forked from Archive/PX4-Autopilot
Merge branch 'master' of github.com:PX4/Firmware
This commit is contained in:
Lorenz Meier
commit
fbdf30b7d4
|
|
@ -61,7 +61,7 @@
|
|||
#include <sys/prctl.h>
|
||||
#include <v1.0/common/mavlink.h>
|
||||
#include <string.h>
|
||||
#include <arch/board/drv_led.h>
|
||||
#include <drivers/drv_led.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_tone_alarm.h>
|
||||
|
|
@ -194,7 +194,7 @@ static void buzzer_deinit()
|
|||
|
||||
static int led_init()
|
||||
{
|
||||
leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
|
||||
leds = open(LED_DEVICE_PATH, 0);
|
||||
|
||||
if (leds < 0) {
|
||||
fprintf(stderr, "[commander] LED: open fail\n");
|
||||
|
|
|
|||
|
|
@ -64,10 +64,9 @@
|
|||
#include "stm32_uart.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <arch/board/drv_led.h>
|
||||
#include <arch/board/drv_eeprom.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
|
||||
|
|
@ -132,9 +131,6 @@ __EXPORT void stm32_boardinitialize(void)
|
|||
|
||||
static struct spi_dev_s *spi1;
|
||||
static struct spi_dev_s *spi3;
|
||||
static struct i2c_dev_s *i2c1;
|
||||
static struct i2c_dev_s *i2c2;
|
||||
static struct i2c_dev_s *i2c3;
|
||||
|
||||
#include <math.h>
|
||||
|
||||
|
|
@ -154,10 +150,6 @@ __EXPORT int nsh_archinitialize(void)
|
|||
{
|
||||
int result;
|
||||
|
||||
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
|
||||
|
||||
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
#ifdef CONFIG_HRT_TIMER
|
||||
hrt_init();
|
||||
|
|
@ -191,14 +183,12 @@ __EXPORT int nsh_archinitialize(void)
|
|||
|
||||
message("\r\n");
|
||||
|
||||
// initial LED state
|
||||
drv_led_start();
|
||||
up_ledoff(LED_BLUE);
|
||||
up_ledoff(LED_AMBER);
|
||||
|
||||
up_ledon(LED_BLUE);
|
||||
|
||||
/* Configure user-space led driver */
|
||||
px4fmu_led_init();
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
spi1 = up_spiinitialize(1);
|
||||
|
|
@ -220,37 +210,6 @@ __EXPORT int nsh_archinitialize(void)
|
|||
|
||||
message("[boot] Successfully initialized SPI port 1\r\n");
|
||||
|
||||
/* initialize I2C2 bus */
|
||||
|
||||
i2c2 = up_i2cinitialize(2);
|
||||
|
||||
if (!i2c2) {
|
||||
message("[boot] FAILED to initialize I2C bus 2\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* set I2C2 speed */
|
||||
I2C_SETFREQUENCY(i2c2, 400000);
|
||||
|
||||
|
||||
i2c3 = up_i2cinitialize(3);
|
||||
|
||||
if (!i2c3) {
|
||||
message("[boot] FAILED to initialize I2C bus 3\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* set I2C3 speed */
|
||||
I2C_SETFREQUENCY(i2c3, 400000);
|
||||
|
||||
/* try to attach, don't fail if device is not responding */
|
||||
(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
|
||||
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
|
||||
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
|
||||
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
|
||||
|
||||
#if defined(CONFIG_STM32_SPI3)
|
||||
/* Get the SPI port */
|
||||
|
||||
|
|
@ -277,23 +236,6 @@ __EXPORT int nsh_archinitialize(void)
|
|||
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
|
||||
#endif /* SPI3 */
|
||||
|
||||
/* initialize I2C1 bus */
|
||||
|
||||
i2c1 = up_i2cinitialize(1);
|
||||
|
||||
if (!i2c1) {
|
||||
message("[boot] FAILED to initialize I2C bus 1\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* set I2C1 speed */
|
||||
I2C_SETFREQUENCY(i2c1, 400000);
|
||||
|
||||
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
|
||||
|
||||
/* Get board information if available */
|
||||
|
||||
#ifdef CONFIG_ADC
|
||||
int adc_state = adc_devinit();
|
||||
|
||||
|
|
|
|||
|
|
@ -31,10 +31,10 @@
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* led driver for PX4FMU
|
||||
/**
|
||||
* @file px4fmu_led.c
|
||||
*
|
||||
* This is something of an experiment currently (ha, get it?)
