forked from Archive/PX4-Autopilot
Initial omnibusf4sd target support
Flight tested: ekf2 w/ mag and compass by @nathantsoi: https://logs.px4.io/plot_app?log=79b81031-cf1e-41f0-890b-d6cd7d559766 NOTE: external I2C devices need a pullup. I have tested with a 3.3v 2.2k pullup. Working: - mpu6000, bench tested and verified via nsh - fmu - all 6 ch output bench tested w/ pwm and oneshot via nsh - ppm input bench tested - dsm input bench tested - bmp280, bench tested and verified via nsh - hmc5883, bench tested and verified via nsh, but requires an external i2c pullup - gps on uart6 - startuplog, nsh, mavlink on uart4, but params are not sent for some reason. RSSI pin is TX, MOTOR 5 is RX (normal mode, 57600 baud) - rgbled over i2c, bench tested and workingp - sbus via the shared sbus/ppm pin (which includes an inverter to the mcu SBUS in pin), remove the solder bridge or jumper to the ppm pin before use Not yet implemented: - ADC - OSD: passthrough video is untested, use at your own risk until a basic driver is implemented.
This commit is contained in:
parent
eb6086cc39
commit
f754d092f8
|
@ -53,7 +53,7 @@ pipeline {
|
|||
}
|
||||
|
||||
// nuttx default targets that are archived and uploaded to s3
|
||||
for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1", "aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1"]) {
|
||||
for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1", "aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1", "omnibus-f4sd"]) {
|
||||
def node_name = "${option}"
|
||||
builds[node_name] = createBuildNode(docker_nuttx, "${node_name}_default")
|
||||
}
|
||||
|
|
|
@ -120,7 +120,7 @@ then
|
|||
fi
|
||||
fi
|
||||
|
||||
if ver hwcmp MINDPX_V2 CRAZYFLIE AEROFC_V1 PX4FMU_V4 NXPHLITE_V3
|
||||
if ver hwcmp MINDPX_V2 CRAZYFLIE AEROFC_V1 PX4FMU_V4 NXPHLITE_V3 OMNIBUS_F4SD
|
||||
then
|
||||
set MIXER_AUX none
|
||||
fi
|
||||
|
|
|
@ -3,7 +3,7 @@
|
|||
# Standard startup script for sensor drivers.
|
||||
#
|
||||
|
||||
if ver hwcmp AEROFC_V1
|
||||
if ver hwcmp AEROFC_V1 OMNIBUS_F4SD
|
||||
then
|
||||
# Aero FC uses separate driver
|
||||
else
|
||||
|
@ -267,6 +267,16 @@ then
|
|||
ll40ls start i2c
|
||||
fi
|
||||
|
||||
if ver hwcmp OMNIBUS_F4SD
|
||||
then
|
||||
mpu6000 -R 12 -s start
|
||||
|
||||
# Possible external compasses
|
||||
hmc5883 -X start
|
||||
|
||||
bmp280 start
|
||||
fi
|
||||
|
||||
if ver hwcmp PX4FMU_V4PRO
|
||||
then
|
||||
# Internal SPI bus ICM-20608-G
|
||||
|
|
|
@ -13,6 +13,12 @@ set +e
|
|||
#
|
||||
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
|
||||
#
|
||||
# UART mapping on OMNIBUSF4SD:
|
||||
#
|
||||
# USART1 /dev/ttyS0 SerialRX
|
||||
# USART4 /dev/ttyS1 TELEM1
|
||||
# USART6 /dev/ttyS2 GPS
|
||||
#
|
||||
# UART mapping on FMUv2/3/4:
|
||||
#
|
||||
# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
|
||||
|
@ -229,6 +235,11 @@ then
|
|||
set MAVLINK_COMPANION_DEVICE /dev/ttyS4
|
||||
fi
|
||||
|
||||
if ver hwcmp OMNIBUS_F4SD
|
||||
then
|
||||
set MAVLINK_COMPANION_DEVICE /dev/ttyS1
|
||||
fi
|
||||
|
||||
#
|
||||
# Set USE_IO flag
|
||||
#
|
||||
|
@ -281,8 +292,8 @@ then
|
|||
#
|
||||
if [ $AUTOCNF == yes ]
|
||||
then
|
||||
# Disable safety switch by default on Pixracer
|
||||
if ver hwcmp PX4FMU_V4
|
||||
# Disable safety switch by default on Pixracer and OmnibusF4SD
|
||||
if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
|
||||
then
|
||||
param set CBRK_IO_SAFETY 22027
|
||||
fi
|
||||
|
@ -412,7 +423,6 @@ then
|
|||
sh /etc/init.d/rc.sensors
|
||||
commander start
|
||||
fi
|
||||
|
||||
send_event start
|
||||
load_mon start
|
||||
|
||||
|
@ -573,12 +583,12 @@ then
|
|||
fi
|
||||
fi
|
||||
|
||||
if ver hwcmp CRAZYFLIE
|
||||
if ver hwcmp CRAZYFLIE OMNIBUS_F4SD
|
||||
then
|
||||
# Avoid using either of the two available serials
|
||||
set MAVLINK_F none
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
|
||||
if [ "x$MAVLINK_F" == xnone ]
|
||||
then
|
||||
|
@ -707,7 +717,7 @@ then
|
|||
fi
|
||||
fi
|
||||
|
||||
if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5
|
||||
if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
|
||||
then
|
||||
# Check for flow sensor - as it is a background task, launch it last
|
||||
px4flow start &
|
||||
|
|
|
@ -0,0 +1,150 @@
|
|||
|
||||
px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
|
||||
|
||||
set(config_uavcan_num_ifaces 1)
|
||||
|
||||
set(config_module_list
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
drivers/barometer/bmp280
|
||||
#drivers/differential_pressure
|
||||
#drivers/distance_sensor
|
||||
drivers/magnetometer/hmc5883
|
||||
drivers/telemetry/frsky_telemetry
|
||||
drivers/imu/mpu6000
|
||||
|
||||
#drivers/batt_smbus
|
||||
#drivers/blinkm
|
||||
#drivers/camera_trigger
|
||||
drivers/gps
|
||||
#drivers/irlock
|
||||
#drivers/mkblctrl
|
||||
#drivers/oreoled
|
||||
#drivers/pca9685
|
||||
#drivers/pwm_input
|
||||
drivers/px4flow
|
||||
drivers/px4fmu
|
||||
drivers/rgbled
|
||||
drivers/stm32
|
||||
#drivers/stm32/adc
|
||||
#drivers/stm32/tone_alarm
|
||||
#drivers/tap_esc
|
||||
#drivers/vmount
|
||||
modules/sensors
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
systemcmds/bl_update
|
||||
systemcmds/config
|
||||
#systemcmds/dumpfile
|
||||
