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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:
nathan 2018-03-27 19:01:20 -07:00 committed by Lorenz Meier
parent eb6086cc39
commit f754d092f8
20 changed files with 3850 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Jenkinsfile vendored
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@ -53,7 +53,7 @@ pipeline {
} }
// nuttx default targets that are archived and uploaded to s3 // 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 = "${option}" def node_name = "${option}"
builds[node_name] = createBuildNode(docker_nuttx, "${node_name}_default") builds[node_name] = createBuildNode(docker_nuttx, "${node_name}_default")
} }

2
ROMFS/px4fmu_common/init.d/rc.interface
View File

@ -120,7 +120,7 @@ then
fi fi
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 then
set MIXER_AUX none set MIXER_AUX none
fi fi

12
ROMFS/px4fmu_common/init.d/rc.sensors
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@ -3,7 +3,7 @@
# Standard startup script for sensor drivers. # Standard startup script for sensor drivers.
# #
if ver hwcmp AEROFC_V1 if ver hwcmp AEROFC_V1 OMNIBUS_F4SD
then then
# Aero FC uses separate driver # Aero FC uses separate driver
else else
@ -267,6 +267,16 @@ then
ll40ls start i2c ll40ls start i2c
fi 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 if ver hwcmp PX4FMU_V4PRO
then then
# Internal SPI bus ICM-20608-G # Internal SPI bus ICM-20608-G

22
ROMFS/px4fmu_common/init.d/rcS
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@ -13,6 +13,12 @@ set +e
# #
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. # 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: # UART mapping on FMUv2/3/4:
# #
# UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi) # UART1 /dev/ttyS0 IO debug (except v4, there ttyS0 is the wifi)
@ -229,6 +235,11 @@ then
set MAVLINK_COMPANION_DEVICE /dev/ttyS4 set MAVLINK_COMPANION_DEVICE /dev/ttyS4
fi fi
if ver hwcmp OMNIBUS_F4SD
then
set MAVLINK_COMPANION_DEVICE /dev/ttyS1
fi
# #
# Set USE_IO flag # Set USE_IO flag
# #
@ -281,8 +292,8 @@ then
# #
if [ $AUTOCNF == yes ] if [ $AUTOCNF == yes ]
then then
# Disable safety switch by default on Pixracer # Disable safety switch by default on Pixracer and OmnibusF4SD
if ver hwcmp PX4FMU_V4 if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
then then
param set CBRK_IO_SAFETY 22027 param set CBRK_IO_SAFETY 22027
fi fi
@ -412,7 +423,6 @@ then
sh /etc/init.d/rc.sensors sh /etc/init.d/rc.sensors
commander start commander start
fi fi
send_event start send_event start
load_mon start load_mon start
@ -573,12 +583,12 @@ then
fi fi
fi fi
if ver hwcmp CRAZYFLIE if ver hwcmp CRAZYFLIE OMNIBUS_F4SD
then then
# Avoid using either of the two available serials # Avoid using either of the two available serials
set MAVLINK_F none set MAVLINK_F none
fi fi
fi fi
if [ "x$MAVLINK_F" == xnone ] if [ "x$MAVLINK_F" == xnone ]
then then
@ -707,7 +717,7 @@ then
fi fi
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 then
# Check for flow sensor - as it is a background task, launch it last # Check for flow sensor - as it is a background task, launch it last
px4flow start & px4flow start &

150
cmake/configs/nuttx_omnibus-f4sd_default.cmake Normal file
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@ -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
)

13
platforms/nuttx/Images/omnibus-f4sd.prototype Normal file
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@ -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
}

398
platforms/nuttx/nuttx-configs/omnibus-f4sd/include/board.h Normal file
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@ -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 */

42
platforms/nuttx/nuttx-configs/omnibus-f4sd/include/nsh_romfsimg.h Normal file
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@ -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;

1627
platforms/nuttx/nuttx-configs/omnibus-f4sd/nsh/defconfig Normal file
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File diff suppressed because it is too large Load Diff

150
platforms/nuttx/nuttx-configs/omnibus-f4sd/scripts/ld.script Normal file
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@ -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) }
}

6
src/drivers/barometer/bmp280/bmp280.cpp
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@ -584,8 +584,12 @@ struct bmp280_bus_option {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT) #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 }, { BMP280_BUS_SPI_EXTERNAL, "/dev/bmp280_spi_ext", &bmp280_spi_interface, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_BARO, true, NULL },
#endif #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 }, { BMP280_BUS_SPI_INTERNAL, "/dev/bmp280_spi_int", &bmp280_spi_interface, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_BARO, false, NULL },
# endif
#endif #endif
#ifdef PX4_I2C_OBDEV_BMP280 #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 }, { BMP280_BUS_I2C_INTERNAL, "/dev/bmp280_i2c_int", &bmp280_i2c_interface, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_BMP280, false, NULL },

2
src/drivers/boards/common/board_dma_alloc.c
View File

@ -73,7 +73,7 @@
#if defined(BOARD_DMA_ALLOC_POOL_SIZE) #if defined(BOARD_DMA_ALLOC_POOL_SIZE)
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY) # 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 # endif
static GRAN_HANDLE dma_allocator; static GRAN_HANDLE dma_allocator;

49
src/drivers/boards/omnibus-f4sd/CMakeLists.txt Normal file
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@ -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
)

340
src/drivers/boards/omnibus-f4sd/board_config.h Normal file
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@ -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

507
src/drivers/boards/omnibus-f4sd/init.c Normal file
View File

@ -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;
}

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/****************************************************************************
*
* 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);
}
}
}

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/****************************************************************************
*
* 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);
}

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/****************************************************************************
*
* 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
}
};

108
src/drivers/boards/omnibus-f4sd/usb.c Normal file
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@ -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);
}

2
src/drivers/px4fmu/fmu.cpp
View File

@ -1144,7 +1144,9 @@ void PX4FMU::set_rc_scan_state(RC_SCAN newState)
void PX4FMU::rc_io_invert(bool invert) void PX4FMU::rc_io_invert(bool invert)
{ {
#ifdef INVERT_RC_INPUT
INVERT_RC_INPUT(invert); INVERT_RC_INPUT(invert);
#endif
} }
#endif #endif