|
||||
* PX4FMU LED backend.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
|
@ -43,71 +43,46 @@
|
|||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "up_arch.h"
|
||||
#include "up_internal.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu-internal.h"
|
||||
#include "px4fmu_internal.h"
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
static int px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg);
|
||||
static ssize_t px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen);
|
||||
|
||||
static const struct file_operations px4fmu_led_fops = {
|
||||
.read = px4fmu_led_pseudoread,
|
||||
.ioctl = px4fmu_led_ioctl,
|
||||
};
|
||||
|
||||
int
|
||||
px4fmu_led_init(void)
|
||||
__EXPORT void up_ledinit()
|
||||
{
|
||||
/* register the driver */
|
||||
return register_driver("/dev/led", &px4fmu_led_fops, 0666, NULL);
|
||||
/* Configure LED1-2 GPIOs for output */
|
||||
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
stm32_configgpio(GPIO_LED2);
|
||||
}
|
||||
|
||||
static ssize_t
|
||||
px4fmu_led_pseudoread(struct file *filp, FAR char *buffer, size_t buflen)
|
||||
__EXPORT void up_ledon(int led)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
static int
|
||||
px4fmu_led_ioctl(struct file *filep, int cmd, unsigned long arg)
|
||||
{
|
||||
int result = 0;
|
||||
|
||||
switch (cmd) {
|
||||
|
||||
case LED_ON:
|
||||
switch (arg) {
|
||||
case 0:
|
||||
case 1:
|
||||
up_ledon(arg);
|
||||
break;
|
||||
default:
|
||||
result = -1;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
case LED_OFF:
|
||||
switch (arg) {
|
||||
case 0:
|
||||
case 1:
|
||||
up_ledoff(arg);
|
||||
break;
|
||||
default:
|
||||
result = -1;
|
||||
break;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
result = -1;
|
||||
break;
|
||||
if (led == 0)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
}
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED2, false);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
__EXPORT void up_ledoff(int led)
|
||||
{
|
||||
if (led == 0)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED2, true);
|
||||
}
|
||||
}
|
||||
|
|
@ -46,13 +46,9 @@
|
|||
#include <arch/board/board.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_internal.h"
|
||||
#include "up_arch.h"
|
||||
|
||||
#include "stm32_internal.h"
|
||||
#include "stm32_gpio.h"
|
||||
#include "stm32_tim.h"
|
||||
#include <stm32_internal.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||
{
|
||||
|
|
|
|||
|
|
@ -31,21 +31,34 @@
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file drv_led.h
|
||||
*
|
||||
* LED driver API
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#define _LEDCBASE 0x6800
|
||||
#define LEDC(_x) _IOC(_LEDCBASE, _x)
|
||||
#define LED_DEVICE_PATH "/dev/led"
|
||||
|
||||
/* set the LED identified by the argument */
|
||||
#define LED_ON LEDC(1)
|
||||
#define _LED_BASE 0x2800
|
||||
|
||||
/* clear the LED identified by the argument */
|
||||
#define LED_OFF LEDC(2)
|
||||
/* PX4 LED colour codes */
|
||||
#define LED_AMBER 0
|
||||
#define LED_RED 0 /* some boards have red rather than amber */
|
||||
#define LED_BLUE 1
|
||||
|
||||
///* toggle the LED identified by the argument */
|
||||
//#define LED_TOGGLE LEDC(3)
|
||||
#define LED_ON _IOC(_LED_BASE, 0)
|
||||
#define LED_OFF _IOC(_LED_BASE, 1)
|
||||
|
||||
#define LED_BLUE 0 /* Led on first port */
|
||||
#define LED_AMBER 1 /* Led on second port */
|
||||
__BEGIN_DECLS
|
||||
|
||||
extern int px4fmu_led_init(void);
|
||||
/*
|
||||
* Initialise the LED driver.
|
||||
*/
|
||||
__EXPORT extern void drv_led_start();
|
||||
|
||||
__END_DECLS
|
||||
|
|
@ -32,11 +32,7 @@
|
|||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build ardrone interface
|
||||
# Makefile to build the LED driver.
|
||||
#
|
||||
|
||||
APPNAME = led
|
||||
PRIORITY = SCHED_PRIORITY_MAX - 15
|
||||
STACKSIZE = 2048
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
|
@ -32,29 +32,84 @@
|
|||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file drv_eeprom.h
|
||||
* @file led.cpp
|
||||
*
|
||||
* Config for the non-MTD EEPROM driver.
|
||||
* LED driver.
|
||||
*/
|
||||
|
||||
/* IMPORTANT: Adjust this number! */
|
||||
#define MAX_EEPROMS 2
|
||||
#include <nuttx/config.h>
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
/* FMU onboard */
|
||||
#define FMU_BASEBOARD_EEPROM_ADDRESS 0x57
|
||||
#define FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES 128
|
||||
#define FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES 8
|
||||
#define FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US 3300
|
||||
#define FMU_BASEBOARD_EEPROM_BUS_CLOCK 400000 ///< 400 KHz max. clock
|
||||
/* Ideally we'd be able to get these from up_internal.h */
|
||||
//#include <up_internal.h>
|
||||
__BEGIN_DECLS
|
||||
extern void up_ledinit();
|
||||
extern void up_ledon(int led);
|
||||
extern void up_ledoff(int led);
|
||||
__END_DECLS
|
||||
|
||||
/**
|
||||
* @brief i2c I2C bus struct
|
||||
* @brief device_address The device address as stated in the datasheet, e.g. for a Microchip 24XX128 0x50 with all ID pins tied to GND
|
||||
* @brief total_size_bytes The total size in bytes, e.g. 16K = 16000 bytes for the Microchip 24XX128
|
||||
* @brief page_size_bytes The size of one page, e.g. 64 bytes for the Microchip 24XX128
|
||||
* @brief device_name The device name to register this device to, e.g. /dev/eeprom
|
||||
* @brief fail_if_missing Returns error if the EEPROM was not found. This is helpful if the EEPROM might be attached later when the board is running
|
||||
*/
|
||||
extern int
|
||||
eeprom_attach(struct i2c_dev_s *i2c, uint8_t device_address, uint16_t total_size_bytes, uint16_t page_size_bytes, uint16_t page_write_time_us, const char* device_name, uint8_t fail_if_missing);
|
||||
class LED : device::CDev