#systemcmds/esc_calib
|
||||
systemcmds/hardfault_log
|
||||
systemcmds/led_control
|
||||
systemcmds/mixer
|
||||
#systemcmds/motor_ramp
|
||||
#systemcmds/mtd
|
||||
systemcmds/nshterm
|
||||
systemcmds/param
|
||||
systemcmds/perf
|
||||
systemcmds/pwm
|
||||
systemcmds/reboot
|
||||
#systemcmds/sd_bench
|
||||
systemcmds/top
|
||||
systemcmds/topic_listener
|
||||
systemcmds/tune_control
|
||||
systemcmds/ver
|
||||
|
||||
##
|
||||
## Testing
|
||||
##
|
||||
#drivers/distance_sensor/sf0x/sf0x_tests
|
||||
#drivers/test_ppm
|
||||
##lib/rc/rc_tests
|
||||
#modules/commander/commander_tests
|
||||
#lib/controllib/controllib_test
|
||||
#modules/mavlink/mavlink_tests
|
||||
#modules/mc_pos_control/mc_pos_control_tests
|
||||
#modules/uORB/uORB_tests
|
||||
#systemcmds/tests
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
#modules/camera_feedback
|
||||
modules/commander
|
||||
modules/events
|
||||
modules/gpio_led
|
||||
modules/land_detector
|
||||
modules/load_mon
|
||||
modules/mavlink
|
||||
modules/navigator
|
||||
#modules/uavcan
|
||||
|
||||
#
|
||||
# Estimation modules
|
||||
#
|
||||
modules/attitude_estimator_q
|
||||
modules/ekf2
|
||||
modules/landing_target_estimator
|
||||
modules/local_position_estimator
|
||||
#modules/position_estimator_inav
|
||||
modules/wind_estimator
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
modules/fw_att_control
|
||||
modules/fw_pos_control_l1
|
||||
modules/gnd_att_control
|
||||
modules/gnd_pos_control
|
||||
modules/mc_att_control
|
||||
modules/mc_pos_control
|
||||
modules/vtol_att_control
|
||||
|
||||
#
|
||||
# Logging
|
||||
#
|
||||
modules/logger
|
||||
modules/sdlog2
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
modules/dataman
|
||||
|
||||
##
|
||||
## OBC challenge
|
||||
##
|
||||
#examples/bottle_drop
|
||||
|
||||
##
|
||||
## Rover apps
|
||||
##
|
||||
#examples/rover_steering_control
|
||||
|
||||
##
|
||||
## Segway
|
||||
##
|
||||
#examples/segway
|
||||
|
||||
##
|
||||
## Demo apps
|
||||
##
|
||||
|
||||
## Tutorial code from
|
||||
## https://px4.io/dev/px4_simple_app
|
||||
#examples/px4_simple_app
|
||||
|
||||
## Tutorial code from
|
||||
## https://px4.io/dev/debug_values
|
||||
#examples/px4_mavlink_debug
|
||||
|
||||
## Tutorial code from
|
||||
## https://px4.io/dev/example_fixedwing_control
|
||||
#examples/fixedwing_control
|
||||
|
||||
## Hardware test
|
||||
#examples/hwtest
|
||||
)
|
|
@ -0,0 +1,13 @@
|
|||
{
|
||||
"board_id": 42,
|
||||
"magic": "OMNIBUSF4SD",
|
||||
"description": "Firmware for the OmnibusF4SD board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "PX4/OmnibusF4",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"image_maxsize": 1032192,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
|
@ -0,0 +1,398 @@
|
|||
/************************************************************************************
|
||||
* nuttx-configs/omnibus-f4sd/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2012 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
* Author: Nathan Tsoi <nathan@vertile.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 __CONFIG_OMNIBUSF4SD_INCLUDE_BOARD_H
|
||||
#define __CONFIG_OMNIBUSF4SD_INCLUDE_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include "stm32_rcc.h"
|
||||
#include "stm32_sdio.h"
|
||||
#include "stm32.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The omnibusf4sd board features a single 8MHz crystal. Space is provided
|
||||
* for a 32kHz RTC backup crystal, but it is not stuffed.
|
||||
*
|
||||
* This is the canonical configuration:
|
||||
* System Clock source : PLL (HSE)
|
||||
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
|
||||
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
|
||||
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
|
||||
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
|
||||
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
|
||||
* HSE Frequency(Hz) : 8000000 (STM32_BOARD_XTAL)
|
||||
* PLLM : 8 (STM32_PLLCFG_PLLM)
|
||||
* PLLN : 336 (STM32_PLLCFG_PLLN)
|
||||
* PLLP : 2 (STM32_PLLCFG_PLLP)
|
||||
* PLLQ : 7 (STM32_PLLCFG_PLLQ)
|
||||
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
|
||||
* Flash Latency(WS) : 5
|
||||
* Prefetch Buffer : OFF
|
||||
* Instruction cache : ON
|
||||
* Data cache : ON
|
||||
* Require 48MHz for USB OTG FS, : Enabled
|
||||
* SDIO and RNG clock
|
||||
*/
|
||||
|
||||
/* HSI - 16 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - On-board crystal frequency is 8MHz
|
||||
* LSE - 32.768 kHz
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 8000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
#define STM32_LSE_FREQUENCY 32768
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE
|
||||
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* = (8,000,000 / 8) * 336
|
||||
* = 336,000,000
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* = 336,000,000 / 2 = 168,000,000
|
||||
* USB OTG FS, SDIO and RNG Clock
|
||||
* = PLL_VCO / PLLQ
|
||||
* = 48,000,000
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 168000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (168MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
|
||||
* otherwise frequency is 2xAPBx.
