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boards/ delete unused stm32 nucleo-F767ZI example

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This commit is contained in:
Daniel Agar
2019-01-25 10:04:04 -05:00
parent 9ae61b7775
commit 38e3da535f
16 changed files with 1 additions and 4461 deletions
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.ci/Jenkinsfile-compile
+1 -2
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@@ -95,8 +95,7 @@ pipeline {
]
def nuttx_builds_other = [
target: ["px4_cannode-v1_default",
"px4_esc-v1_default", "stm_nucleo-F767ZI_default", "thiemar_s2740vc-v1_default"],
target: ["px4_cannode-v1_default", "px4_esc-v1_default", "thiemar_s2740vc-v1_default"],
image: docker_images.nuttx,
archive: false
]
Makefile
-1
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@@ -244,7 +244,6 @@ alt_firmware: \
check_px4_cannode-v1_default \
check_px4_esc-v1_default \
check_auav_esc35-v1_default \
check_stm_nucleo-F767ZI_default \
check_thiemar_s2740vc-v1_default \
sizes
boards/stm/nucleo-F767ZI/default.cmake
-113
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@@ -1,113 +0,0 @@
px4_add_board(
PLATFORM nuttx
VENDOR stm
MODEL nucleo-F767ZI
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m7
ROMFSROOT px4fmu_common
TESTING
#UAVCAN_INTERFACES 2
DRIVERS
barometer # all available barometer drivers
batt_smbus
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
gps
#heater
imu/adis16448
#imu # all available imu drivers
imu/mpu6000
irlock
lights/blinkm
lights/oreoled
lights/rgbled
#lights/rgbled_pwm
magnetometer # all available magnetometer drivers
#md25
mkblctrl
lights/pca8574
pca9685
#pmw3901
protocol_splitter
pwm_input
pwm_out_sim
px4flow
px4fmu
rc_input
roboclaw
stm32
stm32/adc
stm32/tone_alarm
tap_esc
telemetry # all available telemetry drivers
test_ppm
#uavcan
MODULES
attitude_estimator_q
camera_feedback
commander
dataman
ekf2
events
fw_att_control
fw_pos_control_l1
gnd_att_control
gnd_pos_control
land_detector
landing_target_estimator
load_mon
local_position_estimator
logger
mavlink
mc_att_control
mc_pos_control
navigator
position_estimator_inav
sensors
vmount
vtol_att_control
wind_estimator
SYSTEMCMDS
bl_update
config
dumpfile
esc_calib
hardfault_log
led_control
mixer
motor_ramp
motor_test
mtd
nshterm
param
perf
pwm
reboot
reflect
sd_bench
shutdown
tests # tests and test runner
top
topic_listener
tune_control
usb_connected
ver
EXAMPLES
bottle_drop # OBC challenge
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
hwtest # Hardware test
#matlab_csv_serial
px4_mavlink_debug # Tutorial code from https://px4.io/dev/debug_values
px4_simple_app # Tutorial code from https://px4.io/dev/px4_simple_app
rover_steering_control # Rover example app
segway
uuv_example_app
)
boards/stm/nucleo-F767ZI/firmware.prototype
-13
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@@ -1,13 +0,0 @@
{
"board_id": 90,
"magic": "PX4FWv1",
"description": "Firmware for the ST nucleo-144 with STM32F767ZI board",
"image": "",
"build_time": 0,
"summary": "STMNUCLEO-F767ZI",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2097152,
"git_identity": "",
"board_revision": 0
}
boards/stm/nucleo-F767ZI/nuttx-config/include/board.h
-573
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boards/stm/nucleo-F767ZI/nuttx-config/nsh/defconfig
-1699
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boards/stm/nucleo-F767ZI/nuttx-config/scripts/ld.script
-180
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@@ -1,180 +0,0 @@
/****************************************************************************
* nuttx-configs/px4nucleoF767ZI-v1/scripts/script.ld
*
* Copyright (C) 2016 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 STM32F767ZIT6 has 2048 KiB of main FLASH memory. This FLASH memory
* can be accessed from either the AXIM interface at address 0x0800:0000 or
* from the ITCM interface at address 0x0020:0000.