|
||||
{
|
||||
public:
|
||||
LED();
|
||||
~LED();
|
||||
|
||||
virtual int init();
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
};
|
||||
|
||||
LED::LED() :
|
||||
CDev("led", LED_DEVICE_PATH)
|
||||
{
|
||||
// force immediate init/device registration
|
||||
init();
|
||||
}
|
||||
|
||||
LED::~LED()
|
||||
{
|
||||
}
|
||||
|
||||
int
|
||||
LED::init()
|
||||
{
|
||||
CDev::init();
|
||||
up_ledinit();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
LED::ioctl(struct file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int result = OK;
|
||||
|
||||
switch (cmd) {
|
||||
case LED_ON:
|
||||
up_ledon(arg);
|
||||
break;
|
||||
|
||||
case LED_OFF:
|
||||
up_ledoff(arg);
|
||||
break;
|
||||
|
||||
default:
|
||||
result = CDev::ioctl(filp, cmd, arg);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
namespace
|
||||
{
|
||||
LED *gLED;
|
||||
}
|
||||
|
||||
void
|
||||
drv_led_start()
|
||||
{
|
||||
if (gLED == nullptr) {
|
||||
gLED = new LED;
|
||||
if (gLED != nullptr)
|
||||
gLED->init();
|
||||
}
|
||||
}
|
||||
|
|
@ -1,328 +0,0 @@
|
|||
/****************************************************************************
|
||||
* px4/eeproms/test_eeproms.c
|
||||
*
|
||||
* Copyright (C) 2012 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 NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <arch/board/drv_eeprom.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
static int onboard_eeprom(int argc, char *argv[]);
|
||||
static int baseboard_eeprom(int argc, char *argv[]);
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
struct {
|
||||
const char *name;
|
||||
const char *path;
|
||||
int (* test)(int argc, char *argv[]);
|
||||
} eeproms[] = {
|
||||
{"onboard_eeprom", "/dev/eeprom", onboard_eeprom},
|
||||
{"baseboard_eeprom", "/dev/baseboard_eeprom", baseboard_eeprom},
|
||||
{NULL, NULL, NULL}
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
static int
|
||||
onboard_eeprom(int argc, char *argv[])
|
||||
{
|
||||
printf("\tonboard_eeprom: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
uint8_t buf1[210] = {' ', 'P', 'X', '4', ' ', 'E', 'E', 'P', 'R', 'O', 'M', ' ', 'T', 'E', 'S', 'T', ' '};
|
||||
int ret;
|
||||
bool force_write = false;
|
||||
if (strcmp(argv[0], "jig") == 0) force_write = true;
|
||||
|
||||
/* fill with spaces */
|
||||
//memset(buf1+16, 'x', sizeof(buf1-16));
|
||||
|
||||
/* fill in some magic values at magic positions */
|
||||
buf1[63] = 'E';
|
||||
buf1[64] = 'S';
|
||||
buf1[127] = 'F';
|
||||
buf1[128] = 'T';
|
||||
|
||||
/* terminate string */
|
||||
buf1[sizeof(buf1) - 1] = '\0';
|
||||
|
||||
fd = open("/dev/eeprom", O_RDWR | O_NONBLOCK);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("onboard eeprom: open fail\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* read data */
|
||||
ret = read(fd, buf1, 1);
|
||||
|
||||
if (ret != 1) {
|
||||
printf("\tonboard eeprom: ERROR: reading first byte fail: %d\n", ret);
|
||||
|
||||
switch (-ret) {
|
||||
case EPERM:
|
||||
printf("\treason: %s\n", EPERM_STR);
|
||||
break;
|
||||
|
||||
case ENOENT:
|
||||
printf("\treason: %s\n", ENOENT_STR);
|
||||
break;
|
||||
|
||||
case ESRCH:
|
||||
printf("\treason: %s\n", ESRCH_STR);
|
||||
break;
|
||||
|
||||
case EINTR:
|
||||
printf("\treason: %s\n", EINTR_STR);
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
printf("\tonboard eeprom: first byte: %d\n", buf1[0]);
|
||||
if (!force_write) {
|
||||
printf("\tonboard eeprom: WARNING: FURTHER TEST STEPS WILL DESTROY YOUR FLIGHT PARAMETER CONFIGURATION. PROCEED? (y/N)\n");
|
||||
|
||||
printf("Input: ");
|
||||
char c = getchar();
|
||||
printf("%c\n", c);
|
||||
if (c != 'y' && c != 'Y') {
|
||||
/* not yes, abort */
|
||||
close(fd);
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: onboard eeprom test aborted by user, read test successful\r\n");
|
||||
return OK;
|
||||
}
|
||||
}
|
||||
|
||||
printf("\tonboard eeprom: proceeding with write test\r\n");
|
||||
|
||||
/* increment counter */
|
||||
buf1[0] = buf1[0] + 1;
|
||||
|
||||
/* rewind to the start of the file */
|
||||
lseek(fd, 0, SEEK_SET);
|
||||
|
||||
/* write data */
|
||||
ret = write(fd, buf1, sizeof(buf1));
|
||||
|
||||
if (ret != sizeof(buf1)) {
|
||||
printf("\tonboard eeprom: ERROR: write fail: %d\n", (char)ret);
|
||||
|
||||
switch (-ret) {
|
||||
case EPERM:
|
||||
printf("\treason: %s\n", EPERM_STR);
|
||||
break;
|
||||
|
||||
case ENOENT:
|
||||
printf("\treason: %s\n", ENOENT_STR);
|
||||
break;
|
||||
|
||||
case ESRCH:
|
||||
printf("\treason: %s\n", ESRCH_STR);
|
||||
break;
|
||||
|
||||
case EINTR:
|
||||
printf("\treason: %s\n", EINTR_STR);
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
//return ERROR;
|
||||
}
|
||||
|
||||
/* rewind to the start of the file */
|
||||
lseek(fd, 0, SEEK_SET);
|
||||
|
||||
/* read data */
|
||||
ret = read(fd, buf1, sizeof(buf1));
|
||||
|
||||
if (ret != sizeof(buf1)) {
|
||||
printf("\tonboard eeprom: ERROR: read fail: %d\n", ret);
|
||||
|
||||
switch (-ret) {
|
||||
case EPERM:
|
||||
printf("\treason: %s\n", EPERM_STR);
|
||||
break;
|
||||
|
||||
case ENOENT:
|
||||
printf("\treason: %s\n", ENOENT_STR);
|
||||
break;
|
||||
|
||||
case ESRCH:
|
||||
printf("\treason: %s\n", ESRCH_STR);
|
||||
break;
|
||||
|
||||
case EINTR:
|
||||
printf("\treason: %s\n", EINTR_STR);
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
/* enforce null termination and print as string */
|
||||
if (buf1[sizeof(buf1) - 1] != 0) {
|
||||
printf("\tWARNING: Null termination in file not present as expected, enforcing it now..\r\n");
|
||||
buf1[sizeof(buf1) - 1] = '\0';
|
||||
}
|
||||
|
||||
/* read out counter and replace val */
|
||||
int counter = buf1[0];
|
||||
printf("\tonboard eeprom: count: #%d, read values: %s\n", counter, (char *)buf1 + 1);
|
||||