|
||||
* Note: TIM1,8-11 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
|
||||
|
||||
/* SDIO dividers. Note that slower clocking is required when DMA is disabled
|
||||
* in order to avoid RX overrun/TX underrun errors due to delayed responses
|
||||
* to service FIFOs in interrupt driven mode. These values have not been
|
||||
* tuned!!!
|
||||
*
|
||||
* SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
|
||||
*/
|
||||
|
||||
#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
|
||||
/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
|
||||
* DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_STM32_SDIO_DMA
|
||||
# define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
|
||||
/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
|
||||
* DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_STM32_SDIO_DMA
|
||||
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
|
||||
/* DMA Channl/Stream Selections *****************************************************/
|
||||
/* Stream selections are arbitrary for now but might become important in the future
|
||||
* is we set aside more DMA channels/streams.
|
||||
*
|
||||
* SDIO DMA
|
||||
* DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
|
||||
* DMAMAP_SDIO_2 = Channel 4, Stream 6
|
||||
*/
|
||||
|
||||
#define DMAMAP_SDIO DMAMAP_SDIO_1
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
|
||||
* way. The following definitions are used to access individual LEDs.
|
||||
*/
|
||||
|
||||
/* LED index values for use with stm32_setled() */
|
||||
|
||||
#define BOARD_LED1 0
|
||||
//#define BOARD_LED2 1
|
||||
#define BOARD_NLEDS 1
|
||||
|
||||
#define BOARD_LED_BLUE BOARD_LED1
|
||||
//#define BOARD_LED_RED BOARD_LED2
|
||||
|
||||
/* LED bits for use with stm32_setleds() */
|
||||
|
||||
#define BOARD_LED1_BIT (1 << BOARD_LED1)
|
||||
#define BOARD_LED2_BIT (1 << BOARD_LED2)
|
||||
|
||||
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the
|
||||
* omnibusf4sd. The following definitions describe how NuttX controls the LEDs:
|
||||
*/
|
||||
|
||||
#define LED_STARTED 0 /* LED1 */
|
||||
#define LED_HEAPALLOCATE 1 /* LED2 */
|
||||
#define LED_IRQSENABLED 2 /* LED1 */
|
||||
#define LED_STACKCREATED 3 /* LED1 + LED2 */
|
||||
#define LED_INIRQ 4 /* LED1 */
|
||||
#define LED_SIGNAL 5 /* LED2 */
|
||||
#define LED_ASSERTION 6 /* LED1 + LED2 */
|
||||
#define LED_PANIC 7 /* LED1 + LED2 */
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/* UART1:
|
||||
*
|
||||
* PA10 (RX) and PA9 (TX) are broken out on J5
|
||||
*/
|
||||
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_1
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_1
|
||||
|
||||
/* USART1 require a RX DMA configuration */
|
||||
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
|
||||
|
||||
/* USART3:
|
||||
*
|
||||
* PC10 (TX) and PC11 (RX) are broken out on J4
|
||||
*
|
||||
* However, this port is shared with SPI3 which contains the BMP280 and MAX7456
|
||||
*
|
||||
* The Silkscreen pin labeled SCL is TX
|
||||
* MISO is RX
|
||||
*/
|
||||
//#define GPIO_USART3_RX GPIO_USART3_RX_2
|
||||
//#define GPIO_USART3_TX GPIO_USART3_TX_2
|
||||
|
||||
/* UART4:
|
||||
*
|
||||
* PA0 (TX) -- Labeled RSSI on the silkscreen is only broken out on a test pad
|
||||
* on the pro version. It's on a 2.54mm header on other versions
|
||||
* PA1 (RX) -- Motor 5 out
|
||||
*/
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_1
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_1
|
||||
|
||||
/* UART6:
|
||||
*
|
||||
* PC6 (TX) and PC7 (RX) are broken out on J10
|
||||
*/
|
||||
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_1
|
||||
|
||||
/* USART6 require a RX DMA configuration */
|
||||
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1
|
||||
|
||||
/* SPI1:
|
||||
* MPU6000
|
||||
* CS: PA4 -- configured in board_config.h
|
||||
* CLK: PA5
|
||||
* MISO: PA6
|
||||
* MOSI: PA7
|
||||
*/
|
||||
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||
|
||||
/* SPI2:
|
||||
* SD Card
|
||||
* CS: PB12 -- configured in board_config.h
|
||||
* CLK: PB13
|
||||
* MISO: PB14
|
||||
* MOSI: PB15
|
||||
*/
|
||||
|
||||
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
|
||||
|
||||
/* SPI3:
|
||||
* BMP280
|
||||
* CS: PB3 -- configured in board_config.h
|
||||
* CLK: PC10
|
||||
* MISO: PC11
|
||||
* MOSI: PC12
|
||||
*/
|
||||
|
||||
#define GPIO_SPI3_SCK GPIO_SPI3_SCK_2
|
||||
#define GPIO_SPI3_MISO GPIO_SPI3_MISO_2
|
||||
#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_2
|
||||
|
||||
/*
|
||||
* I2C (external)
|
||||
*
|
||||
* SCL: PB10
|
||||
* SDA: PB11
|
||||
*
|
||||
* TODO:
|
||||
* The optional _GPIO configurations allow the I2C driver to manually
|
||||
* reset the bus to clear stuck slaves. They match the pin configuration,
|
||||
* but are normally-high GPIOs.
|
||||
*/
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
|
||||
|
||||
// TODO:
|
||||
//#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN6)
|
||||
//#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
EXTERN void stm32_boardinitialize(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
|
||||
*
|
||||
* Description:
|
||||
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
|
||||
* CONFIG_ARCH_LEDS is not defined, then the following interfacesare available to
|
||||
* control the LEDs from user applications.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef CONFIG_ARCH_LEDS
|
||||
EXTERN void stm32_ledinit(void);
|
||||
EXTERN void stm32_setled(int led, bool ledon);
|
||||
EXTERN void stm32_setleds(uint8_t ledset);
|
||||
#endif
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIG_OMNIBUSF4SD_INCLUDE_BOARD_H */
|
|
@ -0,0 +1,42 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* nsh_romfsetc.h
|
||||
*
|
||||
* This file is a stub for 'make export' purposes; the actual ROMFS
|
||||
* must be supplied by the library client.
|
||||
*/
|
||||
|
||||
extern unsigned char romfs_img[];
|
||||
extern unsigned int romfs_img_len;
|
File diff suppressed because it is too large
Load Diff
|
@ -0,0 +1,150 @@
|
|||
/****************************************************************************
|
||||
* configs/omnibus-f4sd/scripts/ld.script
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 192Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of CCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x4000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
. = ALIGN(4);
|
||||
_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) }
|
||||
}
|
|
@ -584,8 +584,12 @@ struct bmp280_bus_option {
|
|||
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
|
||||
{ BMP280_BUS_SPI_EXTERNAL, "/dev/bmp280_spi_ext", &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
|
||||
#endif
|
||||
#ifdef PX4_SPIDEV_BARO
|
||||
#if defined(PX4_SPIDEV_BARO)
|
||||
# if defined(PX4_SPIDEV_BARO_BUS)
|
||||
{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPIDEV_BARO_BUS, PX4_SPIDEV_BARO, false, NULL },
|
||||
# else
|
||||
{ BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
|
||||
# endif
|
||||
#endif
|
||||
#ifdef PX4_I2C_OBDEV_BMP280
|
||||
{ BMP280_BUS_I2C_INTERNAL, "/dev/bmp280_i2c_int", &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP280, false, NULL },
|
||||
|
|
|
@ -73,7 +73,7 @@
|
|||
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
|
||||
|
||||
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
|
||||
# error microSD DMA support requires CONFIG_GRAN
|
||||
# error microSD DMA support requires CONFIG_GRAN and CONFIG_FAT_DMAMEMORY
|
||||
# endif
|
||||
|
||||
static GRAN_HANDLE dma_allocator;
|
||||
|
|
|
@ -0,0 +1,49 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(drivers_board
|
||||
init.c
|
||||
led.c
|
||||
spi.c
|
||||
timer_config.c
|
||||
usb.c
|
||||
)
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
drivers__led # drv_led_start
|
||||
nuttx_apps # up_cxxinitialize
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
parameters # param_init
|
||||
)
|
|
@ -0,0 +1,340 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018, 2014 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* omnibusf4sd internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
/* omnibusf4sd GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
// power - green
|
||||
// LED1 - PB5 - blue
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
|
||||
#define GPIO_LED_BLUE GPIO_LED1
|
||||
|
||||
/* GPS
|
||||
* UART6
|
||||
*/
|
||||
#define GPS_DEFAULT_UART_PORT "/dev/ttyS2"
|
||||
|
||||
/*
|
||||
* ADC channels
|
||||
*
|
||||
* These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
|
||||
*/
|
||||
// TODO: ADCs, eg. pixracer
|
||||
//#define ADC_CHANNELS (1 << 2) | (1 << 3) | (1 << 4) | (1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
|
||||
|
||||
// Placeholder
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL ((uint8_t)(-1))
|
||||
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
|
||||
#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
|
||||
|
||||
// TODO: ADCs
|
||||
//#define ADC_BATTERY_VOLTAGE_CHANNEL 2
|
||||
//#define ADC_BATTERY_CURRENT_CHANNEL 3
|
||||
//#define ADC_5V_RAIL_SENSE 4
|
||||
//#define ADC_RC_RSSI_CHANNEL 11
|
||||
|
||||
/* Define Battery 1 Voltage Divider and A per V
|
||||
*/
|
||||
|
||||
// TODO:
|
||||
//#define BOARD_BATTERY1_V_DIV (13.653333333f)
|
||||
//#define BOARD_BATTERY1_A_PER_V (36.367515152f)
|
||||
|
||||
/* User GPIOs
|
||||
*
|
||||
* GPIO0-5 are the PWM servo outputs.
|
||||
* GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1 //PB0 S1_OUT D1_ST7
|
||||
* GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1 //PB1 S2_OUT D1_ST2
|
||||
* GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 //PA3 S3_OUT D1_ST6
|
||||
* GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 //PA2 S4_OUT D1_ST1
|
||||
* GPIO_TIM5_CH2OUT GPIO_TIM5_CH2OUT_1 //PA1 S5_OUT
|
||||
* GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 //PA8 S6_OUT
|
||||
*/
|
||||
|
||||
#define _MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLUP))
|
||||
|
||||
#define GPIO_GPIO0_INPUT _MK_GPIO_INPUT(GPIO_TIM3_CH3IN)
|
||||
#define GPIO_GPIO1_INPUT _MK_GPIO_INPUT(GPIO_TIM3_CH4IN)
|
||||
#define GPIO_GPIO2_INPUT _MK_GPIO_INPUT(GPIO_TIM2_CH4IN)
|
||||
#define GPIO_GPIO3_INPUT _MK_GPIO_INPUT(GPIO_TIM2_CH3IN)
|
||||
//#define GPIO_GPIO4_INPUT _MK_GPIO_INPUT(GPIO_TIM5_CH2IN)
|
||||
//#define GPIO_GPIO5_INPUT _MK_GPIO_INPUT(GPIO_TIM1_CH1IN)
|
||||
|
||||
#define _MK_GPIO_OUTPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR))
|
||||
|
||||
#define GPIO_GPIO0_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM3_CH3OUT)
|
||||
#define GPIO_GPIO1_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM3_CH4OUT)
|
||||
#define GPIO_GPIO2_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM2_CH4OUT)
|
||||
#define GPIO_GPIO3_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM2_CH3OUT)
|
||||
//#define GPIO_GPIO4_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT)