*
* Additional information, including the option bytes, is available at at
* FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
*
* In the STM32F767ZIT6, two different boot spaces can be selected through
* the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
* BOOT_ADD1 option bytes:
*
* 1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
* ST programmed value: Flash on ITCM at 0x0020:0000
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
* ST programmed value: System bootloader at 0x0010:0000
*
* NuttX does not modify these option byes. On the unmodified NUCLEO-144
* board, the BOOT0 pin is at ground so by default, the STM32F767ZIT6 will
* boot from address 0x0020:0000 in ITCM FLASH.
*
* The STM32F767ZIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM).
* SRAM is split up into three blocks:
*
* 1) 128 KiB of DTCM SRM beginning at address 0x2000:0000
* 2) 368 KiB of SRAM1 beginning at address 0x2002:0000
* 3) 16 KiB of SRAM2 beginning at address 0x2007: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.
*/
MEMORY
{
itcm (rwx) : ORIGIN = 0x00200000, LENGTH = 2048K
flash (rx) : ORIGIN = 0x08000000, LENGTH = 2048K
dtcm (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
sram1 (rwx) : ORIGIN = 0x20020000, LENGTH = 368K
sram2 (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
}
OUTPUT_ARCH(arm)
EXTERN(_vectors)
ENTRY(_stext)
/*
* 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)
EXTERN(_bootdelay_signature)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
. = ALIGN(32);
/*
This signature provides the bootloader with a way to delay booting
*/
_bootdelay_signature = ABSOLUTE(.);
FILL(0xffecc2925d7d05c5)
. += 8;
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.glue_7)
*(.glue_7t)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
/*
* This is a hack to make the newlib libm __errno() call
* use the NuttX get_errno_ptr() function.
*/
__errno = get_errno_ptr;
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > flash
/*
* Construction data for parameters.
*/
__param ALIGN(4): {
__param_start = ABSOLUTE(.);
KEEP(*(__param*))
__param_end = ABSOLUTE(.);
} > flash
.ARM.extab : {
*(.ARM.extab*)
} > flash
__exidx_start = ABSOLUTE(.);
.ARM.exidx : {
*(.ARM.exidx*)
} > flash
__exidx_end = ABSOLUTE(.);
_eronly = ABSOLUTE(.);
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
_edata = ABSOLUTE(.);
} > sram1 AT > flash
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram1
/* 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) }
}
boards/stm/nucleo-F767ZI/src/CMakeLists.txt
-50
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@@ -1,50 +0,0 @@
############################################################################
#
# Copyright (c) 2016 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_library(drivers_board
# stm32_can.c # WIP
init.c
led.c
sdio.c
spi.c
timer_config.c
usb.c
)
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio
nuttx_drivers # sdio
drivers__led # drv_led_start
px4_layer
)
boards/stm/nucleo-F767ZI/src/board_config.h
-400
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@@ -1,400 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2016 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
*
* PX4NUCLEOF767ZI-v1 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
__BEGIN_DECLS
/* these headers are not C++ safe */
#include <chip.h>
#include <stm32_gpio.h>
#include <arch/board/board.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
//{GPIO_RSSI_IN, 0, 0}, - pio Analog used as PWM
//{0, GPIO_LED_SAFETY, 0}, pio replacement
//{GPIO_SAFETY_SWITCH_IN, 0, 0}, pio replacement
//{0, GPIO_PERIPH_3V3_EN, 0}, Owned by the 8266 driver
//{0, GPIO_SBUS_INV, 0}, https://github.com/PX4/Firmware/blob/master/src/modules/px4iofirmware/sbus.c
//{GPIO_8266_GPIO0, 0, 0}, Owned by the 8266 driver
//{0, GPIO_SPEKTRUM_PWR_EN, 0}, Owned Spektum driver input to auto pilot
//{0, GPIO_8266_PD, 0}, Owned by the 8266 driver
//{0, GPIO_8266_RST, 0}, Owned by the 8266 driver
/* PX4FMU GPIOs ***********************************************************************************/
/* LEDs */
/* Port[CON-PIN] FMUv5 Delta */
#define GPIO_LED1 /* PB14[CN12-28] DRDY2 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN14)
#define GPIO_LED2 /* PB0[CN11-34] RSSI */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define GPIO_LED3 /* PB7[CN11-21] GPS1_TX */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN7)
#define GPIO_LED_RED GPIO_LED1
#define GPIO_LED_GREEN GPIO_LED2
#define GPIO_LED_BLUE GPIO_LED3
#define BOARD_HAS_CONTROL_STATUS_LEDS 1
#define BOARD_OVERLOAD_LED LED_RED
#define BOARD_ARMED_LED LED_BLUE
#define BOARD_ARMED_STATE_LED LED_GREEN
/* Define the Chip Selects */
#define GPIO_SPI_CS_MPU9250 /* PF2[CN11-52] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN2)
#define GPIO_SPI_CS_HMC5983 /* PF3[CN12-58] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN3)
#define GPIO_SPI_CS_LIS3MDL /* PF4[CN12-38] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN4)
#define GPIO_SPI_CS_FRAM /* PF5[CN12-36] */(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN5)
#define GPIO_SPI_CS_MS5611 /* PF10[CN12-42] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN10)
#define GPIO_SPI_CS_ICM_20608_G /* PF13[CN12-57] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN13)
/* Define the Ready interrupts */
#define GPIO_DRDY_MPU9250 /* PB4[CN12-27] */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN4)
#define GPIO_DRDY_HMC5983 /* PB15[CN12-26] */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN15)
#define GPIO_DRDY_ICM_20608_G /* PC5[CN12-6] */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN5)
/*
* Define the ability to shut off off the sensor signals
* by changing the signals to inputs
*/
#define _PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
#define GPIO_SPI_CS_OFF_MPU9250 _PIN_OFF(GPIO_SPI_CS_MPU9250)
#define GPIO_SPI_CS_OFF_HMC5983 _PIN_OFF(GPIO_SPI_CS_HMC5983)
#define GPIO_SPI_CS_OFF_LIS3MDL _PIN_OFF(GPIO_SPI_CS_LIS3MDL)
#define GPIO_SPI_CS_OFF_MS5611 _PIN_OFF(GPIO_SPI_CS_MS5611)
#define GPIO_SPI_CS_OFF_ICM_20608_G _PIN_OFF(GPIO_SPI_CS_ICM_20608_G)
#define GPIO_DRDY_OFF_MPU9250 _PIN_OFF(GPIO_DRDY_MPU9250)
#define GPIO_DRDY_OFF_HMC5983 _PIN_OFF(GPIO_DRDY_HMC5983)
#define GPIO_DRDY_OFF_ICM_20608_G _PIN_OFF(GPIO_DRDY_ICM_20608_G)
/* SPI1 off */
#define GPIO_SPI1_SCK_OFF _PIN_OFF(GPIO_SPI1_SCK)
#define GPIO_SPI1_MISO_OFF _PIN_OFF(GPIO_SPI1_MISO)
#define GPIO_SPI1_MOSI_OFF _PIN_OFF(GPIO_SPI1_MOSI)
/* SENSORS are on SPI1
* FRAM is on bus SPI4
* MS5611 is on bus SPI6
*/
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 4
#define PX4_SPI_BUS_BARO 5
#define PX4_SPI_BUS_ICM 6
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
#define PX4_SPIDEV_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
#define PX4_SPIDEV_HMC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,3)