printf("\tAll %d bytes:\n\n\t", sizeof(buf1));
|
||||
|
||||
for (int i = 0; i < sizeof(buf1); i++) {
|
||||
printf("0x%02x ", buf1[i]);
|
||||
|
||||
if (i % 8 == 7) printf("\n\t");
|
||||
|
||||
if (i % 64 == 63) printf("\n\t");
|
||||
}
|
||||
|
||||
/* end any open line */
|
||||
printf("\n\n");
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: onboard eeprom passed all tests successfully\n");
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int
|
||||
baseboard_eeprom(int argc, char *argv[])
|
||||
{
|
||||
printf("\tbaseboard eeprom: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
uint8_t buf[128] = {'R', 'E', 'A', 'D', ' ', 'F', 'A', 'I', 'L', 'E', 'D', '\0'};
|
||||
int ret;
|
||||
|
||||
fd = open("/dev/baseboard_eeprom", O_RDONLY | O_NONBLOCK);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tbaseboard eeprom: open fail\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* read data */
|
||||
ret = read(fd, buf, sizeof(buf));
|
||||
/* set last char to string termination */
|
||||
buf[127] = '\0';
|
||||
|
||||
if (ret != sizeof(buf)) {
|
||||
printf("\tbaseboard eeprom: ERROR: read fail\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tbaseboard eeprom: string: %s\n", (char *)buf);
|
||||
}
|
||||
|
||||
close(fd);
|
||||
|
||||
/* XXX more tests here */
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: baseboard eeprom passed all tests successfully\n");
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: test_eeproms
|
||||
****************************************************************************/
|
||||
|
||||
int test_eeproms(int argc, char *argv[])
|
||||
{
|
||||
unsigned i;
|
||||
|
||||
printf("Running EEPROMs tests:\n\n");
|
||||
fflush(stdout);
|
||||
|
||||
for (i = 0; eeproms[i].name; i++) {
|
||||
printf(" eeprom: %s\n", eeproms[i].name);
|
||||
eeproms[i].test(argc, argv);
|
||||
fflush(stdout);
|
||||
/* wait 100 ms to make sure buffer is emptied */
|
||||
usleep(100000);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -45,8 +45,6 @@
|
|||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <arch/board/board.h>
|
||||
#include <arch/board/drv_led.h>
|
||||
#include "tests.h"
|
||||
#include <math.h>
|
||||
#include <float.h>
|
||||
|
|
|
|||
|
|
@ -49,8 +49,6 @@
|
|||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
|
|
|||
|
|
@ -49,7 +49,7 @@
|
|||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
#include <drivers/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
|
|
@ -91,7 +91,7 @@ int test_led(int argc, char *argv[])
|
|||
int fd;
|
||||
int ret = 0;
|
||||
|
||||
fd = open("/dev/led", O_RDONLY | O_NONBLOCK);
|
||||
fd = open(LED_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tLED: open fail\n");
|
||||
|
|
|
|||
|
|
@ -49,8 +49,6 @@
|
|||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
/****************************************************************************
|
||||
|
|
|
|||
|
|
@ -52,8 +52,6 @@
|
|||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
|
|
|||
|
|
@ -50,8 +50,6 @@
|
|||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
|
|
|||
|
|
@ -50,8 +50,6 @@
|
|||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
|
|
|||
|
|
@ -50,8 +50,6 @@
|
|||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
#include <math.h>
|
||||
|
|
|
|||
|
|
@ -84,7 +84,6 @@ extern int test_led(int argc, char *argv[]);
|
|||
extern int test_adc(int argc, char *argv[]);
|
||||
extern int test_int(int argc, char *argv[]);
|
||||
extern int test_float(int argc, char *argv[]);
|
||||
extern int test_eeproms(int argc, char *argv[]);
|
||||
extern int test_ppm(int argc, char *argv[]);
|
||||
extern int test_servo(int argc, char *argv[]);
|
||||
extern int test_uart_loopback(int argc, char *argv[]);
|
||||
|
|
|
|||
|
|
@ -97,7 +97,6 @@ struct {
|
|||
{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"adc", test_adc, OPT_NOJIGTEST, 0},
|
||||
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST, 0},
|
||||
{"eeproms", test_eeproms, 0, 0},
|
||||
{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
|
|
|
|||
|
|
@ -1,209 +0,0 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* 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
|
||||
* Plain, stupid led outputs
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <stdbool.h>
|
||||
#include <unistd.h>
|
||||
#include <math.h>
|
||||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <termios.h>
|
||||
#include <time.h>
|
||||
#include <sys/prctl.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <arch/board/drv_led.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
__EXPORT int led_main(int argc, char *argv[]);
|
||||
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int led_task; /**< Handle of deamon task / thread */
|
||||
static int leds;
|
||||
|
||||
static int led_init(void)
|
||||
{
|
||||
leds = open("/dev/led", O_RDONLY | O_NONBLOCK);
|
||||
|
||||
if (leds < 0) {
|
||||
errx(1, "[led] LED: open fail\n");
|
||||
}
|
||||
|
||||
if (ioctl(leds, LED_ON, LED_BLUE) || ioctl(leds, LED_ON, LED_AMBER)) {
|
||||
errx(1, "[led] LED: ioctl fail\n");
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void led_deinit(void)
|
||||
{
|
||||
close(leds);
|
||||
}
|
||||
|
||||
static int led_toggle(int led)
|
||||
{
|
||||
static int last_blue = LED_ON;
|
||||
static int last_amber = LED_ON;
|
||||
|
||||
if (led == LED_BLUE) last_blue = (last_blue == LED_ON) ? LED_OFF : LED_ON;
|
||||
|
||||
if (led == LED_AMBER) last_amber = (last_amber == LED_ON) ? LED_OFF : LED_ON;
|
||||
|
||||
return ioctl(leds, ((led == LED_BLUE) ? last_blue : last_amber), led);
|
||||
}
|
||||
|
||||
static int led_on(int led)
|
||||
{
|
||||
return ioctl(leds, LED_ON, led);
|
||||
}
|
||||
|
||||
static int led_off(int led)
|
||||
{
|
||||
return ioctl(leds, LED_OFF, led);
|
||||
}
|
||||
|
||||
/**
|
||||
* Mainloop of led.
