1_TX/FMC_D3 82 CAN1_TX
|
||||
* PD[02] PD2/TIM3_ETR/UARTS_RX/SDIO_CMD/DCMI_D11 83 DCMI_D11_UARTS_RX NC
|
||||
* PD[03] PD3/SPI2_SCK/USART2_CTS/FMC_CLK/DCMI_D5/LCD_G7 84 UART5_CTS
|
||||
* PD[04] PD4/USART2_RTS/FMC_NOE 85 USART2_RTS
|
||||
* PD[05] PD5/USART2_TX/FMC_NWE 86 USART2_TX
|
||||
* PD[06] PD6/SPI3_MOSI/SAI1_SD_A/USART2_RX/DCMI_D10/LCD_B2 87 USART2_RX
|
||||
* PD[07] PD7/USART2_CK/FMC_NE1/FMC_NCE2 88 USART2_CK NC
|
||||
* PD[08] PD8/USART3_TX/FMC_D13 55 USART3_TX
|
||||
* PD[09] PD9/USART3_RX/FMC_D14 56 USART3_RX
|
||||
* PD[10] PD10/USART3_CK/FMC_D15/LCD_B3 57 USART3_CK
|
||||
* PD[11] PD11/USART3_CTS/FMC_A16 58 USART3_CTS
|
||||
* PD[12] PD12/TIM4_CH1/USART3_RTS/FMC_A17 59 USART3_RTS
|
||||
* PD[13] PD13/TIM4_CH2/FMC_A18 60 PWM
|
||||
* PD[14] PD14/TIM4_CH3/FMC_D0 61 POWER
|
||||
* PD[15] PD15/TIM4_CH4/FMC_D1 62 PWM_EN
|
||||
|
||||
* PE[00] PE0/TIM4_ETR/UART8_RX/FMC_NBL0/DCMI_D2 97 DCMI_D2
|
||||
* PE[01] PE1/UART8_Tx/FMC_NBL1/DCMI_D3 98 DCMI_D3
|
||||
* PE[02] PE2/TRACECLK/SPI4_SCK/SAI1_MCLK_A/FMC_A23 1 LED_AMBER
|
||||
* PE[03] PE3/TRACED0/SAI1_SD_B/FMC_A19 2 LED_BLUE
|
||||
* PE[04] PE4/TRACED1/SPI4_NSS/SAI1_FS_A/DCMI_D4/LCD_B0 3 DCMI_D4
|
||||
* PE[05] PE5/TRACED2/TIM9_CH1/SPI4_MISO/DCMI_D6/LCD_G0 4 DCMI_D6
|
||||
* PE[06] PE6/TRACED3/TIM9_CH2/SPI4_MOSI/DCMI_D7/LCD_G1 5 DCMI_D7
|
||||
* PE[07] PE7/TIM1_ETR/UART7_Rx/FMC_D4 38 LED RED
|
||||
* PE[08] PE8/TIM1_CH1N/UART7_Tx/FMC_D5 39 US_FN1
|
||||
* PE[09] PE9/TIM1_CH1/FMC_D6 40 RED_LED
|
||||
* PE[10] PE10/TIM1_CH2N/FMC_D7 41 US_EN2
|
||||
* PE[11] PE11/TIM1_CH2/8PI4_NSS/FMC_D8/LCD_G3 42 GREEN_LED
|
||||
* PE[12] PE12/TIM1_CH3N/SPI4_SCK/FMC_D9/LCD_B4 43 UDD_3U3
|
||||
* PE[13] PE13/TIM1_CH3/SPI4_MISO/FMC_D10/LCD_DE 44 BLUE_LED
|
||||
* PE[14] PE14/TIM1_CH4/SPI4_MOSI/FMC_D11/LCD_CLK 45 GND
|
||||
* PE[15] PE15/TIM1_BKIN/FMC_D12/LCD_R7 46 GND
|
||||
*/
|
||||
|
||||
|
||||
|
||||
|
||||
/* GPIO ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PB0
|
||||
*/
|
||||
|
||||
/* GPIO ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
* PC0
|
||||
*/
|
||||
|
||||
/* CAN ************************************************************************ *
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ------------------------
|
||||
*
|
||||
* PD[00] PD0/TIM4_CH3/I2C1_SCL/CAN1_RX 81 CAN1_RX
|
||||
* PD[01] PD1/TIM4_CH4/I2C1_SDA/CAN1_TX 82 CAN1_TX
|
||||
*
|
||||
*/
|
||||
|
||||
/* GPIO ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_WAIT_GETNODEINFO (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN13)
|
||||
|
||||
|
||||
/* LEDs ***********************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------
|
||||
* PE[09] PE9/TIM1_CH1/FMC_D6 40 RED_LED
|
||||
* PE[11] PE11/TIM1_CH2/8PI4_NSS/FMC_D8/LCD_G3 42 GREEN_LED
|
||||
* PE[13] PE13/TIM1_CH3/SPI4_MISO/FMC_D10/LCD_DE 44 BLUE_LED
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | \
|
||||
GPIO_PORTE | GPIO_PIN9 | GPIO_OUTPUT_SET)
|
||||
#define GPIO_LED2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | \
|
||||
GPIO_PORTE | GPIO_PIN11 | GPIO_OUTPUT_SET)
|
||||
#define GPIO_LED3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_2MHz | \
|
||||
GPIO_PORTE | GPIO_PIN13 | GPIO_OUTPUT_SET)
|
||||
|
||||
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2 /* Red */
|
||||
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2 /* Green */
|
||||
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2 /* Blue */
|
||||
|
||||
#define MIS_WIRED_V20
|
||||
/* todo:remove this */
|
||||
#if defined(MIS_WIRED_V20)
|
||||
#pragma message "Built with MIS_WIRED_V20 set Fix this when New HW comes out"
|
||||
/* The first proto (PCB) had red and Blow swapped */
|
||||
# define GPIO_LED_RED GPIO_LED3
|
||||
# define GPIO_LED_GREEN GPIO_LED2
|
||||
# define GPIO_LED_BLUE GPIO_LED1
|
||||
#else
|
||||
/* This is the corrected wiring */
|
||||
# define GPIO_LED_RED GPIO_LED1
|
||||
# define GPIO_LED_GREEN GPIO_LED2
|
||||
# define GPIO_LED_BLUE GPIO_LED3
|
||||
#endif
|
||||
|
||||
#define BOARD_NAME "PX4FLOW_V2"
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/************************************************************************************
|
||||
* Public Types
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
|
||||
defined(CONFIG_STM32_SPI3)
|
||||
void weak_function board_spiinitialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void stm32_usbinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usb_set_pwr_callback()
|
||||
*
|
||||
* Description:
|
||||
* Called to setup set a call back for USB power state changes.
|
||||
*
|
||||
* Inputs:
|
||||
* pwr_changed_handler: An interrupt handler that will be called on VBUS power
|
||||
* state changes.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: stm32_led_initialize
|
||||
*
|
||||
* Description:
|
||||
* This functions is called very early in initialization to perform board-
|
||||
* specific initialization of LED-related resources. This includes such
|
||||
* things as, for example, configure GPIO pins to drive the LEDs and also
|
||||
* putting the LEDs in their correct initial state.
|
||||
*
|
||||
* NOTE: In most architectures, LED initialization() is called from
|
||||
* board-specific initialization and should, therefore, have the name
|
||||
* <arch>_led_intialize(). But there are a few architectures where the
|
||||
* LED initialization function is still called from common chip
|
||||
* architecture logic. This interface is not, however, a common board
|
||||
* interface in any event and the name board_autoled_initialization is
|
||||
* deprecated.
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned Value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_ARCH_LEDS
|
||||
void board_autoled_initialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_can_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called at application startup time to initialize the CAN functionality.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
|
||||
int board_can_initialize(void);
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_button_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called at application startup time to initialize the Buttons functionality.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#if defined(CONFIG_ARCH_BUTTONS)
|
||||
void board_button_initialize(void);
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: usbmsc_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called from the application system/usbmc or the boards_nsh if the
|
||||
* application is not included.
|
||||
* Perform architecture specific initialization. This function must
|
||||
* configure the block device to export via USB. This function must be
|
||||
* provided by architecture-specific logic in order to use this add-on.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
|
||||
int usbmsc_archinitialize(void);
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: composite_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called from the application system/composite or the boards_nsh if the
|
||||
* application is not included.
|
||||
* Perform architecture specific initialization. This function must
|
||||
* configure the block device to export via USB. This function must be
|
||||
* provided by architecture-specific logic in order to use this add-on.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
|
||||
extern int composite_archinitialize(void);
|
||||
#endif
|
||||
|
||||
#include "../common/board_common.h"
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
|
|
@ -0,0 +1,65 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
|
||||
add_definitions(
|
||||
-DHW_UAVCAN_NAME=${uavcanblid_name}
|
||||
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
|
||||
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
|
||||
)
|
||||
|
||||
include_directories(${px4_bootloader_base}include)
|
||||
include_directories(${px4_module_base}systemlib)
|
||||
include_directories(.)