|
||||
//#define GPIO_GPIO5_OUTPUT _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* OMNIBUSF4SD SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
/* SPI chip selects */
|
||||
/*
|
||||
* Define the Chip Selects for SPI1
|
||||
*
|
||||
* MPU6000: PA4
|
||||
*
|
||||
*/
|
||||
#define GPIO_SPI_CS_MEMS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
/*
|
||||
* Define the Chip Selects for SPI2
|
||||
*
|
||||
* SD Card: PB12
|
||||
*
|
||||
*/
|
||||
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
|
||||
|
||||
/*
|
||||
* Define the Chip Selects for SPI3
|
||||
*
|
||||
* BMP280: PB3
|
||||
* ABT7456: PA15
|
||||
*
|
||||
*/
|
||||
|
||||
#define GPIO_SPI3_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
|
||||
#define GPIO_SPI3_CS_OSD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
/*
|
||||
* Define the ability to shut off off the sensor signals
|
||||
* by changing the signals to inputs
|
||||
*/
|
||||
|
||||
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
|
||||
|
||||
/* SPI 1 bus off */
|
||||
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
|
||||
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
|
||||
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
|
||||
/* SPI 1 CS's off */
|
||||
#define GPIO_SPI1_CS_MEMS_OFF _PIN_OFF(GPIO_SPI_CS_MEMS)
|
||||
|
||||
/* SPI 2 bus off */
|
||||
#define GPIO_SPI2_SCK_OFF _PIN_OFF(GPIO_SPI2_SCK)
|
||||
#define GPIO_SPI2_MISO_OFF _PIN_OFF(GPIO_SPI2_MISO)
|
||||
#define GPIO_SPI2_MOSI_OFF _PIN_OFF(GPIO_SPI2_MOSI)
|
||||
/* SPI 2 CS's off */
|
||||
#define GPIO_SPI2_CS_SDCARD_OFF _PIN_OFF(GPIO_SPI_CS_SDCARD)
|
||||
|
||||
/* SPI 3 bus off */
|
||||
#define GPIO_SPI3_SCK_OFF _PIN_OFF(GPIO_SPI3_SCK)
|
||||
#define GPIO_SPI3_MISO_OFF _PIN_OFF(GPIO_SPI3_MISO)
|
||||
#define GPIO_SPI3_MOSI_OFF _PIN_OFF(GPIO_SPI3_MOSI)
|
||||
/* SPI 3 CS's off */
|
||||
#define GPIO_SPI3_CS_BARO_OFF _PIN_OFF(GPIO_SPI3_CS_BARO)
|
||||
|
||||
// One device per bus
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
#define PX4_SPIDEV_MPU 1
|
||||
#define PX4_SPIDEV_BARO_BUS 3
|
||||
#define PX4_SPIDEV_BARO 1
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
|
||||
|
||||
/*----------------------------------------------------------*/
|
||||
/* End OMNIBUSF4SD SPI chip selects and DRDY */
|
||||
/*----------------------------------------------------------*/
|
||||
|
||||
#define PX4_SPI_BUS_BARO 3
|
||||
|
||||
#define PX4_I2C_BUS_EXPANSION 2
|
||||
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
|
||||
|
||||
/* PWM
|
||||
*
|
||||
* 6 PWM outputs are configured.
|
||||
*
|
||||
* Alternatively CH3/CH4 could be assigned to UART6_TX/RX
|
||||
*
|
||||
* Pins:
|
||||
*
|
||||
* INPUTS:
|
||||
* CH1 : PB8 : TIM10_CH1 // PPM
|
||||
* CH2 : PB9 : TIM4_CH4
|
||||
* CH3 : PC6 : TIM8_CH1 // OR UART6_TX
|
||||
* CH4 : PC7 : TIM8_CH2 // OR UART6_RX
|
||||
* CH5 : PC8 : TIM8_CH3
|
||||
* CH6 : PC9 : TIM8_CH4
|
||||
*
|
||||
* OUTPUTS:
|
||||
* M1 : PB0 : TIM3_CH3
|
||||
* M2 : PB1 : TIM3_CH4
|
||||
* M3 : PA3 : TIM2_CH3
|
||||
* M4 : PA2 : TIM2_CH4
|
||||
* M5 : PA1 : TIM5_CH2 // UART4_RX
|
||||
* M6 : PA8 : TIM1_CH1 // USART2_TX
|
||||
*/
|
||||
|
||||
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_1 //PB0 S1_OUT D1_ST7
|
||||
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_1 //PB1 S2_OUT D1_ST2
|
||||
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_1 //PA3 S3_OUT D1_ST6
|
||||
#define GPIO_TIM2_CH3OUT GPIO_TIM2_CH3OUT_1 //PA2 S4_OUT D1_ST1
|
||||
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 4
|
||||
|
||||
#define GPIO_TIM3_CH3IN GPIO_TIM3_CH3IN_1
|
||||
#define GPIO_TIM3_CH4IN GPIO_TIM3_CH4IN_1
|
||||
#define GPIO_TIM2_CH4IN GPIO_TIM2_CH4IN_1
|
||||
#define GPIO_TIM2_CH3IN GPIO_TIM2_CH3IN_1
|
||||
|
||||
#define DIRECT_INPUT_TIMER_CHANNELS 4
|
||||
|
||||
// Has pwm outputs
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 4 // T4C1
|
||||
#define HRT_TIMER_CHANNEL 1 // use capture/compare channel 1
|
||||
|
||||
#define HRT_PPM_CHANNEL 3 // capture/compare channel 3
|
||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
|
||||
|
||||
#define RC_SERIAL_PORT "/dev/ttyS0"
|
||||
|
||||
/*
|
||||
* One RC_IN
|
||||
*
|
||||
* GPIO PPM_IN on PB8 T4CH3
|
||||
* SPEKTRUM_RX (it's TX or RX in Bind) on PA10 UART1
|
||||
* The FMU can drive GPIO PPM_IN as an output
|
||||
*/
|
||||
// TODO?
|
||||
//#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
|
||||
//#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
|
||||
//#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
|
||||
//#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
|
||||
|
||||
#define BOARD_NAME "OMNIBUS_F4SD"
|
||||
|
||||
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
|
||||
|
||||
#define BOARD_FMU_GPIO_TAB { \
|
||||
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, \
|
||||
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, \
|
||||
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, 0}, \
|
||||
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, 0}, }
|
||||
|
||||
/*
|
||||
* PX4FMUv4 GPIO numbers.