|
||||
*/
|
||||
int led_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
fprintf(stderr, "usage: led {start|stop|status} [-d <UART>]\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The deamon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
int led_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
printf("led already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
led_task = task_spawn("led",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 15,
|
||||
4096,
|
||||
led_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
thread_running = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
printf("\tled is running\n");
|
||||
|
||||
} else {
|
||||
printf("\tled not started\n");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
int led_thread_main(int argc, char *argv[])
|
||||
{
|
||||
/* welcome user */
|
||||
printf("[led] Control started, taking over motors\n");
|
||||
|
||||
/* open leds */
|
||||
led_init();
|
||||
|
||||
unsigned int rate = 200;
|
||||
|
||||
while (!thread_should_exit) {
|
||||
/* swell blue led */
|
||||
|
||||
|
||||
/* 200 Hz base loop */
|
||||
usleep(1000000 / rate);
|
||||
}
|
||||
|
||||
/* close leds */
|
||||
led_deinit();
|
||||
|
||||
printf("[led] ending now...\n\n");
|
||||
fflush(stdout);
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
|
@ -45,7 +45,6 @@
|
|||
#include <signal.h>
|
||||
#include <sys/stat.h>
|
||||
#include <unistd.h>
|
||||
#include <arch/board/drv_eeprom.h>
|
||||
#include <float.h>
|
||||
#include <string.h>
|
||||
|
||||
|
|
|
|||
|
|
@ -52,7 +52,6 @@ CONFIGURED_APPS += systemcmds/top
|
|||
CONFIGURED_APPS += systemcmds/boardinfo
|
||||
CONFIGURED_APPS += systemcmds/mixer
|
||||
CONFIGURED_APPS += systemcmds/eeprom
|
||||
CONFIGURED_APPS += systemcmds/led
|
||||
CONFIGURED_APPS += systemcmds/param
|
||||
CONFIGURED_APPS += systemcmds/bl_update
|
||||
#CONFIGURED_APPS += systemcmds/calibration
|
||||
|
|
@ -94,6 +93,7 @@ CONFIGURED_APPS += drivers/bma180
|
|||
CONFIGURED_APPS += drivers/l3gd20
|
||||
CONFIGURED_APPS += drivers/px4io
|
||||
CONFIGURED_APPS += drivers/stm32
|
||||
CONFIGURED_APPS += drivers/led
|
||||
CONFIGURED_APPS += drivers/stm32/tone_alarm
|
||||
CONFIGURED_APPS += drivers/px4fmu
|
||||
|
||||
|
|
|
|||
|
|
@ -40,9 +40,7 @@ CFLAGS += -I$(TOPDIR)/sched
|
|||
ASRCS =
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
|
||||
CSRCS = up_leds.c \
|
||||
drv_led.c drv_eeprom.c
|
||||
|
||||
CSRCS = empty.c
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
|
|
@ -69,6 +67,7 @@ libboard$(LIBEXT): $(OBJS)
|
|||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $@, $${obj}); \
|
||||
done ; )
|
||||
touch $@
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
|
|
|
|||
|
|
@ -1,522 +0,0 @@
|
|||
/*
|
||||
* Copyright (C) 2012 Lorenz Meier. 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 of the author or the names of 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.
|
||||
*/
|
||||
|
||||
/*
|
||||
* Generic driver for I2C EEPROMs with 8 bit or 16 bit addressing
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <string.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/i2c.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu-internal.h"
|
||||
|
||||
#include <arch/board/drv_eeprom.h>
|
||||
|
||||
/* Split I2C transfers into smaller chunks to make sure to stay within tight timeout limits */
|
||||
|
||||
/* check defines */
|
||||
#ifndef MAX_EEPROMS
|
||||
#error MAX_EEPROMS number must be defined (1-3)
|
||||
#endif
|
||||
|
||||
#if (MAX_EEPROMS > 3)
|
||||
#error Currently only a maximum of three EEPROMS is supported, add missing code around here: __FILE__:__LINE__
|
||||
#endif
|
||||
static int eeprom_open0(FAR struct file *filp);
|
||||
static int eeprom_close0(FAR struct file *filp);
|
||||
static ssize_t eeprom_read0(struct file *filp, FAR char *buffer, size_t buflen);
|
||||
static ssize_t eeprom_write0(struct file *filp, FAR const char *buffer, size_t buflen);
|
||||
static off_t eeprom_seek0(FAR struct file *filp, off_t offset, int whence);
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static int eeprom_open1(FAR struct file *filp);
|
||||
static int eeprom_close1(FAR struct file *filp);
|
||||
static ssize_t eeprom_read1(struct file *filp, FAR char *buffer, size_t buflen);
|
||||
static ssize_t eeprom_write1(struct file *filp, FAR const char *buffer, size_t buflen);
|
||||
static off_t eeprom_seek1(FAR struct file *filp, off_t offset, int whence);
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static int eeprom_open2(FAR struct file *filp);
|
||||
static int eeprom_close2(FAR struct file *filp);
|
||||
static ssize_t eeprom_read2(struct file *filp, FAR char *buffer, size_t buflen);
|
||||
static ssize_t eeprom_write2(struct file *filp, FAR const char *buffer, size_t buflen);
|
||||
static off_t eeprom_seek2(FAR struct file *filp, off_t offset, int whence);
|
||||
#endif
|
||||
|
||||
static const struct file_operations eeprom_fops[MAX_EEPROMS] = {{
|
||||
.open = eeprom_open0,
|
||||
.close = eeprom_close0,
|
||||
.read = eeprom_read0,
|
||||
.write = eeprom_write0,
|
||||
.seek = eeprom_seek0,
|
||||
.ioctl = 0,
|
||||
#ifndef CONFIG_DISABLE_POLL
|
||||
.poll = 0
|
||||
#endif
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
,{
|
||||
.open = eeprom_open1,
|
||||
.close = eeprom_close1,
|
||||
.read = eeprom_read1,
|
||||
.write = eeprom_write1,
|
||||
.seek = eeprom_seek1,
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
,{
|
||||
.open = eeprom_open2,
|
||||
.close = eeprom_close2,
|
||||
.read = eeprom_read2,
|
||||
.write = eeprom_write2,
|
||||
.seek = eeprom_seek2,
|
||||
}
|
||||
#endif
|
||||
};
|
||||
|
||||
static FAR struct eeprom_dev_s
|
||||
{
|
||||
struct i2c_dev_s *i2c;
|
||||
uint8_t eeprom_address;
|
||||
uint16_t eeprom_size_bytes;
|
||||
uint16_t eeprom_page_size_bytes;
|
||||
uint16_t eeprom_page_write_time;
|
||||
off_t offset;
|
||||
bool is_open;
|
||||
} eeprom_dev[MAX_EEPROMS];
|
||||
|
||||
static int
|
||||
eeprom_open0(FAR struct file *filp)
|
||||
{
|
||||
/* only allow one open at a time */
|
||||
if (eeprom_dev[0].is_open) {
|
||||
errno = EBUSY;
|
||||
return -EBUSY;
|
||||
}
|
||||
/* reset pointer */
|
||||
//eeprom_dev[0].is_open = true;
|
||||
eeprom_dev[0].offset = 0;
|
||||
return OK;
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static int
|
||||
eeprom_open1(FAR struct file *filp)
|
||||
{
|
||||
/* only allow one open at a time */
|
||||
if (eeprom_dev[1].is_open) {
|
||||
errno = EBUSY;
|
||||
return -EBUSY;
|
||||
}
|
||||
/* reset pointer */
|
||||
//eeprom_dev[1].is_open = true;
|
||||
eeprom_dev[1].offset = 0;
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static int
|
||||
eeprom_open2(FAR struct file *filp)
|
||||
{
|
||||
/* only allow one open at a time */
|
||||
if (eeprom_dev[2].is_open) {
|
||||
errno = EBUSY;
|
||||
return -EBUSY;
|
||||
}
|
||||
/* reset pointer */
|
||||
//eeprom_dev[2].is_open = true;
|
||||
eeprom_dev[2].offset = 0;
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
static int
|
||||
eeprom_close0(FAR struct file *filp)
|
||||
{
|
||||
eeprom_dev[0].is_open = false;
|
||||
return OK;
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static int
|
||||
eeprom_close1(FAR struct file *filp)
|
||||
{
|
||||
eeprom_dev[1].is_open = false;
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static int
|
||||
eeprom_close2(FAR struct file *filp)
|
||||
{
|
||||
eeprom_dev[2].is_open = false;
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
static int
|
||||
eeprom_read_internal(int dev, uint16_t len, uint8_t *data)
|
||||
{
|
||||
/* abort if the number of requested bytes exceeds the EEPROM size */
|
||||
if (eeprom_dev[dev].offset + len > eeprom_dev[dev].eeprom_size_bytes)
|
||||
{
|
||||
errno = ENOSPC;
|
||||
return -ENOSPC;
|
||||
}
|
||||
|
||||
/* set device address */
|
||||
I2C_SETADDRESS(eeprom_dev[dev].i2c, eeprom_dev[dev].eeprom_address, 7);
|
||||
|
||||
uint8_t cmd[2] = {0, 0}; /* first (or only) part of address */
|
||||
/* second part of address, omitted if eeprom has 256 bytes or less */
|
||||
int ret = 0;
|
||||
int remaining = len;
|
||||
int readcounts = 0;
|
||||
|
||||
while (remaining > 0)
|
||||
{
|
||||
/* read all requested bytes over potentially multiple pages */
|
||||
//int readlen = (remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
int read_offset = eeprom_dev[dev].offset + len - remaining;//+ write_counts*eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
/* set read length to page border */
|
||||
int readlen = eeprom_dev[dev].eeprom_page_size_bytes - (read_offset % eeprom_dev[dev].eeprom_page_size_bytes);//(remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
/* cap read length if not a full page read is needed */
|
||||
if (readlen > remaining) readlen = remaining;
|
||||
|
||||
if (eeprom_dev[dev].eeprom_size_bytes <= 256)
|
||||
{
|
||||
cmd[0] = (read_offset); /* set at first byte */
|
||||
/* 8 bit addresses */
|
||||
ret = I2C_WRITEREAD(eeprom_dev[dev].i2c, cmd, 1, (data+(readcounts*eeprom_dev[dev].eeprom_page_size_bytes)), readlen);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* 16 bit addresses */
|
||||
/* EEPROM: first address high, then address low */
|
||||
cmd[0] = (((uint16_t)read_offset) >> 8);
|
||||
cmd[1] = (((uint8_t)read_offset));
|
||||
ret = I2C_WRITEREAD(eeprom_dev[dev].i2c, cmd, 2, (data+(readcounts*eeprom_dev[dev].eeprom_page_size_bytes)), readlen);
|
||||
}
|
||||
|
||||
/* abort on error */
|
||||
if (ret < 0) break;
|
||||
|
||||
/* handled another chunk */
|
||||
remaining -= readlen;
|
||||
readcounts++;
|
||||
}
|
||||
|
||||
/* use the negated value from I2C_TRANSFER to fill errno */
|
||||
errno = -ret;
|
||||
|
||||
/* return len if data was read, < 0 else */
|
||||
if (ret == OK)
|
||||
eeprom_dev[dev].offset += len;
|
||||
return len;
|
||||
|
||||
/* no data, return negated value from I2C_TRANSFER */
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int
|
||||
eeprom_write_internal(int dev, uint16_t len, const uint8_t *data)
|
||||
{
|
||||
/* abort if the number of requested bytes exceeds the EEPROM size */
|
||||
if (eeprom_dev[dev].offset + len > eeprom_dev[dev].eeprom_size_bytes)
|
||||
{
|
||||
errno = ENOSPC;
|
||||
return -ENOSPC;
|
||||
}
|
||||
|
||||
int ret = 0;
|
||||
int remaining = len;
|
||||
int write_counts = 0;
|
||||
|
||||
uint8_t write_buf[2];
|
||||
|
||||
while (remaining > 0)
|
||||
{
|
||||
/* write all requested bytes over potentially multiple pages */
|
||||
int write_offset = eeprom_dev[dev].offset + len - remaining;//+ write_counts*eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
/* set write length to page border */
|
||||
int writelen = eeprom_dev[dev].eeprom_page_size_bytes - (write_offset % eeprom_dev[dev].eeprom_page_size_bytes);//(remaining < eeprom_dev[dev].eeprom_page_size_bytes) ? remaining : eeprom_dev[dev].eeprom_page_size_bytes;
|
||||
/* cap write length if not a full page write is requested */
|
||||
if (writelen > remaining) writelen = remaining;
|
||||
|
||||
if (eeprom_dev[dev].eeprom_size_bytes <= 256)
|
||||
{
|
||||
write_buf[0] = (write_offset); /* set at first byte */
|
||||
/* 8 bit addresses */
|
||||
|
||||
const uint8_t* data_ptr = (data+(write_offset));
|
||||
|
||||
struct i2c_msg_s msgv_eeprom_write[2] = {
|
||||
{
|
||||
.addr = eeprom_dev[dev].eeprom_address,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = write_buf,
|
||||
.length = 1
|
||||
},
|
||||
{
|
||||
.addr = eeprom_dev[dev].eeprom_address,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = (uint8_t*)data_ptr,
|
||||
.length = writelen
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
if ( (ret = I2C_TRANSFER(eeprom_dev[dev].i2c, msgv_eeprom_write, 2)) == OK )
|
||||
{
|
||||
//printf("SUCCESS WRITING EEPROM 8BIT ADDR: %d, bytes: %d\n", ret, writelen);
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* 16 bit addresses */
|
||||
/* EEPROM: first address high, then address low */
|
||||
write_buf[0] = (((uint16_t)write_offset) >> 8);
|
||||
write_buf[1] = (((uint8_t)write_offset));
|
||||
|
||||
const uint8_t* data_ptr = data+(write_counts*eeprom_dev[dev].eeprom_page_size_bytes);
|
||||
|
||||
struct i2c_msg_s msgv_eeprom_write[2] = {
|
||||
{
|
||||
.addr = eeprom_dev[dev].eeprom_address,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = write_buf,
|
||||
.length = 2
|
||||
},
|
||||
{
|
||||
.addr = eeprom_dev[dev].eeprom_address,
|
||||
.flags = I2C_M_NORESTART,
|
||||
.buffer = (uint8_t*)data_ptr,
|
||||
.length = writelen
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
if ( (ret = I2C_TRANSFER(eeprom_dev[dev].i2c, msgv_eeprom_write, 2)) == OK )
|
||||
{
|
||||
//printf("SUCCESS WRITING EEPROM 16BIT ADDR: %d, bytes: %d\n", ret, writelen);
|
||||
}
|
||||
}
|
||||
|
||||
/* abort on error */
|
||||
if (ret < 0) break;
|
||||
|
||||
/* handled another chunk */
|
||||
remaining -= writelen;
|
||||
write_counts++;
|
||||
/* wait for the device to write the page */
|
||||
usleep(eeprom_dev[dev].eeprom_page_write_time);
|
||||
}
|
||||
|
||||
/* use the negated value from I2C_TRANSFER to fill errno */
|
||||
errno = -ret;
|
||||
|
||||
/* return length if data was written, < 0 else */
|
||||
if (ret == OK)
|
||||
eeprom_dev[dev].offset += len;
|
||||
return len;
|
||||
|
||||
/* no data, return negated value from I2C_TRANSFER */
|
||||
return ret;
|
||||
}
|
||||
|
||||
static ssize_t
|
||||
eeprom_read0(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_read_internal(0, buflen, (uint8_t *)buffer);
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static ssize_t
|
||||
eeprom_read1(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_read_internal(1, buflen, (uint8_t *)buffer);
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static ssize_t
|
||||
eeprom_read2(struct file *filp, char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_read_internal(2, buflen, (uint8_t *)buffer);
|
||||
}
|
||||
#endif
|
||||
|
||||
static ssize_t
|
||||
eeprom_write0(struct file *filp, const char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_write_internal(0, buflen, (const uint8_t *)buffer);
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static ssize_t
|
||||
eeprom_write1(struct file *filp, const char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_write_internal(1, buflen, (const uint8_t *)buffer);
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static ssize_t
|
||||
eeprom_write2(struct file *filp, const char *buffer, size_t buflen)
|
||||
{
|
||||
return eeprom_write_internal(2, buflen, (const uint8_t *)buffer);
|
||||
}
|
||||
#endif
|
||||
|
||||
static off_t eeprom_seek0(FAR struct file *filp, off_t offset, int whence)
|
||||
{
|
||||
switch (whence)
|
||||
{
|
||||
case SEEK_SET:
|
||||
if (offset < eeprom_dev[0].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[0].offset = offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_CUR:
|
||||
if (eeprom_dev[0].offset + offset < eeprom_dev[0].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[0].offset = eeprom_dev[0].offset + offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_END:
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
break;
|
||||
}
|
||||
return eeprom_dev[0].offset;
|
||||
}
|
||||
#if (MAX_EEPROMS > 1)
|
||||
static off_t eeprom_seek1(FAR struct file *filp, off_t offset, int whence)
|
||||
{
|
||||
switch (whence)
|
||||
{
|
||||
case SEEK_SET:
|
||||
if (offset < eeprom_dev[1].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[1].offset = offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_CUR:
|
||||
if (eeprom_dev[1].offset + offset < eeprom_dev[1].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[1].offset = eeprom_dev[1].offset + offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_END:
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
break;
|
||||
}
|
||||
return eeprom_dev[1].offset;
|
||||
}
|
||||
#endif
|
||||
#if (MAX_EEPROMS > 2)
|
||||
static off_t eeprom_seek2(FAR struct file *filp, off_t offset, int whence)
|
||||
{
|
||||
switch (whence)
|
||||
{
|
||||
case SEEK_SET:
|
||||
if (offset < eeprom_dev[2].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[2].offset = offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_CUR:
|
||||
if (eeprom_dev[2].offset + offset < eeprom_dev[2].eeprom_size_bytes - 1) {
|
||||
eeprom_dev[2].offset = eeprom_dev[2].offset + offset;
|
||||
} else {
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
}
|
||||
break;
|
||||
case SEEK_END:
|
||||
errno = ESPIPE;
|
||||
return -ESPIPE;
|
||||
break;
|
||||
}
|
||||
return eeprom_dev[2].offset;
|
||||
}
|
||||
#endif
|
||||
|
||||
int
|
||||
eeprom_attach(struct i2c_dev_s *i2c, uint8_t device_address, uint16_t total_size_bytes, uint16_t page_size_bytes, uint16_t page_write_time_us, const char* device_name, uint8_t fail_if_missing)
|
||||
{
|
||||
static int eeprom_dev_counter = 0;
|
||||
eeprom_dev[eeprom_dev_counter].i2c = i2c;
|
||||
eeprom_dev[eeprom_dev_counter].eeprom_address = device_address;
|
||||
eeprom_dev[eeprom_dev_counter].eeprom_size_bytes = total_size_bytes;
|
||||
eeprom_dev[eeprom_dev_counter].eeprom_page_size_bytes = page_size_bytes;
|
||||
eeprom_dev[eeprom_dev_counter].eeprom_page_write_time = page_write_time_us;
|
||||
eeprom_dev[eeprom_dev_counter].offset = 0;
|
||||
eeprom_dev[eeprom_dev_counter].is_open = false;
|
||||
|
||||
int ret;
|
||||
|
||||
if (fail_if_missing) {
|
||||
/* read first value */
|
||||
uint8_t read_test;
|
||||
ret = (eeprom_read_internal(eeprom_dev_counter, 1, &read_test) == 1) ? OK : ERROR;
|
||||
} else {
|
||||
ret = OK;
|
||||
}
|
||||
|
||||
/* make ourselves available */
|
||||
if (ret == OK)
|
||||
{
|
||||
register_driver(device_name, &(eeprom_fops[eeprom_dev_counter]), 0666, NULL);
|
||||
eeprom_dev_counter++;
|
||||
}
|
||||
|
||||
/* Return 0 for device found, error number else */
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
/*
|
||||
* There are no source files here, but libboard.a can't be empty, so
|
||||
* we have this empty source file to keep it company.
|
||||
*/
|
||||
|
|
@ -1,166 +0,0 @@
|
|||
/****************************************************************************************************
|
||||
* configs/px4fmu/src/px4fmu_internal.h
|
||||
* arch/arm/src/board/px4fmu_internal.n
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H
|
||||
#define __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
# error "SPI2 is not supported on this board"
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_STM32_CAN1)
|
||||
# warning "CAN1 is not supported on this board"
|
||||
#endif
|
||||
|
||||
/* PX4FMU GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
|
||||
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
|
||||
|
||||
/* External interrupts */
|
||||
#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
|
||||
// XXX MPU6000 DRDY?
|
||||
|
||||
/* SPI chip selects */
|
||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
|
||||
#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
|
||||
|
||||
/* User GPIOs
|
||||
*
|
||||
* GPIO0-1 are the buffered high-power GPIOs.
|
||||
* GPIO2-5 are the USART2 pins.
|
||||
* GPIO6-7 are the CAN2 pins.
|
||||
*/
|
||||
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
|
||||
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
|
||||
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13)
|
||||
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
|
||||
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
||||
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
|
||||
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
|
||||
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
|
||||
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
|
||||
#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
/* PWM
|
||||
*
|
||||
* The PX4FMU has five PWM outputs, of which only the output on
|
||||
* pin PC8 is fixed assigned to this function. The other four possible
|
||||
* pwm sources are the TX, RX, RTS and CTS pins of USART2
|
||||
*
|
||||
* Alternate function mapping:
|
||||
* PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_PWM
|
||||
# if defined(CONFIG_STM32_TIM3_PWM)
|
||||
# define BUZZER_PWMCHANNEL 3
|
||||
# define BUZZER_PWMTIMER 3
|
||||
# elif defined(CONFIG_STM32_TIM8_PWM)
|
||||
# define BUZZER_PWMCHANNEL 3
|
||||
# define BUZZER_PWMTIMER 8
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: px4fmu_gpio_init
|
||||
*
|
||||
* Description:
|
||||
* Called to configure the PX4FMU user GPIOs
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void px4fmu_gpio_init(void);
|
||||
|
||||
|
||||
// XXX additional SPI chipselect functions required?
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __CONFIGS_PX4FMU_SRC_PX4FMU_INTERNAL_H */
|
||||
|
||||
|
|
@ -1,127 +0,0 @@
|
|||
/****************************************************************************
|
||||
* configs/px4fmu/src/up_leds.c
|
||||
* arch/arm/src/board/up_leds.c
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "chip.h"
|
||||
#include "up_arch.h"
|
||||
#include "up_internal.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu-internal.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Enables debug output from this file (needs CONFIG_DEBUG with
|
||||
* CONFIG_DEBUG_VERBOSE too)
|
||||
*/
|
||||
|
||||
#undef LED_DEBUG /* Define to enable debug */
|
||||
|
||||
#ifdef LED_DEBUG
|
||||
# define leddbg lldbg
|
||||
# define ledvdbg llvdbg
|
||||
#else
|
||||
# define leddbg(x...)
|
||||
# define ledvdbg(x...)
|
||||
#endif
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_ledinit
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_ARCH_LEDS
|
||||
void up_ledinit(void)
|
||||
{
|
||||
/* Configure LED1-2 GPIOs for output */
|
||||
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
stm32_configgpio(GPIO_LED2);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_ledon
|
||||
****************************************************************************/
|
||||
|
||||
void up_ledon(int led)
|
||||
{
|
||||
if (led == 0)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
}
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull down to switch on */
|
||||
stm32_gpiowrite(GPIO_LED2, false);
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: up_ledoff
|
||||
****************************************************************************/
|
||||
|
||||
void up_ledoff(int led)
|
||||
{
|
||||
if (led == 0)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
}
|
||||
if (led == 1)
|
||||
{
|
||||
/* Pull up to switch off */
|
||||
stm32_gpiowrite(GPIO_LED2, true);
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* CONFIG_ARCH_LEDS */
|
||||
Loading…
Reference in New Issue