|
||||
|
||||
px4_add_module(
|
||||
MODULE drivers__boards__px4flow-v2__bootloader
|
||||
COMPILE_FLAGS
|
||||
-Os
|
||||
SRCS
|
||||
boot.c
|
||||
led.c
|
||||
${px4_bootloader_base}src/uavcan/main.c
|
||||
${px4_bootloader_base}src/common/boot_app_shared.c
|
||||
${px4_bootloader_base}src/sched/timer.c
|
||||
${px4_bootloader_base}src/fs/flash.c
|
||||
${px4_bootloader_base}src/util/crc.c
|
||||
${px4_bootloader_base}src/util/random.c
|
||||
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
|
||||
${px4_bootloader_base}src/protocol/uavcan.c
|
||||
DEPENDS
|
||||
nuttx_export_${BOARD}
|
||||
)
|
||||
|
||||
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
||||
|
|
@ -0,0 +1,221 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <stdint.h>
|
||||
#include "boot_config.h"
|
||||
#include "board.h"
|
||||
|
||||
#include <debug.h>
|
||||
#include <string.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include "led.h"
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* 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);
|
||||
|
||||
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
|
||||
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boarddeinitialize
|
||||
*
|
||||
* 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 stm32_boarddeinitialize(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)
|
||||
{
|
||||
size_t length = 12;
|
||||
memset(hw_version, 0 , sizeof(uavcan_HardwareVersion_t));
|
||||
|
||||
hw_version->major = HW_VERSION_MAJOR;
|
||||
hw_version->minor = HW_VERSION_MINOR;
|
||||
|
||||
memcpy(hw_version->unique_id, (void *) STM32_SYSMEM_UID, length);
|
||||
return length;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* 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 struct packed_struct led_t {
|
||||
uint16_t red : 5;
|
||||
uint16_t green : 6;
|
||||
uint16_t blue : 5;
|
||||
uint8_t hz;
|
||||
} 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);
|
||||
}
|
||||
|
|
@ -0,0 +1,139 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file 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>
|
||||
|
||||
/****************************************************************************
|
||||
* 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 (16 * 1024)
|
||||
|
||||
/* Reserved for the application out of the total
|
||||
* system flash minus the BOOTLOADER_SIZE_IN_K
|
||||
*/
|
||||
#define OPT_APPLICATION_RESERVER_IN_K (32*1024) /* Parameters will use the 2nd, 3rd 16KiB sectors*/
|
||||
|
||||
#define OPT_APPLICATION_IMAGE_OFFSET (OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_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_NUMBER_PAGES STM32_FLASH_NPAGES
|
||||
#define FLASH_PAGE_SIZE STM32_FLASH_PAGESIZE
|
||||
#define FLASH_SIZE ((2 * ((4*16) + (64) + (3*128) + (4*128))) * 1024)
|
||||
|
||||
#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 */
|
||||
|
||||
#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \
|
||||
defined(CONFIG_STM32_FLASH_CONFIG_F) || \
|
||||
defined(CONFIG_STM32_FLASH_CONFIG_G) || \
|
||||
defined(CONFIG_STM32_FLASH_CONFIG_I)
|
||||
#define OPT_USE_YIELD
|
||||
#endif
|
||||
|
||||
/* Bootloader Option*****************************************************************
|
||||
*
|
||||
* GPIO Function MPU Board
|
||||
* Pin # Name
|
||||
* -- ----- -------------------------------- ----------------------------
|
||||
* * TODO TBD (Using ADDR0 for now)
|
||||
*/
|
||||
#define GPIO_GETNODEINFO_JUMPER GPIO_WAIT_GETNODEINFO
|
||||
|
|
@ -0,0 +1,118 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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 "chip/stm32_tim.h"
|
||||
|
||||
#include "boot_config.h"
|
||||
#include "led.h"
|
||||
|
||||
#define TMR_BASE STM32_TIM1_BASE
|
||||
#define TMR_FREQUENCY STM32_APB2_TIM1_CLKIN
|
||||
#define TMR_REG(o) (TMR_BASE+(o))
|
||||
|
||||
void rgb_led(int r, int g , int b, int freqs)
|
||||
{
|
||||
|
||||
long fosc = TMR_FREQUENCY;
|
||||
long prescale = 4096;
|
||||
long p1s = fosc / prescale;
|
||||
long p0p5s = p1s / 2;
|
||||
uint16_t val;
|
||||
static bool once = 0;
|
||||
|
||||
if (!once) {
|
||||
once = 1;
|
||||
|
||||
/* Enabel Clock to Block */
|
||||
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));
|
||||
|
||||
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
|
||||
(ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
|
||||
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
|
||||
putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
|
||||
ATIM_CCER_CC2E | ATIM_CCER_CC2P |
|
||||
ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
|
||||
|
||||
stm32_configgpio(GPIO_TIM1_CH1OUT);
|
||||
stm32_configgpio(GPIO_TIM1_CH2OUT);
|
||||
stm32_configgpio(GPIO_TIM1_CH3OUT);
|
||||
putreg16(ATIM_BDTR_MOE, TMR_REG(STM32_ATIM_BDTR_OFFSET));
|
||||
|
||||
}
|
||||
|
||||
long p = freqs == 0 ? p1s : p1s / freqs;
|
||||
putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
|
||||
|
||||
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
|
||||
|
||||
#if defined(MIS_WIRED_V20)
|
||||
putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
|
||||
putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
|
||||
putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
|
||||
#else
|
||||
putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
|
||||
putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