|
||||
*
|
||||
* There are no alternate functions on this board.
|
||||
*/
|
||||
#define GPIO_SERVO_1 (1<<0) /**< servo 1 output */
|
||||
#define GPIO_SERVO_2 (1<<1) /**< servo 2 output */
|
||||
#define GPIO_SERVO_3 (1<<2) /**< servo 3 output */
|
||||
#define GPIO_SERVO_4 (1<<3) /**< servo 4 output */
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
|
||||
|
||||
#define BOARD_HAS_ON_RESET 1
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
* mask - is bus selection
|
||||
* 1 - 1 << 0
|
||||
* 2 - 1 << 1
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
void board_spi_reset(int ms);
|
||||
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure USB IO.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
#include "../common/board_common.h"
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
|
@ -0,0 +1,507 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file init.c
|
||||
*
|
||||
* omnibusf4sd-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 <px4_tasks.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include "platform/cxxinitialize.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 <nuttx/mm/gran.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
#include <stm32_uart.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <systemlib/cpuload.h>
|
||||
#include <perf/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include <systemlib/hardfault_log.h>
|
||||
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <parameters/param.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message(...) syslog(__VA_ARGS__)
|
||||
# else
|
||||
# define message(...) printf(__VA_ARGS__)
|
||||
# endif
|
||||
#else
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message syslog
|
||||
# else
|
||||
# define message printf
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
UNUSED(ms);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
/* configure the GPIO pins to outputs and keep them low */
|
||||
|
||||
stm32_configgpio(GPIO_GPIO0_OUTPUT);
|
||||
stm32_configgpio(GPIO_GPIO1_OUTPUT);
|
||||
stm32_configgpio(GPIO_GPIO2_OUTPUT);
|
||||
stm32_configgpio(GPIO_GPIO3_OUTPUT);
|
||||
//stm32_configgpio(GPIO_GPIO4_OUTPUT);
|
||||
//stm32_configgpio(GPIO_GPIO5_OUTPUT);
|
||||
|
||||
/* On resets invoked from system (not boot) insure we establish a low
|
||||
* output state (discharge the pins) on PWM pins before they become inputs.
|
||||
*/
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(400);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* 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)
|
||||
{
|
||||
/* Reset all PWM to Low outputs */
|
||||
|
||||
board_on_reset(-1);
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
|
||||
//TODO: ADCs
|
||||
///* configure ADC pins */
|
||||
//stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
|
||||
//stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
|
||||
//stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
|
||||
//stm32_configgpio(GPIO_ADC1_IN11); /* RSSI analog in */
|
||||
|
||||
// TODO: power peripherals
|
||||
///* configure power supply control/sense pins */
|
||||
//stm32_configgpio(GPIO_PERIPH_3V3_EN);
|
||||
//stm32_configgpio(GPIO_VDD_BRICK_VALID);
|
||||
//stm32_configgpio(GPIO_VDD_USB_VALID);
|
||||
|
||||
// TODO: 3v3 Sensor?
|
||||
///* Start with Sensor voltage off We will enable it
|
||||
// * in board_app_initialize
|
||||
// */
|
||||
//stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
|
||||
|
||||
// TODO: SBUS inversion? SPEK power?
|
||||
//stm32_configgpio(GPIO_SBUS_INV);
|
||||
//stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
|
||||
|
||||
// TODO: $$$ Unused?
|
||||
//stm32_configgpio(GPIO_8266_GPIO0);
|
||||
//stm32_configgpio(GPIO_8266_PD);
|
||||
//stm32_configgpio(GPIO_8266_RST);
|
||||
|
||||
/* Safety - led don in led driver */
|
||||
|
||||
// TODO: unused?
|
||||
//stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
|
||||
// TODO: RSSI
|
||||
//stm32_configgpio(GPIO_RSSI_IN);
|
||||
|
||||
stm32_configgpio(GPIO_PPM_IN);
|
||||
|
||||
/* configure SPI all interfaces GPIO */
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX; the meaning of the argument is a contract
|
||||
* between the board-specific initalization logic and the the
|
||||
* matching application logic. The value cold be such things as a
|
||||
* mode enumeration value, a set of DIP switch switch settings, a
|
||||
* pointer to configuration data read from a file or serial FLASH,
|
||||
* or whatever you would like to do with it. Every implementation
|
||||
* should accept zero/NULL as a default configuration.
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct spi_dev_s *spi1;
|
||||
static struct spi_dev_s *spi2;
|
||||
static struct spi_dev_s *spi3;
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
|
||||
#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();
|
||||
|
||||
param_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
message("DMA alloc FAILED");
|
||||
}
|
||||
|
||||
/* configure CPU load estimation */
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
cpuload_initialize_once();
|
||||
#endif
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/*
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = 1000000;
|
||||
|
||||
hrt_call_every(&serial_dma_call,
|
||||
ts_to_abstime(&ts),
|
||||
ts_to_abstime(&ts),
|
||||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
#if defined(CONFIG_STM32_BBSRAM)
|
||||
|
||||
/* NB. the use of the console requires the hrt running
|
||||
* to poll the DMA
|
||||
*/
|
||||
|
||||
/* Using Battery Backed Up SRAM */
|
||||
|
||||
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
|
||||
|
||||
stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
|
||||
|
||||
#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
|
||||
|
||||
/* Panic Logging in Battery Backed Up Files */
|
||||
|
||||
/*
|
||||
* In an ideal world, if a fault happens in flight the
|
||||
* system save it to BBSRAM will then reboot. Upon
|
||||
* rebooting, the system will log the fault to disk, recover
|
||||
* the flight state and continue to fly. But if there is
|
||||
* a fault on the bench or in the air that prohibit the recovery
|
||||
* or committing the log to disk, the things are too broken to
|
||||
* fly. So the question is:
|
||||
*
|
||||
* Did we have a hard fault and not make it far enough
|
||||
* through the boot sequence to commit the fault data to
|
||||
* the SD card?
|
||||
*/
|
||||
|
||||
/* Do we have an uncommitted hard fault in BBSRAM?
|
||||
* - this will be reset after a successful commit to SD
|
||||
*/
|
||||
int hadCrash = hardfault_check_status("boot");
|
||||
|
||||
if (hadCrash == OK) {
|
||||
|
||||
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
|
||||
" while booting to halt the system!\n");
|
||||
|
||||
/* Yes. So add one to the boot count - this will be reset after a successful
|
||||
* commit to SD
|
||||
*/
|
||||
|
||||
int reboots = hardfault_increment_reboot("boot", false);
|
||||
|
||||
/* Also end the misery for a user that holds for a key down on the console */
|
||||
|
||||
int bytesWaiting;
|
||||
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
|
||||
|
||||
if (reboots > 2 || bytesWaiting != 0) {
|
||||
|
||||
/* Since we can not commit the fault dump to disk. Display it
|
||||
* to the console.
|
||||
*/
|
||||
|
||||
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
|
||||
|
||||
message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
|
||||
reboots,
|
||||
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
|
||||
|
||||
|
||||
/* For those of you with a debugger set a break point on up_assert and
|
||||
* then set dbgContinue = 1 and go.
|
||||
*/
|
||||
|
||||
/* Clear any key press that got us here */
|
||||
|
||||
static volatile bool dbgContinue = false;
|
||||
int c = '>';
|
||||
|
||||
while (!dbgContinue) {
|
||||
|
||||
switch (c) {
|
||||
|
||||
case EOF:
|
||||
|
||||
|
||||
case '\n':
|
||||
case '\r':
|
||||
case ' ':
|
||||
continue;
|
||||
|
||||
default:
|
||||
|
||||
putchar(c);
|
||||
putchar('\n');
|
||||
|
||||
switch (c) {
|
||||
|
||||
case 'D':
|
||||
case 'd':
|
||||
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
|
||||
break;
|
||||
|
||||
case 'C':
|
||||
case 'c':
|
||||
hardfault_rearm("boot");
|
||||
hardfault_increment_reboot("boot", true);
|
||||
break;
|
||||
|
||||
case 'B':
|
||||
case 'b':
|
||||
dbgContinue = true;
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
} // Inner Switch
|
||||
|
||||
message("\nEnter B - Continue booting\n" \
|
||||
"Enter C - Clear the fault log\n" \
|
||||
"Enter D - Dump fault log\n\n?>");
|
||||
fflush(stdout);
|
||||
|
||||
if (!dbgContinue) {
|
||||
c = getchar();
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
} // outer switch
|
||||
} // for
|
||||
|
||||
} // inner if
|
||||
} // outer if
|
||||
|
||||
#endif // CONFIG_STM32_SAVE_CRASHDUMP
|
||||
#endif // CONFIG_STM32_BBSRAM
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_BLUE);
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
// SPI1: MPU6000
|
||||
spi1 = stm32_spibus_initialize(1);
|
||||
|
||||
if (!spi1) {
|
||||
message("[boot] FAILED to initialize SPI port 1\n");
|
||||
board_autoled_on(LED_RED);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
|
||||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
||||
up_udelay(20);
|
||||
|
||||
// SPI2: SDCard
|
||||
/* Get the SPI port for the microSD slot */
|
||||
spi2 = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
|
||||
if (!spi2) {
|
||||
message("[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Now bind the SPI interface to the MMCSD driver */
|
||||
int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi2);
|
||||
|
||||
if (result != OK) {
|
||||
message("[boot] FAILED to bind SPI port 2 to the MMCSD driver\n");
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
up_udelay(20);
|
||||
|
||||
|
||||
// SPI3: OSD / Baro
|
||||
spi3 = stm32_spibus_initialize(3);
|
||||
|
||||
if (!spi3) {
|
||||
message("[boot] FAILED to initialize SPI port 3\n");
|
||||
board_autoled_on(LED_RED);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Copied from fmu-v4
|
||||
* Default SPI3 to 12MHz and de-assert the known chip selects.
|
||||
* MS5611 has max SPI clock speed of 20MHz
|
||||
*/
|
||||
|
||||
// BMP280 max SPI speed is 10 MHz
|
||||
SPI_SETFREQUENCY(spi3, 10 * 1000 * 1000);
|
||||
SPI_SETBITS(spi3, 8);
|
||||
SPI_SETMODE(spi3, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
|
||||
up_udelay(20);
|
||||
|
||||
return OK;
|
||||
}
|
|
@ -0,0 +1,125 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018 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 led.c
|
||||
*
|
||||
* omnibusf4sd LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <nuttx/board.h>
|
||||
|
||||
/*
|
||||
* Ideally we'd be able to get these from up_internal.h,
|
||||
* but since we want to be able to disable the NuttX use
|
||||
* of leds for system indication at will and there is no
|
||||
* separate switch, we need to build independent of the
|
||||
* CONFIG_ARCH_LEDS configuration switch.
|
||||
*/
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
static uint32_t g_ledmap[] = {
|
||||
GPIO_LED_BLUE,
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
stm32_configgpio(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Pull Down to switch on */
|
||||
stm32_gpiowrite(g_ledmap[led], !state);
|
||||
}
|
||||
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
phy_set_led(led, true);
|
||||
}
|
||||
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
phy_set_led(led, false);
|
||||
}
|
||||
|
||||
__EXPORT void board_autoled_initialize(void)
|
||||
{
|
||||
/* Configure LED1 GPIO for output */
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
}
|
||||
|
||||
__EXPORT void board_autoled_on(int led)
|
||||
|
||||
{
|
||||
if (led == 1) {
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void board_autoled_off(int led)
|
||||
|
||||
{
|
||||
if (led == 1) {
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
if (led == 1) {
|
||||
if (stm32_gpioread(GPIO_LED1)) {
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
|
||||
} else {
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
}
|
||||
}
|
|
@ -0,0 +1,184 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018 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 spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
#include <systemlib/err.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
* mask - is bus selection
|
||||
* 1 - 1 << 0
|
||||
* 2 - 1 << 1
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_spiinitialize()
|
||||
{
|
||||
stm32_configgpio(GPIO_SPI_CS_MEMS);
|
||||
stm32_configgpio(GPIO_SPI_CS_SDCARD);
|
||||
stm32_configgpio(GPIO_SPI3_CS_BARO);
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
UNUSED(devid);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_MEMS, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
UNUSED(devid);
|
||||
px4_arch_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
UNUSED(devid);
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
px4_arch_gpiowrite(GPIO_SPI3_CS_BARO, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
/* FRAM is always present */
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
__EXPORT void board_spi_reset(int ms)
|
||||
{
|
||||
// TODO: DRDY
|
||||
///* disable SPI bus 1 DRDY */
|
||||
//stm32_configgpio(GPIO_DRDY_OFF_PORTD_PIN15);
|
||||
//stm32_configgpio(GPIO_DRDY_OFF_PORTC_PIN14);
|
||||
//stm32_configgpio(GPIO_DRDY_OFF_PORTE_PIN12);
|
||||
|
||||
//stm32_gpiowrite(GPIO_DRDY_OFF_PORTD_PIN15, 0);
|
||||
//stm32_gpiowrite(GPIO_DRDY_OFF_PORTC_PIN14, 0);
|
||||
//stm32_gpiowrite(GPIO_DRDY_OFF_PORTE_PIN12, 0);
|
||||
|
||||
/* disable SPI bus 1 CS */
|
||||
stm32_configgpio(GPIO_SPI1_CS_MEMS_OFF);
|
||||
stm32_gpiowrite(GPIO_SPI1_CS_MEMS_OFF, 0);
|
||||
|
||||
/* disable SPI bus 2 CS */
|
||||
stm32_configgpio(GPIO_SPI2_CS_SDCARD_OFF);
|
||||
stm32_gpiowrite(GPIO_SPI2_CS_SDCARD_OFF, 0);
|
||||
|
||||
/* disable SPI bus 3 CS */
|
||||
stm32_configgpio(GPIO_SPI3_CS_BARO_OFF);
|
||||
stm32_gpiowrite(GPIO_SPI3_CS_BARO_OFF, 0);
|
||||
|
||||
/* disable SPI bus 1*/
|
||||
stm32_configgpio(GPIO_SPI1_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI1_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
|
||||
|
||||
/* disable SPI bus 2*/
|
||||
stm32_configgpio(GPIO_SPI2_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI2_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI2_MOSI_OFF);
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI2_SCK_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI2_MISO_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI2_MOSI_OFF, 0);
|
||||
|
||||
/* disable SPI bus 3*/
|
||||
stm32_configgpio(GPIO_SPI3_SCK_OFF);
|
||||
stm32_configgpio(GPIO_SPI3_MISO_OFF);
|
||||
stm32_configgpio(GPIO_SPI3_MOSI_OFF);
|
||||
|
||||
stm32_gpiowrite(GPIO_SPI3_SCK_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI3_MISO_OFF, 0);
|
||||
stm32_gpiowrite(GPIO_SPI3_MOSI_OFF, 0);
|
||||
|
||||
/* wait a bit before starting SPI, different times didn't influence results */
|
||||
usleep(100);
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
stm32_configgpio(GPIO_SPI1_SCK);
|
||||
stm32_configgpio(GPIO_SPI1_MISO);
|
||||
stm32_configgpio(GPIO_SPI1_MOSI);
|
||||
|
||||
// TODO: why do we not enable SPI2 here?
|
||||
|
||||
stm32_configgpio(GPIO_SPI3_SCK);
|
||||
stm32_configgpio(GPIO_SPI3_MISO);
|
||||
stm32_configgpio(GPIO_SPI3_MOSI);
|
||||
}
|
|
@ -0,0 +1,120 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018 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 timer_config.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/stm32/drv_io_timer.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM2_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||
.clock_freq = STM32_APB1_TIM2_CLKIN,
|
||||
.first_channel_index = 0,
|
||||
.last_channel_index = 1,
|
||||
.handler = io_timer_handler1,
|
||||
.vectorno = STM32_IRQ_TIM2
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN,
|
||||
.first_channel_index = 2,
|
||||
.last_channel_index = 3,
|
||||
.handler = io_timer_handler2,
|
||||
.vectorno = STM32_IRQ_TIM3
|
||||
}
|
||||
};
|
||||
/*
|
||||
* OUTPUTS:
|
||||
* M3 : PA3 : TIM2_CH3
|
||||
* M4 : PA2 : TIM2_CH4
|
||||
* M1 : PB0 : TIM3_CH3
|
||||
* M2 : PB1 : TIM3_CH4
|
||||
*/
|
||||
|
||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
//PB0 S1_OUT D1_ST7
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH3OUT,
|
||||
.gpio_in = GPIO_TIM3_CH3IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
||||
},
|
||||
//PB1 S2_OUT D1_ST2
|
||||
{
|
||||
.gpio_out = GPIO_TIM3_CH4OUT,
|
||||
.gpio_in = GPIO_TIM3_CH4IN,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
||||
},
|
||||
//PA3 S3_OUT D1_ST6
|
||||
{
|
||||
.gpio_out = GPIO_TIM2_CH4OUT,
|
||||
.gpio_in = GPIO_TIM2_CH4IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
||||
},
|
||||
//PA2 S4_OUT D1_ST1
|
||||
{
|
||||
.gpio_out = GPIO_TIM2_CH3OUT,
|
||||
.gpio_in = GPIO_TIM2_CH3IN,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
||||
}
|
||||
};
|
|
@ -0,0 +1,108 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2018 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the omnibusf4sd board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
/* XXX We only support device mode
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
|
|
@ -1144,7 +1144,9 @@ void PX4FMU::set_rc_scan_state(RC_SCAN newState)
|
|||
|
||||
void PX4FMU::rc_io_invert(bool invert)
|
||||
{
|
||||
#ifdef INVERT_RC_INPUT
|
||||
INVERT_RC_INPUT(invert);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
Loading…
Reference in New Issue