mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-09-22 03:11:03 +08:00
Merge branch 'master' into navigator_rewrite
Conflicts: src/drivers/gps/gps.cpp src/drivers/gps/mtk.cpp src/modules/commander/commander.cpp src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp src/modules/navigator/mission.cpp src/modules/navigator/mission.h src/modules/navigator/navigator_main.cpp src/modules/navigator/navigator_state.h src/modules/position_estimator_inav/position_estimator_inav_main.c
This commit is contained in:
Julian Oes
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@@ -0,0 +1,12 @@
|
||||
{
|
||||
"board_id": 19,
|
||||
"magic": "AeroCore",
|
||||
"description": "Firmware for the Gumstix AeroCore board",
|
||||
"image": "",
|
||||
"build_time": 0,
|
||||
"summary": "AEROCORE",
|
||||
"version": "0.1",
|
||||
"image_size": 0,
|
||||
"git_identity": "",
|
||||
"board_revision": 0
|
||||
}
|
||||
@@ -18,9 +18,9 @@ then
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_I 0.0
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 0.5
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAW_P 2.5
|
||||
param set MC_YAWRATE_P 0.25
|
||||
param set MC_YAWRATE_I 0.25
|
||||
param set MC_YAWRATE_D 0.0
|
||||
|
||||
param set BAT_V_SCALING 0.00989
|
||||
|
||||
@@ -0,0 +1,35 @@
|
||||
#!nsh
|
||||
#
|
||||
# Steadidrone QU4D
|
||||
#
|
||||
# Thomas Gubler <thomasgubler@gmail.com>
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
#
|
||||
|
||||
sh /etc/init.d/rc.mc_defaults
|
||||
|
||||
if [ $DO_AUTOCONFIG == yes ]
|
||||
then
|
||||
# TODO tune roll/pitch separately
|
||||
param set MC_ROLL_P 7.0
|
||||
param set MC_ROLLRATE_P 0.13
|
||||
param set MC_ROLLRATE_I 0.0
|
||||
param set MC_ROLLRATE_D 0.004
|
||||
param set MC_PITCH_P 7.0
|
||||
param set MC_PITCHRATE_P 0.13
|
||||
param set MC_PITCHRATE_I 0.0
|
||||
param set MC_PITCHRATE_D 0.004
|
||||
param set MC_YAW_P 0.5
|
||||
param set MC_YAWRATE_P 0.2
|
||||
param set MC_YAWRATE_I 0.0
|
||||
param set MC_YAWRATE_D 0.0
|
||||
|
||||
param set BAT_N_CELLS 4
|
||||
fi
|
||||
|
||||
set MIXER FMU_quad_w
|
||||
|
||||
set PWM_MIN 1210
|
||||
set PWM_MAX 2100
|
||||
|
||||
set PWM_OUTPUTS 1234
|
||||
@@ -1,7 +1,5 @@
|
||||
#!nsh
|
||||
#
|
||||
# UNTESTED UNTESTED!
|
||||
#
|
||||
# Generic 10" Hexa coaxial geometry
|
||||
#
|
||||
# Lorenz Meier <lm@inf.ethz.ch>
|
||||
|
||||
@@ -5,4 +5,4 @@
|
||||
|
||||
sh /etc/init.d/rc.fw_defaults
|
||||
|
||||
set MIXER easystar.mix
|
||||
set MIXER easystar
|
||||
|
||||
@@ -195,6 +195,11 @@ then
|
||||
sh /etc/init.d/10016_3dr_iris
|
||||
fi
|
||||
|
||||
if param compare SYS_AUTOSTART 10017
|
||||
then
|
||||
sh /etc/init.d/10017_steadidrone_qu4d
|
||||
fi
|
||||
|
||||
#
|
||||
# Hexa Coaxial
|
||||
#
|
||||
|
||||
@@ -11,6 +11,4 @@ then
|
||||
param set NAV_RTL_ALT 100
|
||||
param set NAV_RTL_LAND_T -1
|
||||
param set NAV_ACCEPT_RAD 50
|
||||
param set RC_SCALE_ROLL 1
|
||||
param set RC_SCALE_PITCH 1
|
||||
fi
|
||||
@@ -8,9 +8,9 @@ then
|
||||
if ver hwcmp PX4FMU_V1
|
||||
then
|
||||
echo "Start sdlog2 at 50Hz"
|
||||
sdlog2 start -r 50 -a -b 8 -t
|
||||
sdlog2 start -r 50 -a -b 4 -t
|
||||
else
|
||||
echo "Start sdlog2 at 200Hz"
|
||||
sdlog2 start -r 200 -a -b 16 -t
|
||||
sdlog2 start -r 200 -a -b 22 -t
|
||||
fi
|
||||
fi
|
||||
|
||||
@@ -3,16 +3,20 @@
|
||||
# USB MAVLink start
|
||||
#
|
||||
|
||||
echo "Starting MAVLink on this USB console"
|
||||
|
||||
mavlink start -r 10000 -d /dev/ttyACM0
|
||||
# Enable a number of interesting streams we want via USB
|
||||
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
|
||||
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
|
||||
usleep 100000
|
||||
mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
|
||||
usleep 100000
|
||||
|
||||
# Exit shell to make it available to MAVLink
|
||||
exit
|
||||
|
||||
@@ -419,16 +419,6 @@ then
|
||||
|
||||
mavlink start $MAVLINK_FLAGS
|
||||
|
||||
#
|
||||
# Start the datamanager
|
||||
#
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
navigator start
|
||||
|
||||
#
|
||||
# Sensors, Logging, GPS
|
||||
#
|
||||
@@ -550,6 +540,16 @@ then
|
||||
fi
|
||||
fi
|
||||
|
||||
#
|
||||
# Start the datamanager
|
||||
#
|
||||
dataman start
|
||||
|
||||
#
|
||||
# Start the navigator
|
||||
#
|
||||
navigator start
|
||||
|
||||
#
|
||||
# Generic setup (autostart ID not found)
|
||||
#
|
||||
|
||||
@@ -16,5 +16,6 @@ astyle \
|
||||
--ignore-exclude-errors-x \
|
||||
--lineend=linux \
|
||||
--exclude=EASTL \
|
||||
--add-brackets \
|
||||
--add-brackets \
|
||||
--max-code-length=120 \
|
||||
$*
|
||||
|
||||
@@ -0,0 +1,11 @@
|
||||
#
|
||||
# Board-specific definitions for the Gumstix AeroCore
|
||||
#
|
||||
|
||||
#
|
||||
# Configure the toolchain
|
||||
#
|
||||
CONFIG_ARCH = CORTEXM4F
|
||||
CONFIG_BOARD = AEROCORE
|
||||
|
||||
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||
@@ -0,0 +1,125 @@
|
||||
#
|
||||
# Makefile for the AeroCore *default* configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
|
||||
|
||||
#
|
||||
# Board support modules
|
||||
#
|
||||
MODULES += drivers/device
|
||||
MODULES += drivers/stm32
|
||||
MODULES += drivers/stm32/adc
|
||||
MODULES += drivers/stm32/tone_alarm
|
||||
MODULES += drivers/led
|
||||
MODULES += drivers/px4fmu
|
||||
MODULES += drivers/boards/aerocore
|
||||
MODULES += drivers/lsm303d
|
||||
MODULES += drivers/l3gd20
|
||||
MODULES += drivers/ms5611
|
||||
MODULES += drivers/gps
|
||||
MODULES += drivers/hil
|
||||
MODULES += modules/sensors
|
||||
|
||||
#
|
||||
# System commands
|
||||
#
|
||||
MODULES += systemcmds/boardinfo
|
||||
MODULES += systemcmds/mixer
|
||||
MODULES += systemcmds/param
|
||||
MODULES += systemcmds/perf
|
||||
MODULES += systemcmds/preflight_check
|
||||
MODULES += systemcmds/pwm
|
||||
MODULES += systemcmds/esc_calib
|
||||
MODULES += systemcmds/reboot
|
||||
MODULES += systemcmds/top
|
||||
MODULES += systemcmds/config
|
||||
MODULES += systemcmds/nshterm
|
||||
MODULES += systemcmds/mtd
|
||||
MODULES += systemcmds/dumpfile
|
||||
|
||||
#
|
||||
# General system control
|
||||
#
|
||||
MODULES += modules/commander
|
||||
MODULES += modules/navigator
|
||||
MODULES += modules/mavlink
|
||||
|
||||
#
|
||||
# Estimation modules (EKF/ SO3 / other filters)
|
||||
#
|
||||
MODULES += modules/attitude_estimator_ekf
|
||||
MODULES += modules/attitude_estimator_so3
|
||||
MODULES += modules/ekf_att_pos_estimator
|
||||
MODULES += modules/position_estimator_inav
|
||||
|
||||
#
|
||||
# Vehicle Control
|
||||
#
|
||||
MODULES += modules/fw_pos_control_l1
|
||||
MODULES += modules/fw_att_control
|
||||
MODULES += modules/mc_att_control
|
||||
MODULES += modules/mc_pos_control
|
||||
|
||||
#
|
||||
# Library modules
|
||||
#
|
||||
MODULES += modules/systemlib
|
||||
MODULES += modules/systemlib/mixer
|
||||
MODULES += modules/controllib
|
||||
MODULES += modules/uORB
|
||||
MODULES += modules/dataman
|
||||
|
||||
#
|
||||
# Libraries
|
||||
#
|
||||
LIBRARIES += lib/mathlib/CMSIS
|
||||
MODULES += lib/mathlib
|
||||
MODULES += lib/mathlib/math/filter
|
||||
MODULES += lib/ecl
|
||||
MODULES += lib/external_lgpl
|
||||
MODULES += lib/geo
|
||||
MODULES += lib/conversion
|
||||
MODULES += lib/launchdetection
|
||||
|
||||
#
|
||||
# Demo apps
|
||||
#
|
||||
#MODULES += examples/math_demo
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
MODULES += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/daemon
|
||||
#MODULES += examples/px4_daemon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
#MODULES += examples/px4_mavlink_debug
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
|
||||
#MODULES += examples/fixedwing_control
|
||||
|
||||
# Hardware test
|
||||
#MODULES += examples/hwtest
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, hello, , 2048, hello_main) \
|
||||
$(call _B, i2c, , 2048, i2c_main)
|
||||
@@ -48,6 +48,16 @@ NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
# Check if the right version of the toolchain is available
|
||||
#
|
||||
CROSSDEV_VER_SUPPORTED = 4.7
|
||||
CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)
|
||||
|
||||
ifeq (,$(findstring $(CROSSDEV_VER_SUPPORTED),$(CROSSDEV_VER_FOUND)))
|
||||
$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of $(CROSSDEV_VER_SUPPORTED).x)
|
||||
endif
|
||||
|
||||
|
||||
# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
|
||||
|
||||
MAXOPTIMIZATION ?= -O3
|
||||
@@ -76,7 +86,7 @@ ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions \
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM4 = -finstrument-functions \
|
||||
-ffixed-r10
|
||||
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
|
||||
ARCHINSTRUMENTATIONDEFINES_CORTEXM3 =
|
||||
|
||||
# Pick the right set of flags for the architecture.
|
||||
#
|
||||
@@ -265,7 +275,7 @@ define SYM_TO_BIN
|
||||
$(Q) $(OBJCOPY) -O binary $1 $2
|
||||
endef
|
||||
|
||||
# Take the raw binary $1 and make it into an object file $2.
|
||||
# Take the raw binary $1 and make it into an object file $2.
|
||||
# The symbol $3 points to the beginning of the file, and $3_len
|
||||
# gives its length.
|
||||
#
|
||||
|
||||
@@ -0,0 +1,263 @@
|
||||
/************************************************************************************
|
||||
* configs/aerocore/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2009 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 __ARCH_BOARD_BOARD_H
|
||||
#define __ARCH_BOARD_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
#include <stm32.h>
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The AeroCore uses a 24MHz crystal connected to the HSE.
|
||||
*
|
||||
* This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
|
||||
* System Clock source : PLL (HSE)
|
||||
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
|
||||
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
|
||||
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
|
||||
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
|
||||
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
|
||||
* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
|
||||
* PLLM : 24 (STM32_PLLCFG_PLLM)
|
||||
* PLLN : 336 (STM32_PLLCFG_PLLN)
|
||||
* PLLP : 2 (STM32_PLLCFG_PLLP)
|
||||
* PLLQ : 7 (STM32_PLLCFG_PPQ)
|
||||
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
|
||||
* Flash Latency(WS) : 5
|
||||
* Prefetch Buffer : OFF
|
||||
* Instruction cache : ON
|
||||
* Data cache : ON
|
||||
* Require 48MHz for USB OTG FS, : Enabled
|
||||
* SDIO and RNG clock
|
||||
*/
|
||||
|
||||
/* HSI - 16 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - On-board crystal frequency is 24MHz
|
||||
* LSE - not installed
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 24000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE
|
||||
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* = (24,000,000 / 24) * 336
|
||||
* = 336,000,000
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* = 336,000,000 / 2 = 168,000,000
|
||||
* USB OTG FS, SDIO and RNG Clock
|
||||
* = PLL_VCO / PLLQ
|
||||
* = 48,000,000
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 168000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (168MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
|
||||
* otherwise frequency is 2xAPBx.
|
||||
* Note: TIM1,8 are on APB2, others on APB1
|
||||
*/
|
||||
|
||||
#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/*
|
||||
* UARTs.
|
||||
*/
|
||||
/* USART1 on PB[6,7]: GPS */
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_2
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_2
|
||||
|
||||
/* USART2 on PD[5,6]: J5 Breakout */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2
|
||||
#define GPIO_USART2_CTS 0 // unused
|
||||
#define GPIO_USART2_RTS 0 // unused
|
||||
|
||||
/* USART3 on PD[8,9]: to DuoVero UART2 */
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3
|
||||
#define GPIO_USART3_CTS 0 // unused
|
||||
#define GPIO_USART3_RTS 0 // unused
|
||||
|
||||
/* UART7 on PE[78]: J7 Breakout */
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_1
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_1
|
||||
|
||||
/*
|
||||
* UART8 on PE[0-1]: System Console on Port C of USB (J7)
|
||||
* No alternate pin config
|
||||
*/
|
||||
|
||||
/* USART[1,6] require a RX DMA configuration */
|
||||
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
|
||||
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
|
||||
|
||||
/*
|
||||
* I2C
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
/* PB[10-11]: I2C2 is broken out on J9 header */
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
|
||||
|
||||
/*
|
||||
* SPI
|
||||
*/
|
||||
/* PA[4-7] SPI1 broken out on J12 */
|
||||
#define GPIO_SPI1_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) /* should be GPIO_SPI1_NSS_2 but use as a GPIO */
|
||||
#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
|
||||
|
||||
/* PB[12-15]: SPI2 connected to DuoVero SPI1 */
|
||||
#define GPIO_SPI2_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9) /* should be GPIO_SPI2_NSS_2 but use as a GPIO */
|
||||
#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
|
||||
|
||||
/* PC[10-12]: SPI3 connected to onboard sensors */
|
||||
#define GPIO_SPI3_SCK (GPIO_SPI3_SCK_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI3_MISO (GPIO_SPI3_MISO_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI3_MOSI (GPIO_SPI3_MOSI_2|GPIO_SPEED_50MHz)
|
||||
|
||||
/* PE[11-14]: SPI4 connected to FRAM */
|
||||
#define GPIO_SPI4_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11) /* should be GPIO_SPI4_NSS_2 but use as a GPIO */
|
||||
#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_2|GPIO_SPEED_50MHz)
|
||||
#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_2|GPIO_SPEED_50MHz)
|
||||
|
||||
/************************************************************************************
|
||||
* 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);
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __ARCH_BOARD_BOARD_H */
|
||||
@@ -0,0 +1,42 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 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;
|
||||
@@ -0,0 +1,179 @@
|
||||
############################################################################
|
||||
# configs/aerocore/nsh/Make.defs
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
include ${TOPDIR}/.config
|
||||
include ${TOPDIR}/tools/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
|
||||
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
CPP = $(CROSSDEV)gcc -E
|
||||
LD = $(CROSSDEV)ld
|
||||
AR = $(CROSSDEV)ar rcs
|
||||
NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -O3
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
-mfpu=fpv4-sp-d16 \
|
||||
-mfloat-abi=hard
|
||||
|
||||
|
||||
# enable precise stack overflow tracking
|
||||
INSTRUMENTATIONDEFINES = -finstrument-functions \
|
||||
-ffixed-r10
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
|
||||
EXTRA_LIBS += $(LIBM)
|
||||
|
||||
# use our linker script
|
||||
LDSCRIPT = ld.script
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
# Windows-native toolchains
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
|
||||
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
|
||||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
|
||||
else
|
||||
ifeq ($(PX4_WINTOOL),y)
|
||||
# Windows-native toolchains (MSYS)
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
else
|
||||
# Linux/Cygwin-native toolchain
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
|
||||
endif
|
||||
endif
|
||||
|
||||
# tool versions
|
||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||
|
||||
# optimisation flags
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||
ARCHOPTIMIZATION += -g
|
||||
endif
|
||||
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Wdouble-promotion \
|
||||
-Wshadow \
|
||||
-Wfloat-equal \
|
||||
-Wframe-larger-than=1024 \
|
||||
-Wpointer-arith \
|
||||
-Wlogical-op \
|
||||
-Wmissing-declarations \
|
||||
-Wpacked \
|
||||
-Wno-unused-parameter
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-psabi
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
# this seems to be the only way to add linker flags
|
||||
EXTRA_LIBS += --warn-common \
|
||||
--gc-sections
|
||||
|
||||
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||
|
||||
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||
LDNXFLATFLAGS = -e main -s 2048
|
||||
|
||||
OBJEXT = .o
|
||||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
HOSTINCLUDES = -I.
|
||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||
HOSTLDFLAGS =
|
||||
|
||||
@@ -1,6 +1,8 @@
|
||||
############################################################################
|
||||
# configs/aerocore/nsh/appconfig
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
# 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
|
||||
@@ -12,7 +14,7 @@
|
||||
# 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
|
||||
# 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.
|
||||
#
|
||||
@@ -31,11 +33,10 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Build multirotor position control
|
||||
#
|
||||
# Path to example in apps/examples containing the user_start entry point
|
||||
|
||||
MODULE_COMMAND = flow_position_control
|
||||
CONFIGURED_APPS += examples/nsh
|
||||
|
||||
SRCS = flow_position_control_main.c \
|
||||
flow_position_control_params.c
|
||||
# The NSH application library
|
||||
CONFIGURED_APPS += nshlib
|
||||
CONFIGURED_APPS += system/readline
|
||||
File diff suppressed because it is too large
Load Diff
Executable
+67
@@ -0,0 +1,67 @@
|
||||
#!/bin/bash
|
||||
# configs/aerocore/nsh/setenv.sh
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
|
||||
if [ "$_" = "$0" ] ; then
|
||||
echo "You must source this script, not run it!" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
WD=`pwd`
|
||||
if [ ! -x "setenv.sh" ]; then
|
||||
echo "This script must be executed from the top-level NuttX build directory"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -z "${PATH_ORIG}" ]; then
|
||||
export PATH_ORIG="${PATH}"
|
||||
fi
|
||||
|
||||
# This the Cygwin path to the location where I installed the RIDE
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the RIDE toolchain in any other location
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
|
||||
|
||||
# This the Cygwin path to the location where I installed the CodeSourcery
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the CodeSourcery toolchain in any other location
|
||||
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
|
||||
|
||||
# This the Cygwin path to the location where I build the buildroot
|
||||
# toolchain.
|
||||
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||
|
||||
# Add the path to the toolchain to the PATH varialble
|
||||
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||
|
||||
echo "PATH : ${PATH}"
|
||||
@@ -0,0 +1,150 @@
|
||||
/****************************************************************************
|
||||
* configs/aerocore/common/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 STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 256Kb 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 SRAM beginning at address 0x2002:0000
|
||||
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x4000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
############################################################################
|
||||
# configs/aerocore/src/Makefile
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
-include $(TOPDIR)/Make.defs
|
||||
|
||||
CFLAGS += -I$(TOPDIR)/sched
|
||||
|
||||
ASRCS =
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
|
||||
CSRCS = empty.c
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
||||
ifeq ($(WINTOOL),y)
|
||||
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
||||
else
|
||||
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
||||
endif
|
||||
|
||||
all: libboard$(LIBEXT)
|
||||
|
||||
$(AOBJS): %$(OBJEXT): %.S
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
libboard$(LIBEXT): $(OBJS)
|
||||
$(call ARCHIVE, $@, $(OBJS))
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
$(call DELFILE, libboard$(LIBEXT))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
/*
|
||||
* There are no source files here, but libboard.a can't be empty, so
|
||||
* we have this empty source file to keep it company.
|
||||
*/
|
||||
@@ -418,7 +418,7 @@ CONFIG_PREALLOC_TIMERS=50
|
||||
# Stack and heap information
|
||||
#
|
||||
CONFIG_IDLETHREAD_STACKSIZE=4096
|
||||
CONFIG_USERMAIN_STACKSIZE=4096
|
||||
CONFIG_USERMAIN_STACKSIZE=3500
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_PTHREAD_STACK_DEFAULT=2048
|
||||
|
||||
@@ -504,8 +504,8 @@ CONFIG_MTD_BYTE_WRITE=y
|
||||
#
|
||||
# USART1 Configuration
|
||||
#
|
||||
CONFIG_USART1_RXBUFSIZE=512
|
||||
CONFIG_USART1_TXBUFSIZE=512
|
||||
CONFIG_USART1_RXBUFSIZE=256
|
||||
CONFIG_USART1_TXBUFSIZE=128
|
||||
CONFIG_USART1_BAUD=57600
|
||||
CONFIG_USART1_BITS=8
|
||||
CONFIG_USART1_PARITY=0
|
||||
@@ -528,8 +528,8 @@ CONFIG_USART2_OFLOWCONTROL=y
|
||||
#
|
||||
# UART5 Configuration
|
||||
#
|
||||
CONFIG_UART5_RXBUFSIZE=512
|
||||
CONFIG_UART5_TXBUFSIZE=512
|
||||
CONFIG_UART5_RXBUFSIZE=256
|
||||
CONFIG_UART5_TXBUFSIZE=128
|
||||
CONFIG_UART5_BAUD=57600
|
||||
CONFIG_UART5_BITS=8
|
||||
CONFIG_UART5_PARITY=0
|
||||
@@ -540,8 +540,8 @@ CONFIG_UART5_2STOP=0
|
||||
#
|
||||
# USART6 Configuration
|
||||
#
|
||||
CONFIG_USART6_RXBUFSIZE=512
|
||||
CONFIG_USART6_TXBUFSIZE=512
|
||||
CONFIG_USART6_RXBUFSIZE=128
|
||||
CONFIG_USART6_TXBUFSIZE=64
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_BITS=8
|
||||
CONFIG_USART6_PARITY=0
|
||||
|
||||
@@ -119,7 +119,7 @@ int ardrone_interface_main(int argc, char *argv[])
|
||||
ardrone_interface_task = task_spawn_cmd("ardrone_interface",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 15,
|
||||
2048,
|
||||
1100,
|
||||
ardrone_interface_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
|
||||
@@ -38,3 +38,4 @@
|
||||
MODULE_COMMAND = ardrone_interface
|
||||
SRCS = ardrone_interface.c \
|
||||
ardrone_motor_control.c
|
||||
MODULE_STACKSIZE = 1200
|
||||
|
||||
@@ -194,6 +194,26 @@ private:
|
||||
|
||||
bool systemstate_run;
|
||||
|
||||
int vehicle_status_sub_fd;
|
||||
int vehicle_control_mode_sub_fd;
|
||||
int vehicle_gps_position_sub_fd;
|
||||
int actuator_armed_sub_fd;
|
||||
int safety_sub_fd;
|
||||
|
||||
int num_of_cells;
|
||||
int detected_cells_runcount;
|
||||
|
||||
int t_led_color[8];
|
||||
int t_led_blink;
|
||||
int led_thread_runcount;
|
||||
int led_interval;
|
||||
|
||||
bool topic_initialized;
|
||||
bool detected_cells_blinked;
|
||||
bool led_thread_ready;
|
||||
|
||||
int num_of_used_sats;
|
||||
|
||||
void setLEDColor(int ledcolor);
|
||||
static void led_trampoline(void *arg);
|
||||
void led();
|
||||
@@ -265,7 +285,22 @@ BlinkM::BlinkM(int bus, int blinkm) :
|
||||
led_color_7(LED_OFF),
|
||||
led_color_8(LED_OFF),
|
||||
led_blink(LED_NOBLINK),
|
||||
systemstate_run(false)
|
||||
systemstate_run(false),
|
||||
vehicle_status_sub_fd(-1),
|
||||
vehicle_control_mode_sub_fd(-1),
|
||||
vehicle_gps_position_sub_fd(-1),
|
||||
actuator_armed_sub_fd(-1),
|
||||
safety_sub_fd(-1),
|
||||
num_of_cells(0),
|
||||
detected_cells_runcount(0),
|
||||
t_led_color({0}),
|
||||
t_led_blink(0),
|
||||
led_thread_runcount(0),
|
||||
led_interval(1000),
|
||||
topic_initialized(false),
|
||||
detected_cells_blinked(false),
|
||||
led_thread_ready(true),
|
||||
num_of_used_sats(0)
|
||||
{
|
||||
memset(&_work, 0, sizeof(_work));
|
||||
}
|
||||
@@ -382,31 +417,6 @@ void
|
||||
BlinkM::led()
|
||||
{
|
||||
|
||||
static int vehicle_status_sub_fd;
|
||||
static int vehicle_control_mode_sub_fd;
|
||||
static int vehicle_gps_position_sub_fd;
|
||||
static int actuator_armed_sub_fd;
|
||||
static int safety_sub_fd;
|
||||
|
||||
static int num_of_cells = 0;
|
||||
static int detected_cells_runcount = 0;
|
||||
|
||||
static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
|
||||
static int t_led_blink = 0;
|
||||
static int led_thread_runcount=0;
|
||||
static int led_interval = 1000;
|
||||
|
||||
static int no_data_vehicle_status = 0;
|
||||
static int no_data_vehicle_control_mode = 0;
|
||||
static int no_data_actuator_armed = 0;
|
||||
static int no_data_vehicle_gps_position = 0;
|
||||
|
||||
static bool topic_initialized = false;
|
||||
static bool detected_cells_blinked = false;
|
||||
static bool led_thread_ready = true;
|
||||
|
||||
int num_of_used_sats = 0;
|
||||
|
||||
if(!topic_initialized) {
|
||||
vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
|
||||
orb_set_interval(vehicle_status_sub_fd, 250);
|
||||
@@ -494,6 +504,11 @@ BlinkM::led()
|
||||
|
||||
orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
|
||||
|
||||
int no_data_vehicle_status = 0;
|
||||
int no_data_vehicle_control_mode = 0;
|
||||
int no_data_actuator_armed = 0;
|
||||
int no_data_vehicle_gps_position = 0;
|
||||
|
||||
if (new_data_vehicle_status) {
|
||||
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
|
||||
no_data_vehicle_status = 0;
|
||||
@@ -638,11 +653,11 @@ BlinkM::led()
|
||||
|
||||
if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
|
||||
/* indicate main control state */
|
||||
if (vehicle_status_raw.main_state == MAIN_STATE_EASY)
|
||||
if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
|
||||
led_color_4 = LED_GREEN;
|
||||
else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
|
||||
led_color_4 = LED_BLUE;
|
||||
else if (vehicle_status_raw.main_state == MAIN_STATE_SEATBELT)
|
||||
else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
|
||||
led_color_4 = LED_YELLOW;
|
||||
else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
|
||||
led_color_4 = LED_WHITE;
|
||||
|
||||
@@ -0,0 +1,282 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 aerocore_init.c
|
||||
*
|
||||
* AeroCore-specific early startup code. This file implements the
|
||||
* nsh_archinitialize() 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 initialisation.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
#include <nuttx/spi.h>
|
||||
#include <nuttx/i2c.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <nuttx/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_led.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Configuration ************************************************************/
|
||||
|
||||
/* Debug ********************************************************************/
|
||||
|
||||
#ifdef CONFIG_CPP_HAVE_VARARGS
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message(...) lowsyslog(__VA_ARGS__)
|
||||
# else
|
||||
# define message(...) printf(__VA_ARGS__)
|
||||
# endif
|
||||
#else
|
||||
# ifdef CONFIG_DEBUG
|
||||
# define message lowsyslog
|
||||
# else
|
||||
# define message printf
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
#if defined(CONFIG_FAT_DMAMEMORY)
|
||||
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
|
||||
# error microSD DMA support requires CONFIG_GRAN
|
||||
# endif
|
||||
|
||||
static GRAN_HANDLE dma_allocator;
|
||||
|
||||
/*
|
||||
* The DMA heap size constrains the total number of things that can be
|
||||
* ready to do DMA at a time.
|
||||
*
|
||||
* For example, FAT DMA depends on one sector-sized buffer per filesystem plus
|
||||
* one sector-sized buffer per file.
|
||||
*
|
||||
* We use a fundamental alignment / granule size of 64B; this is sufficient
|
||||
* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
|
||||
*/
|
||||
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
|
||||
static perf_counter_t g_dma_perf;
|
||||
|
||||
static void
|
||||
dma_alloc_init(void)
|
||||
{
|
||||
dma_allocator = gran_initialize(g_dma_heap,
|
||||
sizeof(g_dma_heap),
|
||||
7, /* 128B granule - must be > alignment (XXX bug?) */
|
||||
6); /* 64B alignment */
|
||||
if (dma_allocator == NULL) {
|
||||
message("[boot] DMA allocator setup FAILED");
|
||||
} else {
|
||||
g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations");
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* DMA-aware allocator stubs for the FAT filesystem.
|
||||
*/
|
||||
|
||||
__EXPORT void *fat_dma_alloc(size_t size);
|
||||
__EXPORT void fat_dma_free(FAR void *memory, size_t size);
|
||||
|
||||
void *
|
||||
fat_dma_alloc(size_t size)
|
||||
{
|
||||
perf_count(g_dma_perf);
|
||||
return gran_alloc(dma_allocator, size);
|
||||
}
|
||||
|
||||
void
|
||||
fat_dma_free(FAR void *memory, size_t size)
|
||||
{
|
||||
gran_free(dma_allocator, memory, size);
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
# define dma_alloc_init()
|
||||
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void
|
||||
stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure SPI interfaces */
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure LEDs */
|
||||
up_ledinit();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: nsh_archinitialize
|
||||
*
|
||||
* Description:
|
||||
* Perform architecture specific initialization
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
static struct spi_dev_s *spi3;
|
||||
static struct spi_dev_s *spi4;
|
||||
|
||||
#include <math.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
__EXPORT int matherr(struct __exception *e)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
#else
|
||||
__EXPORT int matherr(struct exception *e)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
__EXPORT int nsh_archinitialize(void)
|
||||
{
|
||||
|
||||
/* configure ADC pins */
|
||||
stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */
|
||||
stm32_configgpio(GPIO_ADC1_IN11); /* J1 breakout */
|
||||
stm32_configgpio(GPIO_ADC1_IN12); /* J1 breakout */
|
||||
stm32_configgpio(GPIO_ADC1_IN13); /* J1 breakout */
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
dma_alloc_init();
|
||||
|
||||
/* 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);
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_AMBER);
|
||||
|
||||
/* Configure Sensors on SPI bus #3 */
|
||||
spi3 = up_spiinitialize(3);
|
||||
if (!spi3) {
|
||||
message("[boot] FAILED to initialize SPI port 3\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
/* Default: 1MHz, 8 bits, Mode 3 */
|
||||
SPI_SETFREQUENCY(spi3, 10000000);
|
||||
SPI_SETBITS(spi3, 8);
|
||||
SPI_SETMODE(spi3, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi3, PX4_SPIDEV_GYRO, false);
|
||||
SPI_SELECT(spi3, PX4_SPIDEV_ACCEL_MAG, false);
|
||||
SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
|
||||
up_udelay(20);
|
||||
message("[boot] Initialized SPI port 3 (SENSORS)\n");
|
||||
|
||||
/* Configure FRAM on SPI bus #4 */
|
||||
spi4 = up_spiinitialize(4);
|
||||
if (!spi4) {
|
||||
message("[boot] FAILED to initialize SPI port 4\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
/* Default: ~10MHz, 8 bits, Mode 3 */
|
||||
SPI_SETFREQUENCY(spi4, 10 * 1000 * 1000);
|
||||
SPI_SETBITS(spi4, 8);
|
||||
SPI_SETMODE(spi4, SPIDEV_MODE0);
|
||||
SPI_SELECT(spi4, SPIDEV_FLASH, false);
|
||||
message("[boot] Initialized SPI port 4 (FRAM)\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
+82
-61
@@ -1,8 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
|
||||
* Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
|
||||
* Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Copyright (c) 2013 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
|
||||
@@ -33,68 +31,91 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file aerocore_led.c
|
||||
*
|
||||
* AeroCore LED backend.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "stm32.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.h>
|
||||
|
||||
/*
|
||||
* @file flow_position_control_params.h
|
||||
*
|
||||
* Parameters for position controller
|
||||
* 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();
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
extern void led_toggle(int led);
|
||||
__END_DECLS
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
__EXPORT void led_init()
|
||||
{
|
||||
stm32_configgpio(GPIO_LED0);
|
||||
stm32_configgpio(GPIO_LED1);
|
||||
}
|
||||
|
||||
struct flow_position_control_params {
|
||||
float pos_p;
|
||||
float pos_d;
|
||||
float height_p;
|
||||
float height_i;
|
||||
float height_d;
|
||||
float height_rate;
|
||||
float height_min;
|
||||
float height_max;
|
||||
float thrust_feedforward;
|
||||
float limit_speed_x;
|
||||
float limit_speed_y;
|
||||
float limit_height_error;
|
||||
float limit_thrust_int;
|
||||
float limit_thrust_upper;
|
||||
float limit_thrust_lower;
|
||||
float limit_yaw_step;
|
||||
float manual_threshold;
|
||||
float rc_scale_pitch;
|
||||
float rc_scale_roll;
|
||||
float rc_scale_yaw;
|
||||
};
|
||||
__EXPORT void led_on(int led)
|
||||
{
|
||||
switch (led) {
|
||||
case 0:
|
||||
stm32_gpiowrite(GPIO_LED0, true);
|
||||
break;
|
||||
|
||||
struct flow_position_control_param_handles {
|
||||
param_t pos_p;
|
||||
param_t pos_d;
|
||||
param_t height_p;
|
||||
param_t height_i;
|
||||
param_t height_d;
|
||||
param_t height_rate;
|
||||
param_t height_min;
|
||||
param_t height_max;
|
||||
param_t thrust_feedforward;
|
||||
param_t limit_speed_x;
|
||||
param_t limit_speed_y;
|
||||
param_t limit_height_error;
|
||||
param_t limit_thrust_int;
|
||||
param_t limit_thrust_upper;
|
||||
param_t limit_thrust_lower;
|
||||
param_t limit_yaw_step;
|
||||
param_t manual_threshold;
|
||||
param_t rc_scale_pitch;
|
||||
param_t rc_scale_roll;
|
||||
param_t rc_scale_yaw;
|
||||
};
|
||||
case 1:
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
break;
|
||||
|
||||
/**
|
||||
* Initialize all parameter handles and values
|
||||
*
|
||||
*/
|
||||
int parameters_init(struct flow_position_control_param_handles *h);
|
||||
default:
|
||||
warnx("LED ID not recognized\n");
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Update all parameters
|
||||
*
|
||||
*/
|
||||
int parameters_update(const struct flow_position_control_param_handles *h, struct flow_position_control_params *p);
|
||||
__EXPORT void led_off(int led)
|
||||
{
|
||||
switch (led) {
|
||||
case 0:
|
||||
stm32_gpiowrite(GPIO_LED0, false);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
break;
|
||||
|
||||
default:
|
||||
warnx("LED ID not recognized\n");
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT void led_toggle(int led)
|
||||
{
|
||||
switch (led) {
|
||||
case 0:
|
||||
if (stm32_gpioread(GPIO_LED0))
|
||||
stm32_gpiowrite(GPIO_LED0, false);
|
||||
else
|
||||
stm32_gpiowrite(GPIO_LED0, true);
|
||||
break;
|
||||
|
||||
case 1:
|
||||
if (stm32_gpioread(GPIO_LED1))
|
||||
stm32_gpiowrite(GPIO_LED1, false);
|
||||
else
|
||||
stm32_gpiowrite(GPIO_LED1, true);
|
||||
break;
|
||||
|
||||
default:
|
||||
warnx("LED ID not recognized\n");
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,117 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 aerocore_pwm_servo.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo 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/stm32/drv_pwm_servo.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM1_BASE,
|
||||
.clock_register = STM32_RCC_APB2ENR,
|
||||
.clock_bit = RCC_APB2ENR_TIM1EN,
|
||||
.clock_freq = STM32_APB2_TIM1_CLKIN
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH1OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH2OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH3OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH4OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH1OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH2OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH3OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1500,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH4OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1500,
|
||||
}
|
||||
};
|
||||
@@ -0,0 +1,183 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 aerocore_spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <chip.h>
|
||||
#include <stm32.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void weak_function stm32_spiinitialize(void)
|
||||
{
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
stm32_configgpio(GPIO_SPI1_NSS);
|
||||
stm32_gpiowrite(GPIO_SPI1_NSS, 1);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
stm32_configgpio(GPIO_SPI2_NSS);
|
||||
stm32_gpiowrite(GPIO_SPI2_NSS, 1);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI3
|
||||
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
||||
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
|
||||
stm32_configgpio(GPIO_SPI_CS_BARO);
|
||||
|
||||
/* De-activate all peripherals,
|
||||
* required for some peripheral
|
||||
* state machines
|
||||
*/
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
|
||||
stm32_configgpio(GPIO_EXTI_GYRO_DRDY);
|
||||
stm32_configgpio(GPIO_EXTI_MAG_DRDY);
|
||||
stm32_configgpio(GPIO_EXTI_ACCEL_DRDY);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
stm32_configgpio(GPIO_SPI4_NSS);
|
||||
stm32_gpiowrite(GPIO_SPI4_NSS, 1);
|
||||
#endif
|
||||
}
|
||||
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* there is only one device broken-out so select it */
|
||||
stm32_gpiowrite(GPIO_SPI1_NSS, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* there is only one device broken-out so select it */
|
||||
stm32_gpiowrite(GPIO_SPI2_NSS, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI3
|
||||
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
switch (devid) {
|
||||
case PX4_SPIDEV_GYRO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_ACCEL_MAG:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_BARO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef CONFIG_STM32_SPI4
|
||||
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* there can only be one device on this bus, so always select it */
|
||||
stm32_gpiowrite(GPIO_SPI4_NSS, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
/* FRAM is always present */
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
@@ -0,0 +1,176 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 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
|
||||
*
|
||||
* AeroCore internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/* these headers are not C++ safe */
|
||||
#include <stm32.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#define UDID_START 0x1FFF7A10
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
|
||||
/* LEDs */
|
||||
#define GPIO_LED0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9)
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10)
|
||||
|
||||
/* Gyro */
|
||||
#define GPIO_EXTI_GYRO_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN0)
|
||||
#define SENSOR_BOARD_ROTATION_DEFAULT 3 /* SENSOR_BOARD_ROTATION_270_DEG */
|
||||
|
||||
/* Accel & Mag */
|
||||
#define GPIO_EXTI_MAG_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN1)
|
||||
#define GPIO_EXTI_ACCEL_DRDY (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN2)
|
||||
|
||||
/* GPS */
|
||||
#define GPIO_GPS_NRESET (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
|
||||
#define GPIO_GPS_TIMEPULSE (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTC|GPIO_PIN4)
|
||||
#define GPS_DEFAULT_UART_PORT "/dev/ttyS0"
|
||||
|
||||
/* SPI3--Sensors */
|
||||
#define PX4_SPI_BUS_SENSORS 3
|
||||
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
|
||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
|
||||
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
|
||||
|
||||
/* Nominal chip selects for devices on SPI bus #3 */
|
||||
#define PX4_SPIDEV_ACCEL_MAG 0
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_BARO 2
|
||||
|
||||
/* User GPIOs broken out on J11 */
|
||||
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN1)
|
||||
#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_PORTD|GPIO_PIN12)
|
||||
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
|
||||
#define GPIO_GPIO8_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
|
||||
#define GPIO_GPIO9_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_GPIO10_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
|
||||
#define GPIO_GPIO11_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
|
||||
|
||||
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
|
||||
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
|
||||
#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_PORTD|GPIO_PIN12)
|
||||
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
|
||||
#define GPIO_GPIO8_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
|
||||
#define GPIO_GPIO9_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
|
||||
#define GPIO_GPIO10_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
|
||||
#define GPIO_GPIO11_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
|
||||
|
||||
/* PWM
|
||||
*
|
||||
* Eight PWM outputs are configured.
|
||||
*
|
||||
* Pins:
|
||||
*
|
||||
* CH1 : PA8 : TIM1_CH1
|
||||
* CH2 : PA9 : TIM1_CH2
|
||||
* CH3 : PA10 : TIM1_CH3
|
||||
* CH4 : PA11 : TIM1_CH4
|
||||
* CH5 : PC6 : TIM3_CH1
|
||||
* CH6 : PC7 : TIM3_CH2
|
||||
* CH7 : PC8 : TIM3_CH3
|
||||
* CH8 : PC9 : TIM3_CH4
|
||||
*/
|
||||
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1
|
||||
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1
|
||||
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1
|
||||
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_1
|
||||
#define GPIO_TIM3_CH1OUT GPIO_TIM3_CH1OUT_3
|
||||
#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3
|
||||
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2
|
||||
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2
|
||||
|
||||
/* High-resolution timer */
|
||||
#define HRT_TIMER 8 /* use timer 8 for the HRT */
|
||||
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
|
||||
/* Tone Alarm (no onboard speaker )*/
|
||||
#define TONE_ALARM_TIMER 2 /* timer 2 */
|
||||
#define TONE_ALARM_CHANNEL 1 /* channel 1 */
|
||||
#define GPIO_TONE_ALARM_IDLE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
|
||||
|
||||
|
||||
/****************************************************************************************************
|
||||
* 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);
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,8 @@
|
||||
#
|
||||
# Board-specific startup code for the AeroCore
|
||||
#
|
||||
|
||||
SRCS = aerocore_init.c \
|
||||
aerocore_pwm_servo.c \
|
||||
aerocore_spi.c \
|
||||
aerocore_led.c
|
||||
@@ -85,6 +85,8 @@ __BEGIN_DECLS
|
||||
#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)
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
|
||||
/*
|
||||
* Use these in place of the spi_dev_e enumeration to
|
||||
* select a specific SPI device on SPI1
|
||||
|
||||
@@ -107,6 +107,8 @@ __BEGIN_DECLS
|
||||
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
|
||||
|
||||
#define PX4_SPI_BUS_SENSORS 1
|
||||
|
||||
/* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_ACCEL_MAG 2
|
||||
|
||||
@@ -94,6 +94,14 @@
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_AEROCORE
|
||||
/*
|
||||
* AeroCore GPIO numbers and configuration.
|
||||
*
|
||||
*/
|
||||
# define PX4FMU_DEVICE_PATH "/dev/px4fmu"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
|
||||
/* no GPIO driver on the PX4IOv1 board */
|
||||
#endif
|
||||
@@ -146,4 +154,4 @@
|
||||
|
||||
#define GPIO_SENSOR_RAIL_RESET GPIOC(13)
|
||||
|
||||
#endif /* _DRV_GPIO_H */
|
||||
#endif /* _DRV_GPIO_H */
|
||||
|
||||
@@ -43,10 +43,14 @@
|
||||
#include <stdint.h>
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include "drv_sensor.h"
|
||||
#include "drv_orb_dev.h"
|
||||
|
||||
#ifndef GPS_DEFAULT_UART_PORT
|
||||
#define GPS_DEFAULT_UART_PORT "/dev/ttyS3"
|
||||
#endif
|
||||
|
||||
#define GPS_DEVICE_PATH "/dev/gps"
|
||||
|
||||
|
||||
@@ -154,8 +154,9 @@ ETSAirspeed::collect()
|
||||
return ret;
|
||||
}
|
||||
|
||||
uint16_t diff_pres_pa = val[1] << 8 | val[0];
|
||||
if (diff_pres_pa == 0) {
|
||||
uint16_t diff_pres_pa_raw = val[1] << 8 | val[0];
|
||||
uint16_t diff_pres_pa;
|
||||
if (diff_pres_pa_raw == 0) {
|
||||
// a zero value means the pressure sensor cannot give us a
|
||||
// value. We need to return, and not report a value or the
|
||||
// caller could end up using this value as part of an
|
||||
@@ -165,10 +166,10 @@ ETSAirspeed::collect()
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
|
||||
if (diff_pres_pa_raw < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
|
||||
diff_pres_pa = 0;
|
||||
} else {
|
||||
diff_pres_pa -= _diff_pres_offset;
|
||||
diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset;
|
||||
}
|
||||
|
||||
// Track maximum differential pressure measured (so we can work out top speed).
|
||||
@@ -183,6 +184,7 @@ ETSAirspeed::collect()
|
||||
|
||||
// XXX we may want to smooth out the readings to remove noise.
|
||||
report.differential_pressure_filtered_pa = (float)diff_pres_pa;
|
||||
report.differential_pressure_raw_pa = (float)diff_pres_pa_raw;
|
||||
report.temperature = -1000.0f;
|
||||
report.voltage = 0;
|
||||
report.max_differential_pressure_pa = _max_differential_pressure_pa;
|
||||
|
||||
@@ -53,6 +53,8 @@
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
/* FrSky sensor hub data IDs */
|
||||
#define FRSKY_ID_GPS_ALT_BP 0x01
|
||||
#define FRSKY_ID_TEMP1 0x02
|
||||
@@ -192,17 +194,12 @@ void frsky_send_frame1(int uart)
|
||||
}
|
||||
|
||||
/**
|
||||
* Formats the decimal latitude/longitude to the required degrees/minutes/seconds.
|
||||
* Formats the decimal latitude/longitude to the required degrees/minutes.
|
||||
*/
|
||||
static float frsky_format_gps(float dec)
|
||||
{
|
||||
float dms_deg = (int) dec;
|
||||
float dec_deg = dec - dms_deg;
|
||||
float dms_min = (int) (dec_deg * 60);
|
||||
float dec_min = (dec_deg * 60) - dms_min;
|
||||
float dms_sec = dec_min * 60;
|
||||
|
||||
return (dms_deg * 100.0f) + dms_min + (dms_sec / 100.0f);
|
||||
float dm_deg = (int) dec;
|
||||
return (dm_deg * 100.0f) + (dec - dm_deg) * 60;
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -230,9 +227,9 @@ void frsky_send_frame2(int uart)
|
||||
struct tm *tm_gps = gmtime(&time_gps);
|
||||
|
||||
course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
|
||||
lat = frsky_format_gps(abs(global_pos.lat));
|
||||
lat = frsky_format_gps(fabsf(global_pos.lat));
|
||||
lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
|
||||
lon = frsky_format_gps(abs(global_pos.lon));
|
||||
lon = frsky_format_gps(fabsf(global_pos.lon));
|
||||
lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
|
||||
speed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e)
|
||||
* 25.0f / 46.0f;
|
||||
|
||||
@@ -222,7 +222,7 @@ int frsky_telemetry_main(int argc, char *argv[])
|
||||
frsky_task = task_spawn_cmd("frsky_telemetry",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
2048,
|
||||
2000,
|
||||
frsky_telemetry_thread_main,
|
||||
(const char **)argv);
|
||||
|
||||
|
||||
@@ -39,3 +39,5 @@ MODULE_COMMAND = frsky_telemetry
|
||||
|
||||
SRCS = frsky_data.c \
|
||||
frsky_telemetry.c
|
||||
|
||||
MODULE_STACKSIZE = 1200
|
||||
|
||||
+17
-12
@@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2013, 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
|
||||
@@ -56,6 +56,7 @@
|
||||
#include <arch/board/board.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/device/i2c.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/scheduling_priorities.h>
|
||||
#include <systemlib/err.h>
|
||||
@@ -63,6 +64,8 @@
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
|
||||
#include <board_config.h>
|
||||
|
||||
#include "ubx.h"
|
||||
#include "mtk.h"
|
||||
|
||||
@@ -76,12 +79,6 @@
|
||||
#endif
|
||||
static const int ERROR = -1;
|
||||
|
||||
#ifndef CONFIG_SCHED_WORKQUEUE
|
||||
# error This requires CONFIG_SCHED_WORKQUEUE.
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
class GPS : public device::CDev
|
||||
{
|
||||
public:
|
||||
@@ -209,7 +206,8 @@ GPS::init()
|
||||
goto out;
|
||||
|
||||
/* start the GPS driver worker task */
|
||||
_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
|
||||
_task = task_spawn_cmd("gps", SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr);
|
||||
|
||||
if (_task < 0) {
|
||||
warnx("task start failed: %d", errno);
|
||||
@@ -421,7 +419,14 @@ GPS::task_main()
|
||||
void
|
||||
GPS::cmd_reset()
|
||||
{
|
||||
//XXX add reset?
|
||||
#ifdef GPIO_GPS_NRESET
|
||||
warnx("Toggling GPS reset pin");
|
||||
stm32_configgpio(GPIO_GPS_NRESET);
|
||||
stm32_gpiowrite(GPIO_GPS_NRESET, 0);
|
||||
usleep(100);
|
||||
stm32_gpiowrite(GPIO_GPS_NRESET, 1);
|
||||
warnx("Toggled GPS reset pin");
|
||||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
@@ -443,10 +448,10 @@ GPS::print_info()
|
||||
warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
|
||||
|
||||
if (_report.timestamp_position != 0) {
|
||||
warnx("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type,
|
||||
_report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
|
||||
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type,
|
||||
_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
|
||||
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
|
||||
warnx("eph: %.2fm, epv: %.2fm", _report.eph, _report.epv);
|
||||
warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph, (double)_report.epv);
|
||||
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
|
||||
warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
|
||||
warnx("rate publication:\t%6.2f Hz", (double)_rate);
|
||||
|
||||
@@ -56,7 +56,7 @@ GPS_Helper::get_velocity_update_rate()
|
||||
return _rate_vel;
|
||||
}
|
||||
|
||||
float
|
||||
void
|
||||
GPS_Helper::reset_update_rates()
|
||||
{
|
||||
_rate_count_vel = 0;
|
||||
@@ -64,7 +64,7 @@ GPS_Helper::reset_update_rates()
|
||||
_interval_rate_start = hrt_absolute_time();
|
||||
}
|
||||
|
||||
float
|
||||
void
|
||||
GPS_Helper::store_update_rates()
|
||||
{
|
||||
_rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
|
||||
|
||||
@@ -46,13 +46,17 @@
|
||||
class GPS_Helper
|
||||
{
|
||||
public:
|
||||
|
||||
GPS_Helper() {};
|
||||
virtual ~GPS_Helper() {};
|
||||
|
||||
virtual int configure(unsigned &baud) = 0;
|
||||
virtual int receive(unsigned timeout) = 0;
|
||||
int set_baudrate(const int &fd, unsigned baud);
|
||||
float get_position_update_rate();
|
||||
float get_velocity_update_rate();
|
||||
float reset_update_rates();
|
||||
float store_update_rates();
|
||||
void reset_update_rates();
|
||||
void store_update_rates();
|
||||
|
||||
protected:
|
||||
uint8_t _rate_count_lat_lon;
|
||||
|
||||
@@ -41,3 +41,5 @@ SRCS = gps.cpp \
|
||||
gps_helper.cpp \
|
||||
mtk.cpp \
|
||||
ubx.cpp
|
||||
|
||||
MODULE_STACKSIZE = 1200
|
||||
|
||||
@@ -249,12 +249,18 @@ MTK::handle_message(gps_mtk_packet_t &packet)
|
||||
warnx("mtk: unknown revision");
|
||||
_gps_position->lat = 0;
|
||||
_gps_position->lon = 0;
|
||||
|
||||
// Indicate this data is not usable and bail out
|
||||
_gps_position->eph_m = 1000.0f;
|
||||
_gps_position->epv_m = 1000.0f;
|
||||
_gps_position->fix_type = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
|
||||
_gps_position->fix_type = packet.fix_type;
|
||||
_gps_position->eph = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
|
||||
_gps_position->epv = 0.0; //unknown in mtk custom mode
|
||||
_gps_position->eph = packet.hdop / 100.0f; // from cm to m
|
||||
_gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph
|
||||
_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
|
||||
_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
|
||||
_gps_position->satellites_visible = packet.satellites;
|
||||
|
||||
+36
-11
@@ -164,7 +164,7 @@ UBX::configure(unsigned &baudrate)
|
||||
send_config_packet(_fd, (uint8_t *)&cfg_rate_packet, sizeof(cfg_rate_packet));
|
||||
|
||||
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
|
||||
warnx("ubx: configuration failed: RATE");
|
||||
warnx("CFG FAIL: RATE");
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -185,7 +185,7 @@ UBX::configure(unsigned &baudrate)
|
||||
send_config_packet(_fd, (uint8_t *)&cfg_nav5_packet, sizeof(cfg_nav5_packet));
|
||||
|
||||
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
|
||||
warnx("ubx: configuration failed: NAV5");
|
||||
warnx("CFG FAIL: NAV5");
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -194,35 +194,42 @@ UBX::configure(unsigned &baudrate)
|
||||
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, 1);
|
||||
|
||||
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
|
||||
warnx("ubx: msg rate configuration failed: NAV POSLLH");
|
||||
warnx("MSG CFG FAIL: NAV POSLLH");
|
||||
return 1;
|
||||
}
|
||||
|
||||
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, 1);
|
||||
|
||||
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
|
||||
warnx("ubx: msg rate configuration failed: NAV TIMEUTC");
|
||||
warnx("MSG CFG FAIL: NAV TIMEUTC");
|
||||
return 1;
|
||||
}
|
||||
|
||||
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, 1);
|
||||
|
||||
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
|
||||
warnx("ubx: msg rate configuration failed: NAV SOL");
|
||||
warnx("MSG CFG FAIL: NAV SOL");
|
||||
return 1;
|
||||
}
|
||||
|
||||
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, 1);
|
||||
|
||||
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
|
||||
warnx("ubx: msg rate configuration failed: NAV VELNED");
|
||||
warnx("MSG CFG FAIL: NAV VELNED");
|
||||
return 1;
|
||||
}
|
||||
|
||||
configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, 5);
|
||||
|
||||
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
|
||||
warnx("ubx: msg rate configuration failed: NAV SVINFO");
|
||||
warnx("MSG CFG FAIL: NAV SVINFO");
|
||||
return 1;
|
||||
}
|
||||
|
||||
configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
|
||||
|
||||
if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
|
||||
warnx("MSG CFG FAIL: MON HW");
|
||||
return 1;
|
||||
}
|
||||
|
||||
@@ -274,7 +281,7 @@ UBX::receive(unsigned timeout)
|
||||
|
||||
if (ret < 0) {
|
||||
/* something went wrong when polling */
|
||||
warnx("ubx: poll error");
|
||||
warnx("poll error");
|
||||
return -1;
|
||||
|
||||
} else if (ret == 0) {
|
||||
@@ -310,7 +317,7 @@ UBX::receive(unsigned timeout)
|
||||
|
||||
/* abort after timeout if no useful packets received */
|
||||
if (time_started + timeout * 1000 < hrt_absolute_time()) {
|
||||
warnx("ubx: timeout - no useful messages");
|
||||
warnx("timeout - no useful messages");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
@@ -383,7 +390,7 @@ UBX::parse_char(uint8_t b)
|
||||
return 1; // message received successfully
|
||||
|
||||
} else {
|
||||
warnx("ubx: checksum wrong");
|
||||
warnx("checksum wrong");
|
||||
decode_init();
|
||||
return -1;
|
||||
}
|
||||
@@ -392,7 +399,7 @@ UBX::parse_char(uint8_t b)
|
||||
_rx_count++;
|
||||
|
||||
} else {
|
||||
warnx("ubx: buffer full");
|
||||
warnx("buffer full");
|
||||
decode_init();
|
||||
return -1;
|
||||
}
|
||||
@@ -566,6 +573,24 @@ UBX::handle_message()
|
||||
break;
|
||||
}
|
||||
|
||||
case UBX_CLASS_MON: {
|
||||
switch (_message_id) {
|
||||
case UBX_MESSAGE_MON_HW: {
|
||||
|
||||
struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
|
||||
|
||||
_gps_position->noise_per_ms = p->noisePerMS;
|
||||
_gps_position->jamming_indicator = p->jamInd;
|
||||
|
||||
ret = 1;
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
+26
-2
@@ -56,6 +56,7 @@
|
||||
//#define UBX_CLASS_RXM 0x02
|
||||
#define UBX_CLASS_ACK 0x05
|
||||
#define UBX_CLASS_CFG 0x06
|
||||
#define UBX_CLASS_MON 0x0A
|
||||
|
||||
/* MessageIDs (the ones that are used) */
|
||||
#define UBX_MESSAGE_NAV_POSLLH 0x02
|
||||
@@ -72,6 +73,8 @@
|
||||
#define UBX_MESSAGE_CFG_RATE 0x08
|
||||
#define UBX_MESSAGE_CFG_NAV5 0x24
|
||||
|
||||
#define UBX_MESSAGE_MON_HW 0x09
|
||||
|
||||
#define UBX_CFG_PRT_LENGTH 20
|
||||
#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */
|
||||
#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
|
||||
@@ -210,6 +213,27 @@ typedef struct {
|
||||
uint8_t ck_b;
|
||||
} gps_bin_nav_velned_packet_t;
|
||||
|
||||
struct gps_bin_mon_hw_packet {
|
||||
uint32_t pinSel;
|
||||
uint32_t pinBank;
|
||||
uint32_t pinDir;
|
||||
uint32_t pinVal;
|
||||
uint16_t noisePerMS;
|
||||
uint16_t agcCnt;
|
||||
uint8_t aStatus;
|
||||
uint8_t aPower;
|
||||
uint8_t flags;
|
||||
uint8_t __reserved1;
|
||||
uint32_t usedMask;
|
||||
uint8_t VP[25];
|
||||
uint8_t jamInd;
|
||||
uint16_t __reserved3;
|
||||
uint32_t pinIrq;
|
||||
uint32_t pulLH;
|
||||
uint32_t pullL;
|
||||
};
|
||||
|
||||
|
||||
//typedef struct {
|
||||
// int32_t time_milliseconds; /**< Measurement integer millisecond GPS time of week */
|
||||
// int16_t week; /**< Measurement GPS week number */
|
||||
@@ -319,7 +343,7 @@ typedef enum {
|
||||
//typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
|
||||
#pragma pack(pop)
|
||||
|
||||
#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer
|
||||
#define RECV_BUFFER_SIZE 300 //The NAV-SOL messages really need such a big buffer
|
||||
|
||||
class UBX : public GPS_Helper
|
||||
{
|
||||
@@ -383,7 +407,7 @@ private:
|
||||
uint8_t _message_class;
|
||||
uint8_t _message_id;
|
||||
unsigned _payload_size;
|
||||
uint8_t _disable_cmd_last;
|
||||
hrt_abstime _disable_cmd_last;
|
||||
};
|
||||
|
||||
#endif /* UBX_H_ */
|
||||
|
||||
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Reference in New Issue
Block a user