|
||||
putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
|
||||
#endif
|
||||
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));
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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 <systemlib/visibility.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
void rgb_led(int r, int g , int b, int freqs);
|
||||
__END_DECLS
|
||||
|
|
@ -0,0 +1,131 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file pxesc_can.c
|
||||
*
|
||||
* Board-specific CAN functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/drivers/can.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_arch.h"
|
||||
|
||||
#include "stm32.h"
|
||||
#include "stm32_can.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#if defined(CONFIG_CAN)
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
/* The STM32F107VC supports CAN1 and CAN2 */
|
||||
|
||||
#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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT 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 /* CONFIG_CAN && CONFIG_STM32_CAN1 */
|
||||
|
|
@ -0,0 +1,191 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4flow_init.c
|
||||
*
|
||||
* PX4FLOW-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.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
#include "stm32_uart.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
#include <systemlib/systemlib.h>
|
||||
#endif
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
/* todo: This is constant but not proper */
|
||||
__BEGIN_DECLS
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
|
||||
defined(CONFIG_STM32_SPI3)
|
||||
board_spiinitialize();
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
__EXPORT void board_initialize(void)
|
||||
{
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* 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)
|
||||
{
|
||||
int result = OK;
|
||||
|
||||
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
|
||||
|
||||
/* run C++ ctors before we go any further */
|
||||
|
||||
up_cxxinitialize();
|
||||
|
||||
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
|
||||
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
|
||||
# endif
|
||||
|
||||
#else
|
||||
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
|
||||
#endif
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/*
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = 1000000;
|
||||
|
||||
hrt_call_every(&serial_dma_call,
|
||||
ts_to_abstime(&ts),
|
||||
ts_to_abstime(&ts),
|
||||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
|
@ -0,0 +1,192 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file px4flow_led.c
|
||||
*
|
||||
* PX4ESC LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <nuttx/board.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
static uint16_t g_ledmap[] = {
|
||||
GPIO_LED_RED, // Indexed by BOARD_LED_RED
|
||||
GPIO_LED_GREEN, // Indexed by BOARD_LED_GREEN
|
||||
GPIO_LED_BLUE, // Indexed by BOARD_LED_BLUE
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < arraySize(g_ledmap); l++) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void board_autoled_initialize(void)
|
||||
{
|
||||
led_init();
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Pull Down to switch on */
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
|
||||
return !stm32_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(led, true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(led, false);
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
|
||||
phy_set_led(led, !phy_get_led(led));
|
||||
}
|
||||
|
||||
static bool g_initialized;
|
||||
|
||||
// Nuttx Usages
|
||||
|
||||
__EXPORT
|
||||
void board_autoled_on(int led)
|
||||
{
|
||||
switch (led) {
|
||||
default:
|
||||
case LED_STARTED:
|
||||
case LED_HEAPALLOCATE:
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
|
||||
case LED_IRQSENABLED:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_STACKCREATED:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
g_initialized = true;
|
||||
break;
|
||||
|
||||
case LED_INIRQ:
|
||||
case LED_SIGNAL:
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_ASSERTION:
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
phy_set_led(BOARD_LED_GREEN, true);
|
||||
break;
|
||||
|
||||
case LED_PANIC:
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
break;
|
||||
|
||||
case LED_IDLE : /* IDLE */
|
||||
phy_set_led(BOARD_LED_RED, true);
|
||||
phy_set_led(BOARD_LED_BLUE, true);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_autoled_off
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
__EXPORT void board_autoled_off(int led)
|
||||
{
|
||||
switch (led) {
|
||||
default:
|
||||
case LED_STARTED:
|
||||
case LED_HEAPALLOCATE:
|
||||
case LED_IRQSENABLED:
|
||||
phy_set_led(BOARD_LED_BLUE, false);
|
||||
|
||||
case LED_STACKCREATED:
|
||||
break;
|
||||
|
||||
case LED_INIRQ:
|
||||
case LED_SIGNAL:
|
||||
case LED_ASSERTION:
|
||||
phy_set_led(BOARD_LED_RED, false);
|
||||
phy_set_led(BOARD_LED_GREEN, false);
|
||||
|
||||
break;
|
||||
|
||||
case LED_PANIC:
|
||||
phy_set_led(BOARD_LED_RED, false);
|
||||
phy_set_led(BOARD_LED_GREEN, false);
|
||||
break;
|
||||
|
||||
case LED_IDLE: /* IDLE */
|
||||
phy_set_led(BOARD_LED_GREEN, g_initialized);
|
||||
break;
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue