forked from Archive/PX4-Autopilot
Changes to px4io-v2 for upstream Nuttx
This commit is contained in:
David Sidrane
Lorenz Meier
parent
63f04c1236
commit
feda3e8c5c
|
|
@ -1,5 +1,5 @@
|
|||
/************************************************************************************
|
||||
* configs/px4io/include/board.h
|
||||
* nuttx-configs/px4io/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
|
|
@ -79,7 +79,9 @@
|
|||
/* APB2 timer 1 will receive PCLK2. */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM15_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM16_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM17_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK (24MHz) */
|
||||
|
||||
|
|
@ -88,10 +90,36 @@
|
|||
|
||||
/* All timers run off PCLK */
|
||||
|
||||
#define STM32_APB1_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
|
||||
* otherwise frequency is 2xAPBx.
|
||||
* Note: TIM1, 15-17 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_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
|
||||
#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
|
||||
#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
|
||||
#define BOARD_TIM15_FREQUENCY STM32_APB2_TIM15_CLKIN
|
||||
#define BOARD_TIM16_FREQUENCY STM32_APB2_TIM16_CLKIN
|
||||
#define BOARD_TIM17_FREQUENCY STM32_APB2_TIM17_CLKIN
|
||||
|
||||
|
||||
/*
|
||||
* Some of the USART pins are not available; override the GPIO
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
############################################################################
|
||||
# configs/px4io-v2/nsh/Make.defs
|
||||
# nuttx-configs/px4io-v2/nsh/Make.defs
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
|
|
@ -35,14 +35,14 @@
|
|||
|
||||
include ${TOPDIR}/.config
|
||||
include ${TOPDIR}/tools/Config.mk
|
||||
|
||||
include $(TOPDIR)/PX4_Warnings.mk
|
||||
include $(TOPDIR)/PX4_Config.mk
|
||||
|
||||
#
|
||||
# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
|
||||
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
|
|
@ -60,12 +60,14 @@ ARCHCPUFLAGS = -mcpu=cortex-m3 \
|
|||
-mthumb \
|
||||
-march=armv7-m
|
||||
|
||||
# enable precise stack overflow tracking
|
||||
# Enable precise stack overflow tracking
|
||||
|
||||
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
|
||||
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
|
||||
endif
|
||||
|
||||
# use our linker script
|
||||
# Use our linker script
|
||||
|
||||
LDSCRIPT = ld.script
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
|
|
@ -87,18 +89,20 @@ else
|
|||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
else
|
||||
# Linux/Cygwin-native toolchain
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
endif
|
||||
endif
|
||||
|
||||
# tool versions
|
||||
# Tool versions
|
||||
|
||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||
|
||||
# optimisation flags
|
||||
# Optimization flags
|
||||
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
|
|
@ -120,7 +124,8 @@ ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
|
|||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
# this seems to be the only way to add linker flags
|
||||
# This seems to be the only way to add linker flags
|
||||
|
||||
EXTRA_LIBS += --warn-common \
|
||||
--gc-sections
|
||||
|
||||
|
|
@ -139,8 +144,8 @@ OBJEXT = .o
|
|||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
# Produce partially-linked $1 from files in $2
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
|
|
|
|||
|
|
@ -1,32 +0,0 @@
|
|||
############################################################################
|
||||
#
|
||||
# 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 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 diff suppressed because it is too large
Load Diff
|
|
@ -1,5 +1,5 @@
|
|||
#!/bin/bash
|
||||
# configs/stm3210e-eval/dfu/setenv.sh
|
||||
# nuttx-configs/px4io-v2/nsh/setenv.sh
|
||||
#
|
||||
# Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
/****************************************************************************
|
||||
* configs/stm3210e-eval/nsh/ld.script
|
||||
* configs/px4io-v2/scripts/ld.script
|
||||
*
|
||||
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
|
|
|
|||
|
|
@ -1,5 +1,4 @@
|
|||
############################################################################
|
||||
# configs/stm3210e-eval/src/Makefile
|
||||
#
|
||||
# Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
||||
|
|
@ -81,4 +80,8 @@ distclean: clean
|
|||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
ifneq ($(BOARD_CONTEXT),y)
|
||||
context:
|
||||
endif
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
|||
|
|
@ -47,9 +47,6 @@
|
|||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/******************************************************************************
|
||||
* Definitions
|
||||
******************************************************************************/
|
||||
|
|
|
|||
|
|
@ -35,10 +35,10 @@
|
|||
* @file px4iov2_init.c
|
||||
*
|
||||
* PX4FMU-specific early startup code. This file implements the
|
||||
* nsh_archinitialize() function that is called early by nsh during startup.
|
||||
* stm32_boardinitialize() function that is called during cpu startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialisation.
|
||||
* subsystems and perform board-specific initialization.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
|
|
@ -53,6 +53,7 @@
|
|||
#include <errno.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/board.h>
|
||||
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
|
@ -69,13 +70,13 @@
|
|||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message(...) lowsyslog(__VA_ARGS__)
|
||||
# define message(...) syslog(__VA_ARGS__)
|
||||
# else
|
||||
# define message(...) printf(__VA_ARGS__)
|
||||
# endif
|
||||
#else
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message lowsyslog
|
||||
# define message syslog
|
||||
# else
|
||||
# define message printf
|
||||
# endif
|
||||
|
|
@ -105,55 +106,55 @@ __EXPORT void stm32_boardinitialize(void)
|
|||
/* configure GPIOs */
|
||||
|
||||
/* LEDS - default to off */
|
||||
px4_arch_configgpio(GPIO_LED1);
|
||||
px4_arch_configgpio(GPIO_LED2);
|
||||
px4_arch_configgpio(GPIO_LED3);
|
||||
px4_arch_configgpio(GPIO_LED4);
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
stm32_configgpio(GPIO_LED2);
|
||||
stm32_configgpio(GPIO_LED3);
|
||||
stm32_configgpio(GPIO_LED4);
|
||||
|
||||
px4_arch_configgpio(GPIO_BTN_SAFETY);
|
||||
stm32_configgpio(GPIO_BTN_SAFETY);
|
||||
|
||||
/* spektrum power enable is active high - enable it by default */
|
||||
px4_arch_configgpio(GPIO_SPEKTRUM_PWR_EN);
|
||||
stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
|
||||
|
||||
px4_arch_configgpio(GPIO_SERVO_FAULT_DETECT);
|
||||
stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
|
||||
|
||||
/* RSSI inputs */
|
||||
px4_arch_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
|
||||
px4_arch_configgpio(GPIO_ADC_RSSI);
|
||||
stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
|
||||
stm32_configgpio(GPIO_ADC_RSSI);
|
||||
|
||||
/* servo rail voltage */
|
||||
px4_arch_configgpio(GPIO_ADC_VSERVO);
|
||||
stm32_configgpio(GPIO_ADC_VSERVO);
|
||||
|
||||
px4_arch_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
|
||||
px4_arch_configgpio(GPIO_SBUS_OUTPUT);
|
||||
stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
|
||||
stm32_configgpio(GPIO_SBUS_OUTPUT);
|
||||
|
||||
/* sbus output enable is active low - disable it by default */
|
||||
px4_arch_gpiowrite(GPIO_SBUS_OENABLE, true);
|
||||
px4_arch_configgpio(GPIO_SBUS_OENABLE);
|
||||
stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
|
||||
stm32_configgpio(GPIO_SBUS_OENABLE);
|
||||
|
||||
px4_arch_configgpio(GPIO_PPM); /* xxx alternate function */
|
||||
stm32_configgpio(GPIO_PPM); /* xxx alternate function */
|
||||
|
||||
px4_arch_gpiowrite(GPIO_PWM1, true);
|
||||
px4_arch_configgpio(GPIO_PWM1);
|
||||
stm32_gpiowrite(GPIO_PWM1, true);
|
||||
stm32_configgpio(GPIO_PWM1);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_PWM2, true);
|
||||
px4_arch_configgpio(GPIO_PWM2);
|
||||
stm32_gpiowrite(GPIO_PWM2, true);
|
||||
stm32_configgpio(GPIO_PWM2);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_PWM3, true);
|
||||
px4_arch_configgpio(GPIO_PWM3);
|
||||
stm32_gpiowrite(GPIO_PWM3, true);
|
||||
stm32_configgpio(GPIO_PWM3);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_PWM4, true);
|
||||
px4_arch_configgpio(GPIO_PWM4);
|
||||
stm32_gpiowrite(GPIO_PWM4, true);
|
||||
stm32_configgpio(GPIO_PWM4);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_PWM5, true);
|
||||
px4_arch_configgpio(GPIO_PWM5);
|
||||
stm32_gpiowrite(GPIO_PWM5, true);
|
||||
stm32_configgpio(GPIO_PWM5);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_PWM6, true);
|
||||
px4_arch_configgpio(GPIO_PWM6);
|
||||
stm32_gpiowrite(GPIO_PWM6, true);
|
||||
stm32_configgpio(GPIO_PWM6);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_PWM7, true);
|
||||
px4_arch_configgpio(GPIO_PWM7);
|
||||
stm32_gpiowrite(GPIO_PWM7, true);
|
||||
stm32_configgpio(GPIO_PWM7);
|
||||
|
||||
px4_arch_gpiowrite(GPIO_PWM8, true);
|
||||
px4_arch_configgpio(GPIO_PWM8);
|
||||
stm32_gpiowrite(GPIO_PWM8, true);
|
||||
stm32_configgpio(GPIO_PWM8);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue