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Adding px4esc-v1 board and bootloader

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This commit is contained in:
David Sidrane
2016-12-12 03:45:23 -10:00
committed by Lorenz Meier
parent bba8371b0f
commit 24e8c213ee
54 changed files with 7534 additions and 0 deletions
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Images/px4esc-v1.prototype
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{
"board_id": 25,
"magic": "ESCv1",
"description": "Firmware for the PX4ESCV1 board",
"image": "",
"build_time": 0,
"summary": "PX4ESCv1",
"version": "0.1",
"image_size": 0,
"git_identity": "",
"board_revision": 0
}
cmake/configs/nuttx_px4esc-v1_bootloader.cmake
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include(nuttx/px4_impl_nuttx)
px4_nuttx_configure(HWCLASS m4 CONFIG bootloader)
set(px4_src_base ${CMAKE_SOURCE_DIR}/src/)
set(px4_bootloader_base ${px4_src_base}drivers/bootloaders/)
set(px4_module_base ${px4_src_base}modules/)
#
# UAVCAN boot loadable Module ID
#
# Bring in common uavcan hardware identity definitions
#
include(configs/uavcan_board_ident/px4esc-v1)
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
drivers/boards/px4esc-v1/bootloader
)
#
# Bootloaders use a compact vector table not
# from the lib, but exported in startup
#
set(nuttx_startup_files stm32_vectors.o)
cmake/configs/nuttx_px4esc-v1_default.cmake
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include(nuttx/px4_impl_nuttx)
add_definitions(
-DFLASH_BASED_PARAMS
-DPARAM_NO_ORB
-DPARAMETER_BUFFER_SIZE=1024
)
px4_nuttx_configure(HWCLASS m4 CONFIG nsh)
#
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
#
# Bring in common uavcan hardware identity definitions
#
include(configs/uavcan_board_ident/px4esc-v1)
px4_nuttx_make_uavcan_bootloadable(BOARD ${BOARD}
BIN ${CMAKE_CURRENT_BINARY_DIR}/src/firmware/nuttx/firmware_nuttx.bin
HWNAME ${uavcanblid_name}
HW_MAJOR ${uavcanblid_hw_version_major}
HW_MINOR ${uavcanblid_hw_version_minor}
SW_MAJOR ${uavcanblid_sw_version_major}
SW_MINOR ${uavcanblid_sw_version_minor})
set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
set(config_module_list
#
# Board support modules
#
drivers/stm32
drivers/led
drivers/boards/px4esc-v1
#
# System commands
#
systemcmds/reboot
systemcmds/top
systemcmds/config
systemcmds/ver
systemcmds/param
#
# General system control
#
modules/uavcanesc
modules/uavcanesc/nshterm
modules/uavcanesc/commands/cfg
modules/uavcanesc/commands/selftest
modules/uavcanesc/commands/dc
modules/uavcanesc/commands/rpm
modules/uavcanesc/commands/stat
#
# Library modules
#
modules/param
modules/systemlib
#
# Libraries
#
# had to add for cmake, not sure why wasn't in original config
platforms/nuttx
platforms/common
platforms/nuttx/px4_layer
modules/uORB
)
set(config_extra_builtin_cmds
serdis
sercon
)
set(config_extra_libs
uavcan
uavcan_stm32_driver
)
add_custom_target(sercon)
set_target_properties(sercon PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "sercon" STACK_MAIN "2048")
add_custom_target(serdis)
set_target_properties(serdis PROPERTIES
PRIORITY "SCHED_PRIORITY_DEFAULT"
MAIN "serdis" STACK_MAIN "2048")
nuttx-configs/px4esc-v1/Kconfig
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#
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#
if CONFIG_ARCH_BOARD_PX4ESC_V1
config BOARD_HAS_PROBES
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
default y
---help---
This board provides GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide timing
signals from selected drivers.
config BOARD_USE_PROBES
bool "Enable the use provides GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide
timing signals from selected drivers"
default n
depends on BOARD_HAS_PROBES
---help---
Select to use GPIO TEST1(PD2), TEST2(PB3), TEST3(PB4), TEST4(PC12) as PROBE_1-4 to provide timing signals
from selected drivers.
endif
nuttx-configs/px4esc-v1/bootloader/Make.defs
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############################################################################
# configs/px4esc-v1/bootloader/Make.defs
#
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
# David Sidrane <david_s5@nscdg.com>
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name NuttX nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
include ${TOPDIR}/.config
include ${TOPDIR}/tools/Config.mk
include $(TOPDIR)/PX4_Warnings.mk
include $(TOPDIR)/PX4_Config.mk
#
# We only support building with the ARM bare-metal toolchain from
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
#
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
CONFIG_BOOTLOADER=y
CC = $(CROSSDEV)gcc
CXX = $(CROSSDEV)g++
CPP = $(CROSSDEV)gcc -E
LD = $(CROSSDEV)ld
AR = $(CROSSDEV)ar rcs
NM = $(CROSSDEV)nm
OBJCOPY = $(CROSSDEV)objcopy
OBJDUMP = $(CROSSDEV)objdump
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard
# Enable precise stack overflow tracking
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
endif
# Use our linker script
LDSCRIPT = bootloaderld.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 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
endif
endif
# Tool versions
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}
# Optimization 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 = $(PX4_ARCHWARNINGS)
ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
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 =
LDFLAGS += --wrap up_svcall
nuttx-configs/px4esc-v1/bootloader/README.txt
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
This file currently list the SoC that are in uses and the features from the Mfg description.
It includes what is current upported in Nuttx and nearest Soc to help with porting
Pixhawk ESC- v1.2 - STM32F105RCT6
Pixhawk ESC- v1.3 - STM32F105RCT6
Pixhawk ESC- v1.4 - STM32F105RCT6
Pixhawk ESC- v1.5 - STM32F205RCT6
Pixhawk ESC- v1.5-prto -STM32F205RET6
Pixhawk ESC- v1.6-prto -STM32F446RET6
Px4Flow STM32F407VGT6
Px4FlowFuture STM32F427VIT7 Rev_C silicon (no PB12 silicon bug, full 2M Flash available)
Olimexino-STM32 STM32F103RBT6
Olimex LPC-P11C24 LPC11C24FBD48
freedom-kl25z MKL25Z128VLK4 MCU – 48 MHz, 128 KB flash, 16 KB SRAM, USB OTG (FS), 80LQFP
freedom-kl26z MKL26Z128VLH4 MCU – 48 MHz, 128 KB flash, 16 KB SRAM, USB OTG (FS), 64 LQFP
S2740VC - v1.2 STM32F302K8U6
esc35 - v1.0 STM32F303CC
Using:
Part Number Package Marketing Status Core Operating Frequency(F) (Processor speed) FLASH Size (Prog) Data E2PROM nom (B) Internal RAM Size 16-bit timers (IC/OC/PWM) 32-bit timer (IC/OC/PWM) Other timer functions A/D Converter I/Os (High Current) Display controller D/A Converter Integrated op-amps Serial Interface Supply Current(Icc) (Lowest power mode) typ (µA) Supply Current(Icc) (Run mode (per Mhz)) typ (µA) Operating Temperature min (°C) Operating Temperature max (°C)
STM32F103RB LQFP 64 10x10x1.4 Active ARM Cortex-M3 72 128 - 20 4x16-bit - 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - - - 2xSPI 2xI2C 3xUSART(IrDA, ISO 7816) USB CAN 1.7 373 -40 85
STM32F105RC LQFP 64 10x10x1.4 Active ARM Cortex-M3 72 256 - 64 7x16-bit - 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - 2x12-bit - 3xSPI 2xI2S 2xI2C 3xUSART 2xUART USB OTG FS 2xCAN 1.9 393 -40 105
STM32F205RC LQFP 64 10x10x1.4 Active ARM Cortex-M3 120 256 - 96 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - 2x12-bit - 3xSPI 2xI2S 3xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN SDIO 2.5 188 -40 105
STM32F205RE LQFP 64 10x10x1.4 Active ARM Cortex-M3 120 512 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - 2x12-bit - 3xSPI 2xI2S 3xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN SDIO 2.5 188 -40 105
Nuttx:
STM32F103RB LQFP 64 10x10x1.4 Active ARM Cortex-M3 72 128 - 20 4x16-bit - 2 x WDG, RTC, 24-bit down counter 16x12-bit 51 - - - 2xSPI 2xI2C 3xUSART(IrDA, ISO 7816) USB CAN 1.7 373 -40 85
STM32F207IG BGA 176; LQFP Active ARM Cortex-M3 120 1024 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 105
STM32F207ZE LQFP 144 Active ARM Cortex-M3 120 512 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 85
Type number Core Clock speed [max] (MHz) Flash (kB) RAM (kB) GPIO CAN UART I²C SPI ADC channels ADC (bits) Timers Timer (bits) PWM Package name Temperature range (°C) Demoboard
LPC11C24FBD48 Cortex-M0 50 32 8 36 1 1 1 2 8 10 4 16; 32 11 LQFP48 -40 °C to +85 °C OM13012
Products Parts Order Status Budgetary Price excluding tax(US$) HW dev. tools Core: Type Operating Frequency (Max) (MHz) Cache (KB) Total Flash (KB) Internal RAM (KB) Boot ROM (KB) UART SPI I2C I2S USB OTG USB features GPIOs ADC DAC 16-bit PWM (ch) 16-bit Timer (ch) Other Analog blocks Human Machine Interface VDD (min) (V) VDD (max) (V) Package type Pin count Package dimension (WxLxH) (mm3) Pin pitch (mm) Ambient Operating Temperature (Min-Max) (°C)
KL2x MKL25Z128VLK4 N Active 10000 @ US$2.18 each FRDM-KL25Z, TWR-KL25Z48M ARM Cortex-M0+ 48 0.064 128 - - 3 2 2 - 1 (FS) USB OTG LS/FS 66 16-bit (SAR) x 1 12-bit x 1, 6-bit x 1 10 11 Comparator Touch System Interface 1.71 3.6 LQFP 80 12x12x1.6 0.5 -40 to 105
KL2x MKL26Z128VLH4 Y Active 10000 @ US$1.90 each FRDM-KL26Z ARM Cortex-M0+ 48 0.064 128 - - 3 2 2 1 1 (FS) USB 2.0 FS Certified 50 16-bit (SAR) x 1 12-bit x 1, 6-bit x 1 10 11 Comparator Touch System Interface 1.71 3.6 LQFP 64 10x10x1.6 0.5 -40 to 105
Nuttx:
STM32F103RB
STM32F105VB
STM32F107VC
STM32F207IG BGA 176; LQFP 176 24x24x1.4 Active ARM Cortex-M3 120 1024 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 105
STM32F207ZE LQFP 144 20x20x1.4 Active ARM Cortex-M3 120 512 - 128 12x16-bit 2x32-bit 2 x WDG, RTC, 24-bit down counter 24x12-bit 140 - 2x12-bit - 3xSPI 2xI2S 2xI2C 4xUSART(IrDA, ISO 7816) 2xUART 2xUSB OTG (FS+FS/HS) 2xCAN Ethernet MAC10/100 SDIO 2.5 188 -40 85
Nuttx HAS:
STM32F100C8
STM32F100CB
STM32F100R8
STM32F100RB
STM32F100RC
STM32F100RD
STM32F100RE
STM32F100V8
STM32F100VB
STM32F100VC
STM32F100VD
STM32F100VE
STM32F102CB
STM32F103C4
STM32F103C8
STM32F103CB
STM32F103R8
STM32F103RB
STM32F103RC
STM32F103RD
STM32F103RE
STM32F103RG
STM32F103T8
STM32F103TB
STM32F103V8
STM32F103VB
STM32F103VC
STM32F103VE
STM32F103ZE
STM32F105VB
STM32F107VC
STM32F207IG
STM32F207ZE
STM32F302CB
STM32F302CC
STM32F302RB
STM32F302RC
STM32F302VB
STM32F302VC
STM32F303CB
STM32F303CC
STM32F303RB
STM32F303RC
STM32F303VB
STM32F303VC
STM32F372C8
STM32F372CB
STM32F372CC
STM32F372R8
STM32F372RB
STM32F372RC
STM32F372V8
STM32F372VB
STM32F372VC
STM32F373C8
STM32F373CB
STM32F373CC
STM32F373R8
STM32F373RB
STM32F373RC
STM32F373V8
STM32F373VB
STM32F373VC
STM32F401RE
STM32F405RG
STM32F405VG
STM32F405ZG
STM32F407IE
STM32F407IG
STM32F407VE
STM32F407VG
STM32F407ZE
STM32F407ZG
STM32F411RE
STM32F427I
STM32F427V
STM32F427Z
STM32F429B
STM32F429I
STM32F429N
STM32F429V
STM32F429Z
STM32L151C6
STM32L151C8
STM32L151CB
STM32L151R6
STM32L151R8
STM32L151RB
STM32L151V6
STM32L151V8
STM32L151VB
STM32L152C6
STM32L152C8
STM32L152CB
STM32L152R6
STM32L152R8
STM32L152RB
STM32L152V6
STM32L152V8
STM32L152VB
STM32L162VE
STM32L162ZD
nuttx-configs/px4esc-v1/bootloader/defconfig
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nuttx-configs/px4esc-v1/bootloader/setenv.sh
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#!/bin/bash
# nuttx-configs/px4esc-v1/setenv.sh
#
# Copyright (C) 2015 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="${PATH}"
fi
# This is the Cygwin path to the location where I installed the RIDE
# toolchain under windows. You will also have to edit this if you install
# the RIDE toolchain in any other location
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
#export TOOLCHAIN_BIN="/cygdrive/c/Users/MyName/MentorGraphics/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
# This is the Cygwin path to the location where I installed the CodeSourcery
# toolchain under windows. You will also have to edit this if you install
# the CodeSourcery toolchain in any other location
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
# These are the Cygwin paths to the locations where I installed the Atollic
# toolchain under windows. You will also have to edit this if you install
# the Atollic toolchain in any other location. /usr/bin is added before
# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
# at those locations as well.
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
# This is the location where I installed the ARM "GNU Tools for ARM Embedded Processors"
# You can this free toolchain here https://launchpad.net/gcc-arm-embedded
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/GNU Tools ARM Embedded/4.9 2014q4/bin"
# This is the Cygwin path to the location where I build the buildroot
# toolchain.
#export TOOLCHAIN_BIN="${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}"
nuttx-configs/px4esc-v1/include/README.txt
Executable
+2
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This directory contains header files unique to the
PX4 Esc V1.6 board using STM32F446RET6
nuttx-configs/px4esc-v1/include/board.h
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/************************************************************************************
* nuttx-configs/px4esc-v1/include/board.h
*
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#ifndef __CONFIGS_PX4ESC_V1_INCLUDE_BOARD_H
#define __CONFIGS_PX4ESC_V1_INCLUDE_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include "stm32_rcc.h"
#include "stm32_sdio.h"
#include "stm32.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* The PX4ESC uses a 8MHz 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) : 180000000 Determined by PLL configuration
* HCLK(Hz) : 180000000 (STM32_RCC_CFGR_HPRE)
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
* HSE Frequency(Hz) : 8000000 (STM32_BOARD_XTAL)
* PLLM : 4 (STM32_PLLCFG_PLLM)
* PLLN : 180 (STM32_PLLCFG_PLLN)
* PLLP : 2 (STM32_PLLCFG_PLLP)
* PLLQ : 2 (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, : Use PLLSA1M
*/
//TODO(Need to define and add the PLLSAIM );
/* HSI - 16 MHz RC factory-trimmed
* LSI - 32 KHz RC
* HSE - On-board crystal frequency is 24MHz
* LSE - not installed
*/
#define STM32_BOARD_XTAL 8000000ul
#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
* = (8,000,000 / 4) * 180
* = 360,000,000
* SYSCLK = PLL_VCO / PLLP
* = 360,000,000/ 2 = 180,000,000
* USB OTG FS will use PLLSA1M
*
*/
//
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(4)
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(180)
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
#define STM32_PLLCFG_PLLR RCC_PLLCFG_PLLR(2)
/* Configure factors for PLLSAI clock */
#define STM32_RCC_PLLSAICFGR_PLLSAIM RCC_PLLSAICFGR_PLLSAIM(4)
#define STM32_RCC_PLLSAICFGR_PLLSAIN RCC_PLLSAICFGR_PLLSAIN(96)
#define STM32_RCC_PLLSAICFGR_PLLSAIP RCC_PLLSAICFGR_PLLSAIP(4)
#define STM32_RCC_PLLSAICFGR_PLLSAIQ RCC_PLLSAICFGR_PLLSAIQ(2)
/* Configure Dedicated Clock Configuration Register */
#define STM32_RCC_DCKCFGR_PLLI2SDIVQ RCC_DCKCFGR_PLLI2SDIVQ(1)
#define STM32_RCC_DCKCFGR_PLLSAIDIVQ RCC_DCKCFGR_PLLSAIDIVQ(1)
#define STM32_RCC_DCKCFGR_SAI1SRC RCC_DCKCFGR_SAI1SRC_PLLSAI
#define STM32_RCC_DCKCFGR_SAI2SRC RCC_DCKCFGR_SAI2SRC_PLLSAI
#define STM32_RCC_DCKCFGR_TIMPRE 0
#define STM32_RCC_DCKCFGR_I2S1SRC RCC_DCKCFGR_SAI1SRC_PLL
#define STM32_RCC_DCKCFGR_I2S2SRC RCC_DCKCFGR_SAI2SRC_PLL
/* Configure factors for PLLI2S clock */
#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
#define STM32_RCC_PLLI2SCFGR_PLLI2SP RCC_PLLI2SCFGR_PLLI2SP(2)
#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
/* Configure Dedicated Clock Configuration Register 2 */
#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
#define STM32_RCC_DCKCFGR2_CECSEL RCC_DCKCFGR2_CECSEL_HSI
#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLLSAI
#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
#define STM32_RCC_DCKCFGR2_SPDIFRXSEL RCC_DCKCFGR2_SPDIFRXSEL_PLL
#define STM32_SYSCLK_FREQUENCY 180000000ul
/* AHB clock (HCLK) is SYSCLK (180MHz) */
#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 (45MHz) */
#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 (90MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
/* Timers driven from APB2 will be twice PCLK2 */
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1,8-11 are on APB2, others on APB1
*/
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
/* Leds *************************************************************************/
/* LED index values for use with board_setled() */
#define BOARD_LED1 0
#define BOARD_LED_RED BOARD_LED1
#define BOARD_LED2 1
#define BOARD_LED_GREEN BOARD_LED2
#define BOARD_LED3 2
#define BOARD_LED_BLUE BOARD_LED3
#define BOARD_NLEDS 3
/* LED bits for use with board_setleds() */
#define BOARD_LED_RED_BIT (1 << BOARD_LED_RED)
#define BOARD_LED_GREEN_BIT (1 << BOARD_LED_GREEN)
#define BOARD_LED_BLUE_BIT (1 << BOARD_LED_BLUE)
/* TODO:define these
* These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
*
* defined. In that case, the usage by the board port is as follows:
*
* SYMBOL Meaning LED state
* Red Green Blue
* ------------------------ -------------------------- ------ ------ ----*/
#define LED_STARTED 0 /* NuttX has been started OFF OFF OFF */
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF ON */
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF ON OFF */
#define LED_STACKCREATED 3 /* Idle stack created OFF ON ON */
#define LED_INIRQ 4 /* In an interrupt N/C GLOW N/C */
#define LED_SIGNAL 5 /* In a signal handler N/C GLOW N/C */
#define LED_ASSERTION 6 /* An assertion failed GLOW GLOW N/C */
#define LED_PANIC 7 /* The system has crashed Blk OFF N/C */
#define LED_IDLE 8 /* MCU is is sleep mode ON OFF OFF */
/*
* Thus if the blue is statically on, NuttX has successfully booted and is,
* apparently, running normally. If the Red LED is flashing at
* approximately 2Hz, then a fatal error has been detected and the system
* has halted.
*
*/
/* Alternate function pin selections ************************************************/
/* UARTs */
#define GPIO_USART3_RX GPIO_USART3_RX_4
#define GPIO_USART3_TX GPIO_USART3_TX_1
/* CAN
*
* CAN1 is routed to the onboard transceiver.
* CAN2 is routed to the onboard transceiver.
*/
#define GPIO_CAN1_RX GPIO_CAN1_RX_2
#define GPIO_CAN1_TX GPIO_CAN1_TX_2
#define GPIO_CAN2_RX GPIO_CAN2_RX_2
#define GPIO_CAN2_TX GPIO_CAN2_TX_2
/* TIMERS */
#define GPIO_TIM3_CH2OUT GPIO_TIM3_CH2OUT_3
#define GPIO_TIM3_CH3OUT GPIO_TIM3_CH3OUT_2
#define GPIO_TIM3_CH4OUT GPIO_TIM3_CH4OUT_2
#if defined(CONFIG_BOARD_USE_PROBES)
# define PROBE_N(n) (1<<((n)-1))
# define PROBE_1 GPIO_TEST1
# define PROBE_2 GPIO_TEST2
# define PROBE_3 GPIO_TEST3
# define PROBE_3 GPIO_TEST4
# define PROBE_INIT(mask) \
do { \
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
} while(0)
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
#else
# define PROBE_INIT(mask)
# define PROBE(n,s)
# define PROBE_MARK(n)
#endif
/************************************************************************************
* 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 initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
void stm32_boardinitialize(void);
/************************************************************************************
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
*
* Description:
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
* CONFIG_ARCH_LEDS is not defined, then the following interfaces are available to
* control the LEDs from user applications.
*
************************************************************************************/
#ifndef CONFIG_ARCH_LEDS
void stm32_led_initialize(void);
void stm32_setled(int led, bool ledon);
void stm32_setleds(uint8_t ledset);
#endif
#if !defined(CONFIG_NSH_LIBRARY)
int app_archinitialize(void);
#else
#define app_archinitialize() (-ENOSYS)
#endif
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __CONFIGS_PX4ESC_V1_INCLUDE_BOARD_H */
nuttx-configs/px4esc-v1/nsh/Make.defs
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############################################################################
# nuttx-configs/px4esc-v1/nsh/Make.defs
#
# Copyright (C) 2015 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
include $(TOPDIR)/PX4_Warnings.mk
include $(TOPDIR)/PX4_Config.mk
#
# We only support building with the ARM bare-metal toolchain from
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
#
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
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 = $(CROSSDEV)objdump
MAXOPTIMIZATION = -Os
ARCHCPUFLAGS = -mcpu=cortex-m4 \
-mthumb \
-march=armv7e-m \
-mfpu=fpv4-sp-d16 \
-mfloat-abi=hard
# Enable precise stack overflow tracking
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
endif
# 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 = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
endif
endif
# Tool versions
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}
# Optimization 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 = $(PX4_ARCHWARNINGS)
ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
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 $1
endef
HOSTCC = gcc
HOSTINCLUDES = -I.
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
HOSTLDFLAGS =
nuttx-configs/px4esc-v1/nsh/defconfig
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nuttx-configs/px4esc-v1/nsh/setenv.sh
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#!/bin/bash
# nuttx-configs/px4esc-v1/nsh/setenv.sh
#
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name NuttX nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
if [ "$_" = "$0" ] ; then
echo "You must source this script, not run it!" 1>&2
exit 1
fi
WD=`pwd`
if [ ! -x "setenv.sh" ]; then
echo "This script must be executed from the top-level NuttX build directory"
exit 1
fi
if [ -z "${PATH_ORIG}" ]; then
export PATH_ORIG="${PATH}"
fi
# This is the Cygwin path to the location where I installed the RIDE
# toolchain under windows. You will also have to edit this if you install
# the RIDE toolchain in any other location
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
#export TOOLCHAIN_BIN="/cygdrive/c/Users/MyName/MentorGraphics/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
# This is the Cygwin path to the location where I installed the CodeSourcery
# toolchain under windows. You will also have to edit this if you install
# the CodeSourcery toolchain in any other location
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
# These are the Cygwin paths to the locations where I installed the Atollic
# toolchain under windows. You will also have to edit this if you install
# the Atollic toolchain in any other location. /usr/bin is added before
# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
# at those locations as well.
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
# This is the location where I installed the ARM "GNU Tools for ARM Embedded Processors"
# You can this free toolchain here https://launchpad.net/gcc-arm-embedded
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/GNU Tools ARM Embedded/4.9 2014q4/bin"
# This is the Cygwin path to the location where I build the buildroot
# toolchain.
#export TOOLCHAIN_BIN="${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}"
nuttx-configs/px4esc-v1/scripts/bootloaderld.script
+129
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@@ -0,0 +1,129 @@
/****************************************************************************
* nuttx-configs/px4esc-v1/scripts/bootloaderld.script
*
* Copyright (C) 2015 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 STM32F446RE has 512KiB of FLASH beginning at address 0x0800:0000 and
* 112KiB of SRAM beginning at address 0x2000:0000. With an addtional 16 KiB
* located at 0x2001:c000.
* 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 bootloader only uses the first 16KiB of flash.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08000000, LENGTH = 16K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 112K
sram1 (rwx) : ORIGIN = 0x2001C000, LENGTH = 16K
}
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(.);
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > flash
.ARM.extab : {
*(.ARM.extab*)
} > flash
__exidx_start = ABSOLUTE(.);
.ARM.exidx : {
*(.ARM.exidx*)
} > flash
__exidx_end = ABSOLUTE(.);
_eronly = ABSOLUTE(.);
/* The STM32F446RE has 112KiB of SRAM beginning at the following address */
.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) }
}
nuttx-configs/px4esc-v1/scripts/ld.script
+154
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@@ -0,0 +1,154 @@
/****************************************************************************
* nuttx-configs/px4esc-v1/scripts/ld.script
*
* Copyright (C) 2015 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 STM32F446RE has 512KiB of FLASH beginning at address 0x0800:0000 and
* 112KiB of SRAM beginning at address 0x2000:0000. With an addtional 16 KiB
* located at 0x2001:c000.
* 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 bootloader only uses the first 16KiB of flash.
* Paramater storage will use the next 2 16KiB Sectors.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x0800C000, LENGTH = 464K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 112K
sram1 (rwx) : ORIGIN = 0x2001C000, LENGTH = 16K
}
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)
. = ALIGN(8);
/*
* This section positions the app_descriptor_t used
* by the make_can_boot_descriptor.py tool to set
* the application image's descriptor so that the
* uavcan bootloader has the ability to validate the
* image crc, size etc
*/
KEEP(*(.app_descriptor))
*(.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(.);
/* The STM32F446RE has 112KiB of SRAM beginning at the following address */
.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) }
}
nuttx-configs/px4esc-v1/src/Makefile
+100
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@@ -0,0 +1,100 @@
############################################################################
#
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
# David Sidrane <david_s5@nscdg.com>
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name NuttX nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
-include $(TOPDIR)/Make.defs
CFLAGS += -I$(TOPDIR)/sched
ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
ifeq ($(CONFIG_BOOTLOADER),)
CSRCS = empty.c
endif
ifeq ($(CONFIG_BOOTLOADER),y)
SRC_SEARCH = bootloader/can bootloader/src bootloader/common bootloader/uavcan
CSRCS = ostubs.c
CFLAGS += $(addprefix -I,$(SRC_SEARCH))
DEPOPTS = $(addprefix --dep-path ,$(SRC_SEARCH))
VPATH= $(SRC_SEARCH)
endif
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 $(SRCS)
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
@touch $@
depend: .depend
clean:
$(call DELFILE, libboard$(LIBEXT))
$(call CLEAN)
distclean: clean
$(call DELFILE, Make.dep)
$(call DELFILE, .depend)
ifneq ($(BOARD_CONTEXT),y)
context:
endif
-include Make.dep
nuttx-configs/px4esc-v1/src/empty.c
+4
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@@ -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.
*/
nuttx-configs/px4esc-v1/src/ostubs.c
+215
View File
@@ -0,0 +1,215 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/init.h>
#include <nuttx/arch.h>
#include <nuttx/kmalloc.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <syslog.h>
#include <errno.h>
#include <nuttx/board.h>
#include "up_internal.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
volatile dq_queue_t g_readytorun;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
void timer_init(void);
int __wrap_up_svcall(int irq, FAR void *context);
/****************************************************************************
* Name: os_start
*
* Description:
* This function hijacks the entry point of the OS. Normally called by the
* statup code for a given architecture
*
****************************************************************************/
#ifdef CONFIG_STACK_COLORATION
inline static void irq_stack_collor(void *pv, unsigned int nwords)
{
#ifdef CONFIG_ARCH_INTERRUPTSTACK
/* Set the Interrupt stack to the stack coloration value then jump to
* os_start(). We take extreme care here because were currently
* executing on this stack.
*
* We want to avoid sneak stack access generated by the compiler.
*/
__asm__ __volatile__
(
"\tmov r0, %[addr]\n" /* R0 = Address */
"\tmovs r1, %[nwords]\n" /* R1 = nbyts*/
"\tbeq 2f\n" /* (should not happen) */
"\tbic r0, r0, #3\n" /* R0 = Aligned stackptr */
"\tmovw r2, #0xbeef\n" /* R2 = STACK_COLOR = 0xdeadbeef */
"\tmovt r2, #0xdead\n"
"1:\n" /* Top of the loop */
"\tsub r1, r1, #1\n" /* R1 nwords-- */
"\tcmp r1, #0\n" /* Check (nwords == 0) */
"\tstr r2, [r0], #4\n" /* Save stack color word, increment stackptr */
"\tbne 1b\n" /* Bottom of the loop */
"2:\n"
:
: [addr]"r" (pv), [nwords]"r" (nwords) /* Address*/
: /* No clobbers */
);
#endif
}
#endif
void os_start(void)
{
/* Color the irq stack */
#ifdef CONFIG_STACK_COLORATION
irq_stack_collor((void *)&g_intstackalloc, CONFIG_ARCH_INTERRUPTSTACK/sizeof(uint32_t));
#endif
/* Initialize the timer software subsystem */
timer_init();
/* Initialize the interrupt subsystem */
up_irqinitialize();
/* Initialize the OS's timer subsystem */
#if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \
!defined(CONFIG_SYSTEMTICK_EXTCLK)
up_timer_initialize();
#endif
/* Keep the compiler happy for a no return function */
while (1)
{
main(0, 0);
}
}
/****************************************************************************
* Name: malloc
*
* Description:
* This function hijacks the OS's malloc and provides no allocation
*
****************************************************************************/
FAR void *malloc(size_t size)
{
return NULL;
}
/****************************************************************************
* Name: malloc
*
* Description:
* This function hijacks the systems exit
*
****************************************************************************/
void exit(int status)
{
while (1);
}
/****************************************************************************
* Name: sched_ufree
*
* Description:
* This function hijacks the systems sched_ufree that my be called during
* exception processing.
*
****************************************************************************/
void sched_ufree(FAR void *address)
{
}
/****************************************************************************
* Name: up_svcall
*
* Description:
* This function hijacks by the way of a compile time wrapper the systems
* up_svcall
*
****************************************************************************/
int __wrap_up_svcall(int irq, FAR void *context)
{
return 0;
}
src/drivers/boards/px4esc-v1/CMakeLists.txt
+67
View File
@@ -0,0 +1,67 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
include_directories(../../bootloaders/include)
set(SRCS)
list(APPEND SRCS
../common/board_name.c
px4esc_init.c
px4esc_led.c
px4esc_usb.c
../../../drivers/bootloaders/src/common/boot_app_shared.c
../../../drivers/bootloaders/src/util/crc.c
)
if(${OS} STREQUAL "nuttx")
if (NOT ${BOARD} STREQUAL "sim")
list(APPEND SRCS
../../../drivers/device/device_nuttx.cpp
../../../drivers/device/cdev.cpp
)
endif()
else()
list(APPEND SRCS
../../../drivers/device/device_posix.cpp
../../../drivers/device/vdev.cpp
)
endif()
px4_add_module(
MODULE drivers__boards__px4esc-v1
COMPILE_FLAGS
-Os
SRCS ${SRCS}
DEPENDS
platforms__common
)
src/drivers/boards/px4esc-v1/board_config.h
+363
View File
@@ -0,0 +1,363 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 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
*
* PX4ESCv1 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/************************************************************************************
* Definitions
************************************************************************************/
#if STM32_NSPI < 1
# undef CONFIG_STM32_SPI1
# undef CONFIG_STM32_SPI2
#elif STM32_NSPI < 2
# undef CONFIG_STM32_SPI2
#endif
/* High-resolution timer
*/
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
/* GPIO ***********************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------
*
* PA[03] PA3/TIM2_CH4/TIM5_CH4/TIM9_CH2/USART2_RX 17 RC_PWM
* PA[04] PA4/SPI1_NSS 20 OC_ADJ
* PA[05] PA5/TIM2_CH1/TIM2_ETR/TIM8_CH1 21 EN_GATE
* PA[06] PA6/TIM1_BKIN/TIM3_CH1/TIM8_BKIN/SPI1_MISO 22 DC_CAL
*
*/
#define GPIO_RC_PWM (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTA | GPIO_PIN3)
#define GPIO_OC_ADJ (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTA | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
#define GPIO_EN_GATE (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTA | GPIO_PIN5 | GPIO_OUTPUT_CLEAR)
#define GPIO_DC_CAL (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTA | GPIO_PIN6 | GPIO_OUTPUT_CLEAR)
/* GPIO ***********************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------
*
* PB[02] PB2/TIM2_CH4/SPI3_MOSI 28 GAIN
* PB[03] PB3/TIM2_CH2/I2C2_SDA/SPI1_SCK 55 TEST2
* PB[04] PB4/TIM3_CH1/I2C3_SDA/SPI1_MISO/SPI3_MISO 56 TEST3
*
*/
#define GPIO_GAIN (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTB | GPIO_PIN2 | GPIO_OUTPUT_CLEAR)
#define GPIO_TEST2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTB | GPIO_PIN3 | GPIO_OUTPUT_CLEAR)
#define GPIO_TEST3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTB | GPIO_PIN4 | GPIO_OUTPUT_CLEAR)
/* CAN ************************************************************************ *
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ------------------------
*
* PB[05] PB5/TIM3_CH2/SPI1_MOSI/CAN2_RX 57 CAN2_RX
* PB[06] PB6/TIM4_CH1/USART1_TX/CAN2_TX 58 CAN2_TX
* PB[07] PB7/TIM2_CH2/TIM4_CH4/TIM11_CH1/I2C1_SDA 59 WAIT_GETNODEINFO
* PB[08] PB8/TIM4_CH3/I2C1_SCL/CAN1_RX 61 CAN1_RX
* PB[09] PB9/TIM4_CH4/I2C1_SDA/CAN1_TX 62 CAN1_TX
*
*/
#define GPIO_WAIT_GETNODEINFO (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTB | GPIO_PIN7)
/* UART3 ************************************************************************ *
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ------------------------
*
* PB[10] PB10/TIM2_CH3/I2C2_SCL/SPI2_SCK/I2S2_CK/USART3_TX 29 DBG_TX
* PC[05] PC5/USART3_RX/SPDIFRX_IN3/FMC_SDCKE0 25 DBG_RX
*
*/
/* Analog ***********************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------
*
* PC[00] PC0/ADC123_IN10 8 TEMP_SENS
* PC[01] PC1/ADC123_IN11/SPI3_MOSI/SPI2_MOSI 9 VBAT_SENS
* PC[02] PC2/ADC123_IN12/SPI2_MISO, 10 CURR_SENS2
* PC[03] PC3/ADC123_IN13/SPI2_MOSI 11 CURR_SENS1
*
*/
/* GPIO ***********************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------
*
* PC[06] TIM3_CH1/TIM8_CH1/USART6_TX 37 RPM
*
*/
#define GPIO_RPM (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN6)
/* LEDs ***********************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------
*
* PC[07] PC7/TIM3_CH2/TIM8_CH2 38 LED_RED
* PC[08] PC8/TIM3_CH3/TIM8_CH3 39 LED_GREEN
* PC[09] PC9/TIM3_CH4/TIM8_CH4 40 LED_BLUE
*/
#define GPIO_LED1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTC | GPIO_PIN7 | GPIO_OUTPUT_CLEAR)
#define GPIO_LED_RED GPIO_LED1
#define GPIO_LED2 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTC | GPIO_PIN8 | GPIO_OUTPUT_CLEAR)
#define GPIO_LED_GREEN GPIO_LED2
#define GPIO_LED3 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTC | GPIO_PIN9 | GPIO_OUTPUT_CLEAR)
#define GPIO_LED_BLUE GPIO_LED3
/* GPIO ***********************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------
*
* PC[10] PC10/SPI3_SCK/USART3_TX/UART4_TX/ 51 HWID0
* PC[11] PC11/SPI3_MISO/USART3_RX/UART4_RX 52 HWID1
* PC[12] PC12/I2C2_SDA/SPI3_MOSI/USART3_CK/UART5_TX 53 TEST4
* PC[13] PC13/TAMP_1/WKUP1 2 PWRGD
* PC[14] PC14/OSC32_IN 3 OCTW
* PC[15] PC15/OSC32_OUT 4 FAULT
*
*/
#define GPIO_HWID0 (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN10)
#define GPIO_HWID1 (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN11)
#define GPIO_TEST4 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTC | GPIO_PIN12 | GPIO_OUTPUT_CLEAR)
#define GPIO_PWRGD (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN13)
#define GPIO_OCTW (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN14)
#define GPIO_FAULT (GPIO_INPUT | GPIO_PULLUP | GPIO_PORTC | GPIO_PIN15)
/* GPIO ***********************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------
*
* PD[02] PD2/TIM3_ETR/UART5_RX/SDIO_CMD 54 TEST1
*/
#define GPIO_TEST1 (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
GPIO_PORTD | GPIO_PIN2 | GPIO_OUTPUT_CLEAR)
#define BOARD_NAME "PX4ESC_V1"
__BEGIN_DECLS
/************************************************************************************
* Public Types
************************************************************************************/
/************************************************************************************
* Public data
************************************************************************************/
#ifndef __ASSEMBLY__
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins.
*
************************************************************************************/
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
defined(CONFIG_STM32_SPI3)
void weak_function board_spiinitialize(void);
#endif
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins.
*
************************************************************************************/
void stm32_usbinitialize(void);
/************************************************************************************
* Name: stm32_usb_set_pwr_callback()
*
* Description:
* Called to setup set a call back for USB power state changes.
*
* Inputs:
* pwr_changed_handler: An interrupt handler that will be called on VBUS power
* state changes.
*
************************************************************************************/
void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
/****************************************************************************
* Name: stm32_led_initialize
*
* Description:
* This functions is called very early in initialization to perform board-
* specific initialization of LED-related resources. This includes such
* things as, for example, configure GPIO pins to drive the LEDs and also
* putting the LEDs in their correct initial state.
*
* NOTE: In most architectures, LED initialization() is called from
* board-specific initialization and should, therefore, have the name
* <arch>_led_intialize(). But there are a few architectures where the
* LED initialization function is still called from common chip
* architecture logic. This interface is not, however, a common board
* interface in any event and the name board_autoled_initialization is
* deprecated.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
****************************************************************************/
#ifdef CONFIG_ARCH_LEDS
void board_autoled_initialize(void);
#endif
/************************************************************************************
* Name: stm32_can_initialize
*
* Description:
* Called at application startup time to initialize the CAN functionality.
*
************************************************************************************/
#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
int board_can_initialize(void);
#endif
/************************************************************************************
* Name: board_button_initialize
*
* Description:
* Called at application startup time to initialize the Buttons functionality.
*
************************************************************************************/
#if defined(CONFIG_ARCH_BUTTONS)
void board_button_initialize(void);
#endif
/****************************************************************************
* Name: usbmsc_archinitialize
*
* Description:
* Called from the application system/usbmc or the boards_nsh if the
* application is not included.
* Perform architecture specific initialization. This function must
* configure the block device to export via USB. This function must be
* provided by architecture-specific logic in order to use this add-on.
*
****************************************************************************/
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
int usbmsc_archinitialize(void);
#endif
/****************************************************************************
* Name: composite_archinitialize
*
* Description:
* Called from the application system/composite or the boards_nsh if the
* application is not included.
* Perform architecture specific initialization. This function must
* configure the block device to export via USB. This function must be
* provided by architecture-specific logic in order to use this add-on.
*
****************************************************************************/
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
extern int composite_archinitialize(void);
#endif
#include "../common/board_common.h"
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/px4esc-v1/bootloader/CMakeLists.txt
+65
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############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include_directories(${px4_bootloader_base}include)
include_directories(${px4_module_base}systemlib)
include_directories(.)
px4_add_module(
MODULE drivers__boards__px4esc-v1__bootloader
COMPILE_FLAGS
-Os
SRCS
boot.c
led.c
${px4_bootloader_base}src/uavcan/main.c
${px4_bootloader_base}src/common/boot_app_shared.c
${px4_bootloader_base}src/sched/timer.c
${px4_bootloader_base}src/fs/flash.c
${px4_bootloader_base}src/util/crc.c
${px4_bootloader_base}src/util/random.c
${px4_bootloader_base}src/arch/stm32/drivers/can/driver.c
${px4_bootloader_base}src/protocol/uavcan.c
DEPENDS
nuttx_export_${BOARD}
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/drivers/boards/px4esc-v1/bootloader/boot.c
+221
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@@ -0,0 +1,221 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include "boot_config.h"
#include "board.h"
#include <debug.h>
#include <string.h>
#include <arch/board/board.h>
#include <nuttx/board.h>
#include "led.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
STM32_RCC_APB1RSTR);
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST,
STM32_RCC_APB1RSTR);
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
#endif
}
/************************************************************************************
* Name: stm32_boarddeinitialize
*
* Description:
* This function is called by the bootloader code prior to booting
* the application. Is should place the HW into an benign initialized state.
*
************************************************************************************/
void stm32_boarddeinitialize(void)
{
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST,
STM32_RCC_APB1RSTR);
}
/****************************************************************************
* Name: board_get_product_name
*
* Description:
* Called to retrieve the product name. The returned value is a assumed
* to be written to a pascal style string that will be length prefixed
* and not null terminated
*
* Input Parameters:
* product_name - A pointer to a buffer to write the name.
* maxlen - The maximum number of charter that can be written
*
* Returned Value:
* The length of characters written to the buffer.
*
****************************************************************************/
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
{
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
}
/****************************************************************************
* Name: board_get_hardware_version
*
* Description:
* Called to retrieve the hardware version information. The function
* will first initialize the the callers struct to all zeros.
*
* Input Parameters:
* hw_version - A pointer to a uavcan_hardwareversion_t.
*
* Returned Value:
* Length of the unique_id
*
****************************************************************************/
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
{
size_t length = 12;
memset(hw_version, 0 , sizeof(uavcan_HardwareVersion_t));
hw_version->major = HW_VERSION_MAJOR;
hw_version->minor = HW_VERSION_MINOR;
memcpy(hw_version->unique_id, (void *) STM32_SYSMEM_UID, length);
return length;
}
/****************************************************************************
* Name: board_indicate
*
* Description:
* Provides User feedback to indicate the state of the bootloader
* on board specific hardware.
*
* Input Parameters:
* indication - A member of the uiindication_t
*
* Returned Value:
* None
*
****************************************************************************/
#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
typedef struct packed_struct led_t {
uint16_t red : 5;
uint16_t green : 6;
uint16_t blue : 5;
uint8_t hz;
} led_t;
static const led_t i2l[] = {
led(0, off, 0, 0, 0, 0),
led(1, reset, 10, 63, 31, 255),
led(2, autobaud_start, 0, 63, 0, 1),
led(3, autobaud_end, 0, 63, 0, 2),
led(4, allocation_start, 0, 0, 31, 2),
led(5, allocation_end, 0, 63, 31, 3),
led(6, fw_update_start, 15, 63, 31, 3),
led(7, fw_update_erase_fail, 15, 63, 15, 3),
led(8, fw_update_invalid_response, 31, 0, 0, 1),
led(9, fw_update_timeout, 31, 0, 0, 2),
led(a, fw_update_invalid_crc, 31, 0, 0, 4),
led(b, jump_to_app, 0, 63, 0, 10),
};
void board_indicate(uiindication_t indication)
{
rgb_led(i2l[indication].red << 3,
i2l[indication].green << 2,
i2l[indication].blue << 3,
i2l[indication].hz);
}
src/drivers/boards/px4esc-v1/bootloader/boot_config.h
+139
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@@ -0,0 +1,139 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 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 boot_config.h
*
* bootloader definitions that configures the behavior and options
* of the Boot loader
* This file is relies on the parent folder's boot_config.h file and defines
* different usages of the hardware for bootloading
*/
#pragma once
/************************************************************************************
* Included Files
************************************************************************************/
/* Bring in the board_config.h definitions
* todo:make this be pulled in from a targed's build
* files in nuttx*/
#include "../board_config.h"
#include "uavcan.h"
#include <nuttx/compiler.h>
#include <stdint.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
//todo:wrap OPT_x in in ifdefs for command line definitions
#define OPT_TBOOT_MS 5000
#define OPT_NODE_STATUS_RATE_MS 800
#define OPT_NODE_INFO_RATE_MS 50
#define OPT_BL_NUMBER_TIMERS 7
/*
* This Option set is set to 1 ensure a provider of firmware has an
* opportunity update the node's firmware.
* This Option is the default policy and can be overridden by
* a jumper
* When this Policy is set, the node will ignore tboot and
* wait indefinitely for a GetNodeInfo request before booting.
*
* OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
* the polarity of the jumper to be True Active
*
* wait OPT_WAIT_FOR_GETNODEINFO OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
* Jumper
* yes 1 0 x
* yes 1 1 Active
* no 1 1 Not Active
* no 0 0 X
* yes 0 1 Active
* no 0 1 Not Active
*
*/
#define OPT_WAIT_FOR_GETNODEINFO 0
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO 1
#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
#define OPT_ENABLE_WD 1
#define OPT_RESTART_TIMEOUT_MS 20000
/* Reserved for the Boot loader */
#define OPT_BOOTLOADER_SIZE_IN_K (1024*16)
/* Reserved for the application out of the total
* system flash minus the BOOTLOADER_SIZE_IN_K
*/
#define OPT_APPLICATION_RESERVER_IN_K (32*1024) /* Parameters will use the 2nd, 3rd 16KiB sectors*/
#define OPT_APPLICATION_IMAGE_OFFSET (OPT_BOOTLOADER_SIZE_IN_K + OPT_APPLICATION_RESERVER_IN_K)
#define OPT_APPLICATION_IMAGE_LENGTH (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
#define FLASH_BASE STM32_FLASH_BASE
#define FLASH_NUMBER_PAGES STM32_FLASH_NPAGES
#define FLASH_PAGE_SIZE STM32_FLASH_PAGESIZE
#define FLASH_SIZE ((4*16*1024) + (1*64*1024) + (3*128*1024))
#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
#define APPLICATION_LAST_8BIT_ADDRRESS ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
/* If this board uses big flash that have large sectors */
#if defined(CONFIG_STM32_FLASH_CONFIG_E) || \
defined(CONFIG_STM32_FLASH_CONFIG_F) || \
defined(CONFIG_STM32_FLASH_CONFIG_G) || \
defined(CONFIG_STM32_FLASH_CONFIG_I)
#define OPT_USE_YIELD
#endif
/* Bootloader Option*****************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------------
* PB[07] PB7/TIM2_CH2/TIM4_CH4/TIM11_CH1/I2C1_SDA 59 WAIT_GETNODEINFO
*/
#define GPIO_GETNODEINFO_JUMPER GPIO_WAIT_GETNODEINFO
src/drivers/boards/px4esc-v1/bootloader/led.c
+114
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@@ -0,0 +1,114 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <arch/board/board.h>
#include "chip/stm32_tim.h"
#include "led.h"
#define TMR_BASE STM32_TIM3_BASE
#define TMR_FREQUENCY STM32_APB1_TIM3_CLKIN
#define TMR_REG(o) (TMR_BASE+(o))
void rgb_led(int r, int g , int b, int freqs)
{
long fosc = TMR_FREQUENCY;
long prescale = 2048;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
uint16_t val;
static bool once = 0;
if (!once) {
once = 1;
/* Enabel Clock to Block */
modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM3EN);
/* Reload */
val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
val |= ATIM_EGR_UG;
putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
/* Set Prescaler STM32_TIM_SETCLOCK */
putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
/* Enable STM32_TIM_SETMODE*/
putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE |
(ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC4M_SHIFT) | ATIM_CCMR2_OC4PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
putreg16(ATIM_CCER_CC2E | ATIM_CCER_CC2P |
ATIM_CCER_CC3E | ATIM_CCER_CC3P |
ATIM_CCER_CC4E | ATIM_CCER_CC4P, TMR_REG(STM32_GTIM_CCER_OFFSET));
stm32_configgpio(GPIO_TIM3_CH2OUT);
stm32_configgpio(GPIO_TIM3_CH3OUT);
stm32_configgpio(GPIO_TIM3_CH4OUT);
}
long p = freqs == 0 ? p1s : p1s / freqs;
putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR4_OFFSET));
val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
if (freqs == 0) {
val &= ~ATIM_CR1_CEN;
} else {
val |= ATIM_CR1_CEN;
}
putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
}
src/drivers/boards/px4esc-v1/bootloader/led.h
+38
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/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <systemlib/visibility.h>
__BEGIN_DECLS
void rgb_led(int r, int g , int b, int freqs);
__END_DECLS
src/drivers/boards/px4esc-v1/px4esc_init.c
+209
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/****************************************************************************
*
* Copyright (c) 2012-2015 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 px4flow_init.c
*
* PX4ESC-specific early startup code. This file implements the
* board_app_initialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialization.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <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>
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
#include <systemlib/systemlib.h>
#endif
#if defined(FLASH_BASED_PARAMS)
# include <systemlib/flashparams/flashfs.h>
#endif
#include "board_config.h"
/* todo: This is constant but not proper */
__BEGIN_DECLS
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
/****************************************************************************
* 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 initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
/* configure LEDs */
board_autoled_initialize();
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
defined(CONFIG_STM32_SPI3)
board_spiinitialize();
#endif
}
__EXPORT void board_initialize(void)
{
}
/****************************************************************************
* Name: board_app_initialize
*
* Description:
* Perform application specific initialization. This function is never
* called directly from application code, but only indirectly via the
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
*
* Input Parameters:
* arg - The boardctl() argument is passed to the board_app_initialize()
* implementation without modification. The argument has no
* meaning to NuttX; the meaning of the argument is a contract
* between the board-specific initalization logic and the the
* matching application logic. The value cold be such things as a
* mode enumeration value, a set of DIP switch switch settings, a
* pointer to configuration data read from a file or serial FLASH,
* or whatever you would like to do with it. Every implementation
* should accept zero/NULL as a default configuration.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on
* any failure to indicate the nature of the failure.
*
****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg)
{
int result = OK;
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
/* configure the high-resolution time/callout interface */
hrt_init();
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
#if defined(FLASH_BASED_PARAMS)
static sector_descriptor_t sector_map[] = {
{1, 16 * 1024, 0x08004000},
{2, 16 * 1024, 0x08008000},
{0, 0, 0},
};
static uint8_t param_buffer[PARAMETER_BUFFER_SIZE];
parameter_flashfs_init(sector_map, param_buffer, sizeof(param_buffer));
#endif
return result;
}
__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
{
}
src/drivers/boards/px4esc-v1/px4esc_led.c
+192
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/****************************************************************************
*
* Copyright (c) 2012-2015 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 px4esc_led.c
*
* PX4ESC LED backend.
*/
#include <px4_config.h>
#include <stdbool.h>
#include <nuttx/board.h>
#include "stm32.h"
#include "board_config.h"
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
static uint32_t g_ledmap[] = {
GPIO_LED_RED, // Indexed by BOARD_LED_RED
GPIO_LED_GREEN, // Indexed by BOARD_LED_GREEN
GPIO_LED_BLUE, // Indexed by BOARD_LED_BLUE
};
__EXPORT void led_init(void)
{
/* Configure LED GPIOs for output */
for (size_t l = 0; l < arraySize(g_ledmap); l++) {
stm32_configgpio(g_ledmap[l]);
}
}
__EXPORT void board_autoled_initialize(void)
{
led_init();
}
static void phy_set_led(int led, bool state)
{
/* Pull Down to switch on */
stm32_gpiowrite(g_ledmap[led], !state);
}
static bool phy_get_led(int led)
{
return !stm32_gpioread(g_ledmap[led]);
}
__EXPORT void led_on(int led)
{
phy_set_led(led, true);
}
__EXPORT void led_off(int led)
{
phy_set_led(led, false);
}
__EXPORT void led_toggle(int led)
{
phy_set_led(led, !phy_get_led(led));
}
static bool g_initialized;
// Nuttx Usages
__EXPORT
void board_autoled_on(int led)
{
switch (led) {
default:
case LED_STARTED:
case LED_HEAPALLOCATE:
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_IRQSENABLED:
phy_set_led(BOARD_LED_GREEN, true);
break;
case LED_STACKCREATED:
phy_set_led(BOARD_LED_GREEN, true);
phy_set_led(BOARD_LED_BLUE, true);
g_initialized = true;
break;
case LED_INIRQ:
case LED_SIGNAL:
phy_set_led(BOARD_LED_GREEN, true);
break;
case LED_ASSERTION:
phy_set_led(BOARD_LED_RED, true);
phy_set_led(BOARD_LED_GREEN, true);
break;
case LED_PANIC:
phy_set_led(BOARD_LED_RED, true);
break;
case LED_IDLE : /* IDLE */
phy_set_led(BOARD_LED_RED, true);
phy_set_led(BOARD_LED_BLUE, true);
break;
}
}
/****************************************************************************
* Name: board_autoled_off
****************************************************************************/
__EXPORT void board_autoled_off(int led)
{
switch (led) {
default:
case LED_STARTED:
case LED_HEAPALLOCATE:
case LED_IRQSENABLED:
phy_set_led(BOARD_LED_BLUE, false);
case LED_STACKCREATED:
break;
case LED_INIRQ:
case LED_SIGNAL:
case LED_ASSERTION:
phy_set_led(BOARD_LED_RED, false);
phy_set_led(BOARD_LED_GREEN, false);
break;
case LED_PANIC:
phy_set_led(BOARD_LED_RED, false);
phy_set_led(BOARD_LED_GREEN, false);
break;
case LED_IDLE: /* IDLE */
phy_set_led(BOARD_LED_GREEN, g_initialized);
break;
}
}
src/drivers/boards/px4esc-v1/px4esc_usb.c
+107
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/****************************************************************************
*
* Copyright (C) 2015 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 px4esc_usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include <up_arch.h>
#include <stm32.h>
#include "board_config.h"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32_OTGFS
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_VBUS);
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}
/************************************************************************************
* Name: stm32_usbsuspend
*
* Description:
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
* used. This function is called whenever the USB enters or leaves suspend mode.
* This is an opportunity for the board logic to shutdown clocks, power, etc.
* while the USB is suspended.
*
************************************************************************************/
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
uinfo("resume: %d\n", resume);
}
src/modules/uavcanesc/.gitignore
+1
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@@ -0,0 +1 @@
./dsdlc_generated/
src/modules/uavcanesc/CMakeLists.txt
+84
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@@ -0,0 +1,84 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
string(TOUPPER "${OS}" OS_UPPER)
add_definitions(
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
-DUAVCAN_NO_ASSERTIONS
-DUAVCAN_PLATFORM=stm32
-DUAVCAN_STM32_${OS_UPPER}=1
-DUAVCAN_STM32_NUM_IFACES=1
-DUAVCAN_STM32_TIMER_NUMBER=2
-DUAVCAN_USE_CPP03=ON
-DUAVCAN_USE_EXTERNAL_SNPRINT
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
px4_share_subdirectory(RELDIR ../uavcan/libuavcan ARGS EXCLUDE_FROM_ALL)
add_dependencies(uavcan platforms__nuttx)
include_directories(../../drivers/bootloaders/include)
include_directories(../uavcan/libuavcan/libuavcan/include)
include_directories(../uavcan/libuavcan/libuavcan/include/dsdlc_generated)
include_directories(../uavcan/libuavcan/libuavcan_drivers/posix/include)
include_directories(../uavcan/libuavcan/libuavcan_drivers/stm32/driver/include)
include_directories(../systemlib/flashparams)
px4_add_module(
MODULE modules__uavcanesc
MAIN uavcanesc
STACK_MAIN 4096
COMPILE_FLAGS
-Wno-deprecated-declarations
-O3
SRCS
uavcanesc_main.cpp
indication_controller.cpp
led.cpp
uavcanesc_params.c
../systemlib/flashparams/flashparams.c
../systemlib/flashparams/flashfs.c
DEPENDS
platforms__common
uavcan
)
src/modules/uavcanesc/commands/cfg/CMakeLists.txt
+48
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@@ -0,0 +1,48 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__uavcanesc__commands__cfg
MAIN cfg
STACK_MAIN 1024
COMPILE_FLAGS
-Wno-deprecated-declarations
-O3
SRCS
esc_cfg.cpp
DEPENDS
platforms__common
)
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/uavcanesc/commands/cfg/esc_cfg.cpp
+58
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@@ -0,0 +1,58 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <px4_config.h>
#include <px4_log.h>
#include <stdint.h>
#include <cstdlib>
#include "esc_cfg.hpp"
static void print_usage()
{
PX4_INFO("usage: \n"
"\tcfg {yada|yada|yada}");
}
extern "C" __EXPORT int cfg_main(int argc, char *argv[]);
int cfg_main(int argc, char *argv[])
{
if (argc < 2) {
print_usage();
::exit(1);
}
print_usage();
::exit(1);
}
src/modules/uavcanesc/commands/cfg/esc_cfg.hpp
+33
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/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
src/modules/uavcanesc/commands/dc/CMakeLists.txt
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############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__uavcanesc__commands__dc
MAIN dc
STACK_MAIN 1024
COMPILE_FLAGS
-Wno-deprecated-declarations
-O3
SRCS
esc_dc.cpp
DEPENDS
platforms__common
)
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/uavcanesc/commands/dc/esc_dc.cpp
+58
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@@ -0,0 +1,58 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <px4_config.h>
#include <px4_log.h>
#include <stdint.h>
#include <cstdlib>
#include "esc_dc.hpp"
static void print_usage()
{
PX4_INFO("usage: \n"
"\tdc {yada|yada|yada}");
}
extern "C" __EXPORT int dc_main(int argc, char *argv[]);
int dc_main(int argc, char *argv[])
{
if (argc < 2) {
print_usage();
::exit(1);
}
print_usage();
::exit(1);
}
src/modules/uavcanesc/commands/dc/esc_dc.hpp
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/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
src/modules/uavcanesc/commands/rpm/CMakeLists.txt
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@@ -0,0 +1,48 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__uavcanesc__commands__rpm
MAIN rpm
STACK_MAIN 1024
COMPILE_FLAGS
-Wno-deprecated-declarations
-O3
SRCS
esc_rpm.cpp
DEPENDS
platforms__common
)
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/uavcanesc/commands/rpm/esc_rpm.cpp
+58
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@@ -0,0 +1,58 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <px4_config.h>
#include <px4_log.h>
#include <stdint.h>
#include <cstdlib>
#include "esc_rpm.hpp"
static void print_usage()
{
PX4_INFO("usage: \n"
"\trpm {yada|yada|yada}");
}
extern "C" __EXPORT int rpm_main(int argc, char *argv[]);
int rpm_main(int argc, char *argv[])
{
if (argc < 2) {
print_usage();
::exit(1);
}
print_usage();
::exit(1);
}
src/modules/uavcanesc/commands/rpm/esc_rpm.hpp
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/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
src/modules/uavcanesc/commands/selftest/CMakeLists.txt
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############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__uavcanesc__commands__selftest
MAIN selftest
STACK_MAIN 1024
COMPILE_FLAGS
-Wno-deprecated-declarations
-O3
SRCS
esc_selftest.cpp
DEPENDS
platforms__common
)
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/uavcanesc/commands/selftest/esc_selftest.cpp
+58
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@@ -0,0 +1,58 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <px4_config.h>
#include <px4_log.h>
#include <stdint.h>
#include <cstdlib>
#include "esc_selftest.hpp"
static void print_usage()
{
PX4_INFO("usage: \n"
"\tselftest {yada|yada|yada}");
}
extern "C" __EXPORT int selftest_main(int argc, char *argv[]);
int selftest_main(int argc, char *argv[])
{
if (argc < 2) {
print_usage();
::exit(1);
}
print_usage();
::exit(1);
}
src/modules/uavcanesc/commands/selftest/esc_selftest.hpp
+33
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@@ -0,0 +1,33 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
src/modules/uavcanesc/commands/stat/CMakeLists.txt
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@@ -0,0 +1,49 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__uavcanesc__commands__stat
MAIN cfg
STACK_MAIN 1024
COMPILE_FLAGS
-Wno-deprecated-declarations
-O3
SRCS
esc_stat.cpp
DEPENDS
platforms__common
)
## vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/modules/uavcanesc/commands/stat/esc_stat.cpp
+58
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@@ -0,0 +1,58 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <px4_config.h>
#include <px4_log.h>
#include <stdint.h>
#include <cstdlib>
#include "esc_stat.hpp"
static void print_usage()
{
PX4_INFO("usage: \n"
"\tstat {yada|yada|yada}");
}
extern "C" __EXPORT int stat_main(int argc, char *argv[]);
int stat_main(int argc, char *argv[])
{
if (argc < 2) {
print_usage();
::exit(1);
}
print_usage();
::exit(1);
}
src/modules/uavcanesc/commands/stat/esc_stat.hpp
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@@ -0,0 +1,33 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
src/modules/uavcanesc/indication_controller.cpp
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/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <systemlib/systemlib.h>
#include "indication_controller.hpp"
#include <uavcan/equipment/indication/LightsCommand.hpp>
#include "led.hpp"
namespace
{
unsigned self_light_index = 0;
void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
{
uavcan::uint32_t red = 0;
uavcan::uint32_t green = 0;
uavcan::uint32_t blue = 0;
for (auto &cmd : msg.commands) {
if (cmd.light_id == self_light_index) {
using uavcan::equipment::indication::RGB565;
red = uavcan::uint32_t(float(cmd.color.red) *
(255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
green = uavcan::uint32_t(float(cmd.color.green) *
(255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
blue = uavcan::uint32_t(float(cmd.color.blue) *
(255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
red = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
blue = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
}
}
}
}
int init_indication_controller(uavcan::INode &node)
{
static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
self_light_index = 0;
int res = 0;
res = sub_light.start(cb_light_command);
if (res != 0) {
return res;
}
return 0;
}
src/modules/uavcanesc/indication_controller.hpp
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/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#pragma once
#include <uavcan_stm32/uavcan_stm32.hpp>
int init_indication_controller(uavcan::INode &node);
src/modules/uavcanesc/led.cpp
+75
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@@ -0,0 +1,75 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <arch/board/board.h>
#include "chip/stm32_tim.h"
#include "led.hpp"
void rgb_led(int r, int g , int b, int freqs)
{
long fosc = 72000000;
long prescale = 2048;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
static struct stm32_tim_dev_s *tim = 0;
if (tim == 0) {
tim = stm32_tim_init(3);
STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
STM32_TIM_SETCLOCK(tim, p1s - 8);
STM32_TIM_SETPERIOD(tim, p1s);
STM32_TIM_SETCOMPARE(tim, 1, 0);
STM32_TIM_SETCOMPARE(tim, 2, 0);
STM32_TIM_SETCOMPARE(tim, 3, 0);
STM32_TIM_SETCHANNEL(tim, 1, mode);
STM32_TIM_SETCHANNEL(tim, 2, mode);
STM32_TIM_SETCHANNEL(tim, 3, mode);
}
long p = freqs == 0 ? p1s : p1s / freqs;
STM32_TIM_SETPERIOD(tim, p);
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
}
src/modules/uavcanesc/led.hpp
+38
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@@ -0,0 +1,38 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name 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.
*
****************************************************************************/
#include <systemlib/visibility.h>
__BEGIN_DECLS
void rgb_led(int r, int g , int b, int freqs);
__END_DECLS
src/modules/uavcanesc/nshterm/CMakeLists.txt
+48
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@@ -0,0 +1,48 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE modules__uavcanesc__nshterm
MAIN nshterm
STACK_MAIN 1500
COMPILE_FLAGS
-Wno-deprecated-declarations
-Os
SRCS
nshterm.c
PRIORITY "SCHED_PRIORITY_DEFAULT-30"
DEPENDS
platforms__common
)
## vim: set noet ft=cmake fenc=utf-8 ff=unix :

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