mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 10:46:33 +08:00
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,12 @@
|
|||||||
|
{
|
||||||
|
"board_id": 10,
|
||||||
|
"magic": "PX4FWv2",
|
||||||
|
"description": "Firmware for the PX4IOv2 board",
|
||||||
|
"image": "",
|
||||||
|
"build_time": 0,
|
||||||
|
"summary": "PX4IOv2",
|
||||||
|
"version": "2.0",
|
||||||
|
"image_size": 0,
|
||||||
|
"git_identity": "",
|
||||||
|
"board_revision": 0
|
||||||
|
}
|
||||||
@@ -1,41 +0,0 @@
|
|||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
#
|
|
||||||
# Board-specific startup code for the PX4IO
|
|
||||||
#
|
|
||||||
|
|
||||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
|
||||||
LIBNAME = brd_px4io
|
|
||||||
|
|
||||||
include $(APPDIR)/mk/app.mk
|
|
||||||
@@ -0,0 +1,10 @@
|
|||||||
|
#
|
||||||
|
# Board-specific definitions for the PX4IOv2
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Configure the toolchain
|
||||||
|
#
|
||||||
|
CONFIG_ARCH = CORTEXM3
|
||||||
|
|
||||||
|
include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
|
||||||
@@ -0,0 +1,10 @@
|
|||||||
|
#
|
||||||
|
# Makefile for the px4iov2_default configuration
|
||||||
|
#
|
||||||
|
|
||||||
|
#
|
||||||
|
# Board support modules
|
||||||
|
#
|
||||||
|
MODULES += drivers/stm32
|
||||||
|
MODULES += drivers/boards/px4iov2
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||||||
|
MODULES += modules/px4iofirmware
|
||||||
@@ -41,92 +41,6 @@ CONFIGURED_APPS += examples/nsh
|
|||||||
CONFIGURED_APPS += nshlib
|
CONFIGURED_APPS += nshlib
|
||||||
CONFIGURED_APPS += system/readline
|
CONFIGURED_APPS += system/readline
|
||||||
|
|
||||||
# System library - utility functions
|
|
||||||
CONFIGURED_APPS += systemlib
|
|
||||||
CONFIGURED_APPS += systemlib/mixer
|
|
||||||
|
|
||||||
# Math library
|
|
||||||
ifneq ($(CONFIG_APM),y)
|
|
||||||
CONFIGURED_APPS += mathlib
|
|
||||||
CONFIGURED_APPS += mathlib/CMSIS
|
|
||||||
CONFIGURED_APPS += examples/math_demo
|
|
||||||
endif
|
|
||||||
|
|
||||||
# Control library
|
|
||||||
ifneq ($(CONFIG_APM),y)
|
|
||||||
CONFIGURED_APPS += controllib
|
|
||||||
CONFIGURED_APPS += examples/control_demo
|
|
||||||
CONFIGURED_APPS += examples/kalman_demo
|
|
||||||
endif
|
|
||||||
|
|
||||||
# System utility commands
|
|
||||||
CONFIGURED_APPS += systemcmds/reboot
|
|
||||||
CONFIGURED_APPS += systemcmds/perf
|
|
||||||
CONFIGURED_APPS += systemcmds/top
|
|
||||||
CONFIGURED_APPS += systemcmds/boardinfo
|
|
||||||
CONFIGURED_APPS += systemcmds/mixer
|
|
||||||
CONFIGURED_APPS += systemcmds/param
|
|
||||||
CONFIGURED_APPS += systemcmds/pwm
|
|
||||||
CONFIGURED_APPS += systemcmds/bl_update
|
|
||||||
CONFIGURED_APPS += systemcmds/preflight_check
|
|
||||||
CONFIGURED_APPS += systemcmds/delay_test
|
|
||||||
|
|
||||||
# Tutorial code from
|
|
||||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
|
||||||
# CONFIGURED_APPS += examples/px4_simple_app
|
|
||||||
|
|
||||||
# Tutorial code from
|
|
||||||
# https://pixhawk.ethz.ch/px4/dev/deamon
|
|
||||||
# CONFIGURED_APPS += examples/px4_deamon_app
|
|
||||||
|
|
||||||
# Tutorial code from
|
|
||||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
|
||||||
# CONFIGURED_APPS += examples/px4_mavlink_debug
|
|
||||||
|
|
||||||
# Shared object broker; required by many parts of the system.
|
|
||||||
CONFIGURED_APPS += uORB
|
|
||||||
|
|
||||||
CONFIGURED_APPS += mavlink
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|
||||||
CONFIGURED_APPS += mavlink_onboard
|
|
||||||
CONFIGURED_APPS += commander
|
|
||||||
CONFIGURED_APPS += sdlog
|
|
||||||
CONFIGURED_APPS += sensors
|
|
||||||
|
|
||||||
ifneq ($(CONFIG_APM),y)
|
|
||||||
CONFIGURED_APPS += multirotor_att_control
|
|
||||||
CONFIGURED_APPS += multirotor_pos_control
|
|
||||||
CONFIGURED_APPS += fixedwing_att_control
|
|
||||||
CONFIGURED_APPS += fixedwing_pos_control
|
|
||||||
CONFIGURED_APPS += position_estimator
|
|
||||||
CONFIGURED_APPS += attitude_estimator_ekf
|
|
||||||
CONFIGURED_APPS += hott_telemetry
|
|
||||||
endif
|
|
||||||
|
|
||||||
# Hacking tools
|
|
||||||
# XXX needs updating for new i2c config
|
|
||||||
#CONFIGURED_APPS += systemcmds/i2c
|
|
||||||
|
|
||||||
# Communication and Drivers
|
|
||||||
CONFIGURED_APPS += drivers/boards/px4fmuv2
|
|
||||||
CONFIGURED_APPS += drivers/device
|
|
||||||
# XXX needs conversion to SPI
|
|
||||||
#CONFIGURED_APPS += drivers/ms5611
|
|
||||||
# XXX needs conversion to serial
|
|
||||||
#CONFIGURED_APPS += drivers/px4io
|
|
||||||
CONFIGURED_APPS += drivers/stm32
|
|
||||||
#CONFIGURED_APPS += drivers/led
|
|
||||||
CONFIGURED_APPS += drivers/blinkm
|
|
||||||
CONFIGURED_APPS += drivers/stm32/tone_alarm
|
|
||||||
CONFIGURED_APPS += drivers/stm32/adc
|
|
||||||
#CONFIGURED_APPS += drivers/px4fmu
|
|
||||||
CONFIGURED_APPS += drivers/hil
|
|
||||||
CONFIGURED_APPS += drivers/gps
|
|
||||||
CONFIGURED_APPS += drivers/mb12xx
|
|
||||||
|
|
||||||
# Testing stuff
|
|
||||||
CONFIGURED_APPS += px4/sensors_bringup
|
|
||||||
CONFIGURED_APPS += px4/tests
|
|
||||||
|
|
||||||
ifeq ($(CONFIG_CAN),y)
|
ifeq ($(CONFIG_CAN),y)
|
||||||
#CONFIGURED_APPS += examples/can
|
#CONFIGURED_APPS += examples/can
|
||||||
endif
|
endif
|
||||||
|
|||||||
@@ -100,12 +100,19 @@
|
|||||||
* Some of the USART pins are not available; override the GPIO
|
* Some of the USART pins are not available; override the GPIO
|
||||||
* definitions with an invalid pin configuration.
|
* definitions with an invalid pin configuration.
|
||||||
*/
|
*/
|
||||||
|
#undef GPIO_USART2_CTS
|
||||||
#define GPIO_USART2_CTS 0xffffffff
|
#define GPIO_USART2_CTS 0xffffffff
|
||||||
|
#undef GPIO_USART2_RTS
|
||||||
#define GPIO_USART2_RTS 0xffffffff
|
#define GPIO_USART2_RTS 0xffffffff
|
||||||
|
#undef GPIO_USART2_CK
|
||||||
#define GPIO_USART2_CK 0xffffffff
|
#define GPIO_USART2_CK 0xffffffff
|
||||||
|
#undef GPIO_USART3_TX
|
||||||
#define GPIO_USART3_TX 0xffffffff
|
#define GPIO_USART3_TX 0xffffffff
|
||||||
|
#undef GPIO_USART3_CK
|
||||||
#define GPIO_USART3_CK 0xffffffff
|
#define GPIO_USART3_CK 0xffffffff
|
||||||
|
#undef GPIO_USART3_CTS
|
||||||
#define GPIO_USART3_CTS 0xffffffff
|
#define GPIO_USART3_CTS 0xffffffff
|
||||||
|
#undef GPIO_USART3_RTS
|
||||||
#define GPIO_USART3_RTS 0xffffffff
|
#define GPIO_USART3_RTS 0xffffffff
|
||||||
|
|
||||||
/*
|
/*
|
||||||
@@ -168,6 +175,10 @@ extern "C" {
|
|||||||
************************************************************************************/
|
************************************************************************************/
|
||||||
|
|
||||||
EXTERN void stm32_boardinitialize(void);
|
EXTERN void stm32_boardinitialize(void);
|
||||||
|
|
||||||
|
#if defined(__cplusplus)
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
#endif /* __ASSEMBLY__ */
|
#endif /* __ASSEMBLY__ */
|
||||||
#endif /* __ARCH_BOARD_BOARD_H */
|
#endif /* __ARCH_BOARD_BOARD_H */
|
||||||
|
|||||||
@@ -1,42 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @file A simple, polled I2C slave-mode driver.
|
|
||||||
*
|
|
||||||
* The master writes to and reads from a byte buffer, which the caller
|
|
||||||
* can update inbetween calls to the FSM.
|
|
||||||
*/
|
|
||||||
|
|
||||||
extern void i2c_fsm_init(uint8_t *buffer, size_t buffer_size);
|
|
||||||
extern bool i2c_fsm(void);
|
|
||||||
@@ -30,11 +30,3 @@
|
|||||||
# POSSIBILITY OF SUCH DAMAGE.
|
# POSSIBILITY OF SUCH DAMAGE.
|
||||||
#
|
#
|
||||||
############################################################################
|
############################################################################
|
||||||
|
|
||||||
CONFIGURED_APPS += drivers/boards/px4io
|
|
||||||
CONFIGURED_APPS += drivers/stm32
|
|
||||||
|
|
||||||
CONFIGURED_APPS += px4io
|
|
||||||
|
|
||||||
# Mixer library from systemlib
|
|
||||||
CONFIGURED_APPS += systemlib/mixer
|
|
||||||
|
|||||||
@@ -127,7 +127,7 @@ CONFIG_STM32_WWDG=n
|
|||||||
CONFIG_STM32_SPI2=n
|
CONFIG_STM32_SPI2=n
|
||||||
CONFIG_STM32_USART2=y
|
CONFIG_STM32_USART2=y
|
||||||
CONFIG_STM32_USART3=y
|
CONFIG_STM32_USART3=y
|
||||||
CONFIG_STM32_I2C1=y
|
CONFIG_STM32_I2C1=n
|
||||||
CONFIG_STM32_I2C2=n
|
CONFIG_STM32_I2C2=n
|
||||||
CONFIG_STM32_BKP=n
|
CONFIG_STM32_BKP=n
|
||||||
CONFIG_STM32_PWR=n
|
CONFIG_STM32_PWR=n
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,6 @@
|
|||||||
|
#
|
||||||
|
# Board-specific startup code for the PX4IOv2
|
||||||
|
#
|
||||||
|
|
||||||
|
SRCS = px4iov2_init.c \
|
||||||
|
px4iov2_pwm_servo.c
|
||||||
@@ -0,0 +1,171 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 px4iov2_init.c
|
||||||
|
*
|
||||||
|
* PX4FMU-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 "stm32_internal.h"
|
||||||
|
#include "px4iov2_internal.h"
|
||||||
|
|
||||||
|
#include <arch/board/board.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
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* 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 GPIOs */
|
||||||
|
|
||||||
|
/* turn off - all leds are active low */
|
||||||
|
stm32_gpiowrite(GPIO_LED1, true);
|
||||||
|
stm32_gpiowrite(GPIO_LED2, true);
|
||||||
|
stm32_gpiowrite(GPIO_LED3, true);
|
||||||
|
stm32_configgpio(GPIO_LED1);
|
||||||
|
stm32_configgpio(GPIO_LED2);
|
||||||
|
stm32_configgpio(GPIO_LED3);
|
||||||
|
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_BTN_SAFETY);
|
||||||
|
|
||||||
|
/* spektrum power enable is active high - disable it by default */
|
||||||
|
stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, false);
|
||||||
|
stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
|
||||||
|
|
||||||
|
/* servo power enable is active low, and has a pull down resistor
|
||||||
|
* to keep it low during boot (since it may power the whole board.)
|
||||||
|
*/
|
||||||
|
stm32_gpiowrite(GPIO_SERVO_PWR_EN, false);
|
||||||
|
stm32_configgpio(GPIO_SERVO_PWR_EN);
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
|
||||||
|
stm32_configgpio(GPIO_ADC_RSSI);
|
||||||
|
stm32_configgpio(GPIO_ADC_VSERVO);
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
|
||||||
|
|
||||||
|
stm32_gpiowrite(GPIO_SBUS_OUTPUT, false);
|
||||||
|
stm32_configgpio(GPIO_SBUS_OUTPUT);
|
||||||
|
|
||||||
|
/* sbus output enable is active low - disable it by default */
|
||||||
|
stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
|
||||||
|
stm32_configgpio(GPIO_SBUS_OENABLE);
|
||||||
|
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_PPM); /* xxx alternate function */
|
||||||
|
|
||||||
|
stm32_gpiowrite(GPIO_PWM1, false);
|
||||||
|
stm32_configgpio(GPIO_PWM1);
|
||||||
|
|
||||||
|
stm32_gpiowrite(GPIO_PWM2, false);
|
||||||
|
stm32_configgpio(GPIO_PWM2);
|
||||||
|
|
||||||
|
stm32_gpiowrite(GPIO_PWM3, false);
|
||||||
|
stm32_configgpio(GPIO_PWM3);
|
||||||
|
|
||||||
|
stm32_gpiowrite(GPIO_PWM4, false);
|
||||||
|
stm32_configgpio(GPIO_PWM4);
|
||||||
|
|
||||||
|
stm32_gpiowrite(GPIO_PWM5, false);
|
||||||
|
stm32_configgpio(GPIO_PWM5);
|
||||||
|
|
||||||
|
stm32_gpiowrite(GPIO_PWM6, false);
|
||||||
|
stm32_configgpio(GPIO_PWM6);
|
||||||
|
|
||||||
|
stm32_gpiowrite(GPIO_PWM7, false);
|
||||||
|
stm32_configgpio(GPIO_PWM7);
|
||||||
|
|
||||||
|
stm32_gpiowrite(GPIO_PWM8, false);
|
||||||
|
stm32_configgpio(GPIO_PWM8);
|
||||||
|
|
||||||
|
// message("[boot] Successfully initialized px4iov2 gpios\n");
|
||||||
|
}
|
||||||
+112
@@ -0,0 +1,112 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 px4iov2_internal.h
|
||||||
|
*
|
||||||
|
* PX4IOV2 internal definitions
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* Included Files
|
||||||
|
******************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
#include <nuttx/compiler.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
/* these headers are not C++ safe */
|
||||||
|
#include <stm32_internal.h>
|
||||||
|
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* Definitions
|
||||||
|
******************************************************************************/
|
||||||
|
/* Configuration **************************************************************/
|
||||||
|
|
||||||
|
/******************************************************************************
|
||||||
|
* GPIOS
|
||||||
|
******************************************************************************/
|
||||||
|
|
||||||
|
/* LEDS **********************************************************************/
|
||||||
|
|
||||||
|
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
|
||||||
|
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
|
||||||
|
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
|
||||||
|
|
||||||
|
#define GPIO_LED_BLUE BOARD_GPIO_LED1
|
||||||
|
#define GPIO_LED_AMBER BOARD_GPIO_LED2
|
||||||
|
#define GPIO_LED_SAFETY BOARD_GPIO_LED3
|
||||||
|
|
||||||
|
/* Safety switch button *******************************************************/
|
||||||
|
|
||||||
|
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
|
||||||
|
|
||||||
|
/* Power switch controls ******************************************************/
|
||||||
|
|
||||||
|
#define GPIO_SPEKTRUM_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
||||||
|
|
||||||
|
#define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
|
||||||
|
|
||||||
|
#define GPIO_SERVO_FAULT_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13)
|
||||||
|
|
||||||
|
|
||||||
|
/* Analog inputs **************************************************************/
|
||||||
|
|
||||||
|
#define GPIO_ADC_VSERVO (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
|
||||||
|
/* the same rssi signal goes to both an adc and a timer input */
|
||||||
|
#define GPIO_ADC_RSSI (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
|
||||||
|
/* floating pin */
|
||||||
|
#define GPIO_TIM_RSSI (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN12)
|
||||||
|
|
||||||
|
/* PWM pins **************************************************************/
|
||||||
|
|
||||||
|
#define GPIO_PPM (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN8)
|
||||||
|
|
||||||
|
#define GPIO_PWM1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||||
|
#define GPIO_PWM2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
||||||
|
#define GPIO_PWM3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
|
||||||
|
#define GPIO_PWM4 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
|
||||||
|
#define GPIO_PWM5 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
|
||||||
|
#define GPIO_PWM6 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
|
||||||
|
#define GPIO_PWM7 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
|
||||||
|
#define GPIO_PWM8 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
|
||||||
|
|
||||||
|
/* SBUS pins *************************************************************/
|
||||||
|
|
||||||
|
#define GPIO_SBUS_INPUT (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN11)
|
||||||
|
#define GPIO_SBUS_OUTPUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
||||||
|
#define GPIO_SBUS_OENABLE (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
|
||||||
|
|
||||||
@@ -0,0 +1,123 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 px4iov2_pwm_servo.c
|
||||||
|
*
|
||||||
|
* Configuration data for the stm32 pwm_servo driver.
|
||||||
|
*
|
||||||
|
* Note that these arrays must always be fully-sized.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#include <drivers/stm32/drv_pwm_servo.h>
|
||||||
|
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
#include <drivers/drv_pwm_output.h>
|
||||||
|
|
||||||
|
#include <stm32_internal.h>
|
||||||
|
#include <stm32_gpio.h>
|
||||||
|
#include <stm32_tim.h>
|
||||||
|
|
||||||
|
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||||
|
{
|
||||||
|
.base = STM32_TIM2_BASE,
|
||||||
|
.clock_register = STM32_RCC_APB1ENR,
|
||||||
|
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||||
|
.clock_freq = STM32_APB1_TIM2_CLKIN
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.base = STM32_TIM3_BASE,
|
||||||
|
.clock_register = STM32_RCC_APB1ENR,
|
||||||
|
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||||
|
.clock_freq = STM32_APB1_TIM3_CLKIN
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.base = STM32_TIM4_BASE,
|
||||||
|
.clock_register = STM32_RCC_APB1ENR,
|
||||||
|
.clock_bit = RCC_APB1ENR_TIM4EN,
|
||||||
|
.clock_freq = STM32_APB1_TIM4_CLKIN
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM2_CH1OUT,
|
||||||
|
.timer_index = 0,
|
||||||
|
.timer_channel = 1,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM2_CH2OUT,
|
||||||
|
.timer_index = 0,
|
||||||
|
.timer_channel = 2,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM4_CH3OUT,
|
||||||
|
.timer_index = 2,
|
||||||
|
.timer_channel = 3,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM4_CH4OUT,
|
||||||
|
.timer_index = 2,
|
||||||
|
.timer_channel = 4,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM3_CH1OUT,
|
||||||
|
.timer_index = 1,
|
||||||
|
.timer_channel = 1,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM3_CH2OUT,
|
||||||
|
.timer_index = 1,
|
||||||
|
.timer_channel = 2,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM3_CH3OUT,
|
||||||
|
.timer_index = 1,
|
||||||
|
.timer_channel = 3,
|
||||||
|
.default_value = 1000,
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio = GPIO_TIM3_CH4OUT,
|
||||||
|
.timer_index = 1,
|
||||||
|
.timer_channel = 4,
|
||||||
|
.default_value = 1000,
|
||||||
|
}
|
||||||
|
};
|
||||||
Reference in New Issue
Block a user