#define PX4_SPIDEV_LIS PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,4)
#define PX4_SPIDEV_BMI PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,5)
#define PX4_SPIDEV_BMA PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,6)
#define PX4_SENSOR_BUS_CS_GPIO {0, 0, GPIO_SPI_CS_MPU9250, GPIO_SPI_CS_HMC5983, GPIO_SPI_CS_LIS3MDL, 0, 0}
#define PX4_SENSORS_BUS_FIRST_CS PX4_SPIDEV_GYRO
#define PX4_SENSORS_BUS_LAST_CS PX4_SPIDEV_BMA
#define PX4_SPIDEV_FRAM PX4_MK_SPI_SEL(PX4_SPI_BUS_RAMTRON,0)
#define PX4_RAMTRON_BUS_CS_GPIO {GPIO_SPI_CS_FRAM}
#define PX4_RAMTRON_BUS_FIRST_CS PX4_SPIDEV_FRAM
#define PX4_RAMTRON_BUS_LAST_CS PX4_SPIDEV_FRAM
#define PX4_SPIDEV_BARO PX4_MK_SPI_SEL(PX4_SPI_BUS_BARO,0)
#define PX4_BARO_BUS_CS_GPIO {GPIO_SPI_CS_MS5611}
#define PX4_BARO_BUS_FIRST_CS PX4_SPIDEV_BARO
#define PX4_BARO_BUS_LAST_CS PX4_SPIDEV_BARO
#define PX4_SPIDEV_ICM PX4_MK_SPI_SEL(PX4_SPI_BUS_ICM,0)
#define PX4_ICM_BUS_CS_GPIO {GPIO_SPI_CS_ICM_20608_G}
#define PX4_ICM_BUS_FIRST_CS PX4_SPIDEV_ICM
#define PX4_ICM_BUS_LAST_CS PX4_SPIDEV_ICM
/* I2C busses */
#define PX4_I2C_BUS_EXPANSION 4
#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
/*
* ADC channels
*
* These are the channel numbers of the ADCs of the microcontroller that
* can be used by the Px4 Firmware in the adc driver
*/
#define ADC_CHANNELS (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | \
(1 << 8) | \
(1 << 10) | (1 << 11) | (1 << 12) | (1 << 13) | (1 << 14)
// ADC defines to be used in sensors.cpp to read from a particular channel
#define ADC_BATTERY_VOLTAGE_CHANNEL 0
#define ADC_BATTERY_CURRENT_CHANNEL 1
#define ADC_5V_RAIL_SENSE 10
#define ADC_RC_RSSI_CHANNEL 14
/* User GPIOs
*
* GPIO0-5 are the PWM servo outputs.
*/
#define GPIO_GPIO0_INPUT /* PE14[CN12-51] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_INPUT /* PA10[CN12-33] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10)
#define GPIO_GPIO2_INPUT /* PE11[CN12-56] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_INPUT /* PE9[CN12-52] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_INPUT /* PD13[CN12-41] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_INPUT /* PD14[CN12-46] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN14)
#define GPIO_GPIO0_OUTPUT /* PE14[CN12-51] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)
#define GPIO_GPIO1_OUTPUT /* PE13[CN12-55] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)
#define GPIO_GPIO2_OUTPUT /* PE11[CN12-56] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)
#define GPIO_GPIO3_OUTPUT /* PE9[CN12-52] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
#define GPIO_GPIO4_OUTPUT /* PD13[CN12-41] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)
#define GPIO_GPIO5_OUTPUT /* PD14[CN12-46] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)
/* Power supply control and monitoring GPIOs */
#define GPIO_VDD_BRICK_VALID /* PB10[CN12-25] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN10)
#define GPIO_VDD_3V3_SENSORS_EN /* PE3[CN11-47] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
/* Tone alarm output */
#define TONE_ALARM_TIMER 2 /* timer 2 */
#define TONE_ALARM_CHANNEL /* PA5[CN12-11] TIM2_CH1 */ 1 /* channel 1 */
#define GPIO_TONE_ALARM_IDLE /* PA5[CN12-11] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN5)
#define GPIO_TONE_ALARM /* PA5[CN12-11] */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN5)
/* PWM
*
* Six PWM outputs are configured.
*
* Pins:
*
* CH1 : PE14 : TIM1_CH4
* CH2 : PE13 : TIM1_CH3
* CH3 : PE11 : TIM1_CH2
* CH4 : PE9 : TIM1_CH1
* CH5 : PD13 : TIM4_CH2
* CH6 : PD14 : TIM4_CH3
*/
#define GPIO_TIM1_CH1OUT /* PE14[CN12-51] */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
#define GPIO_TIM1_CH2OUT /* PE13[CN12-55] */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
#define GPIO_TIM1_CH3OUT /* PE11[CN12-56] */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
#define GPIO_TIM1_CH4OUT /* PE9[CN12-52] */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
#define GPIO_TIM4_CH2OUT /* PD13[CN12-41] */ (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN13)
#define GPIO_TIM4_CH3OUT /* PD14[CN12-46] */ (GPIO_ALT|GPIO_AF2|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTD|GPIO_PIN14)
#define DIRECT_PWM_OUTPUT_CHANNELS 6
#define GPIO_TIM1_CH1IN /* PE14[CN12-51] */ GPIO_TIM1_CH1IN_2
#define GPIO_TIM1_CH2IN /* PE13[CN12-55] */ GPIO_TIM1_CH2IN_2
#define GPIO_TIM1_CH3IN /* PE11[CN12-56] */ GPIO_TIM1_CH3IN_2
#define GPIO_TIM1_CH4IN /* PE9[CN12-52] */ GPIO_TIM1_CH4IN_2
#define GPIO_TIM4_CH2IN /* PD13[CN12-41] */ GPIO_TIM4_CH2IN_2
#define GPIO_TIM4_CH3IN /* PD14[CN12-46] */ GPIO_TIM4_CH3IN_2
#define DIRECT_INPUT_TIMER_CHANNELS 6
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing
*/
#define GPIO_OTGFS_VBUS /* PA9[CN12-21] */ (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* High-resolution timer */
#define HRT_TIMER 8 /* use timer8 for the HRT */
#define HRT_TIMER_CHANNEL 3 /* use capture/compare channel 3 */
//todo:Needs to be moved to T14C1
#define HRT_PPM_CHANNEL /* PA7[CN12-15] */ 1 /* use capture/compare channel 1 */
#define GPIO_PPM_IN /* PB0[CN11-34] */ GPIO_TIM3_CH3IN_1
#define RC_SERIAL_PORT "/dev/ttyS4"
/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
#define PWMIN_TIMER 4
#define PWMIN_TIMER_CHANNEL /* PD13[CN12-41] */ 2
#define GPIO_PWM_IN /* PD13[CN12-41] */ GPIO_TIM4_CH2IN_2
#define GPIO_RSSI_IN /* PC4[CN12-34] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
#define GPIO_LED_SAFETY /* PE12[CN12-49] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
#define GPIO_BTN_SAFETY /* PE10[CN12-47] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
#define GPIO_PERIPH_3V3_EN /* PG4[CN12-69] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
#define GPIO_SBUS_INV /* PD10[CN12-65] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
#define BOARD_INVERT_RC_INPUT(_invert_true, _na) px4_arch_gpiowrite(GPIO_SBUS_INV, _invert_true);
#define GPIO_8266_GPIO0 /* PD15[CN12-48] */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTD|GPIO_PIN15)
#define GPIO_SPEKTRUM_PWR_EN /* PE4[CN11-48] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
#define GPIO_8266_PD /* PE7[CN12-44] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN7)
#define GPIO_8266_RST /* PG10[CN11-66] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
#define GPIO_VDD_5V_PERIPH_OC /* PE15[CN12-53] */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN15)
/* Power switch controls ******************************************************/
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))
/*
* FMUv5 has a separate RC_IN
*
* N.B. px4nucleoF767ZI-v1 is Deprecated - for Reference only
* These interfaces can not be realized with this HW without
* more work.
*
* GPIO PPM_IN on PA7 T14C1
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
* Inversion is possible in the UART
* FMU can drive GPIO PPM_IN as an output
*/
#define GPIO_PPM_IN_AS_OUT /* PE5[CN11-50] */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
#define SDIO_SLOTNO 0 /* Only one slot */
#define SDIO_MINOR 0
/* SD card bringup does not work if performed on the IDLE thread because it
* will cause waiting. Use either:
*
* CONFIG_LIB_BOARDCTL=y, OR
* CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
*/
#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
!defined(CONFIG_BOARD_INITTHREAD)
# warning SDIO initialization cannot be perfomed on the IDLE thread
#endif
/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
* this board support the ADC system_power interface, and therefore
* provides the true logic GPIO BOARD_ADC_xxxx macros.
*/
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
#define BOARD_ADC_BRICK_VALID (px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
#define BOARD_ADC_SERVO_VALID (1)
#define BOARD_ADC_PERIPH_5V_OC (px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
#define BOARD_ADC_HIPOWER_5V_OC (0)
#define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 5120
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************
* Name: stm32_sdio_initialize
*
* Description:
* Initialize SDIO-based MMC/SD card support
*
****************************************************************************/
int stm32_sdio_initialize(void);
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
/************************************************************************************
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI Buses.
*
************************************************************************************/
extern int stm32_spi_bus_initialize(void);
/****************************************************************************************************
* Name: board_spi_reset board_peripheral_reset
*
* Description:
* Called to reset SPI and the perferal bus
*
****************************************************************************************************/
void board_spi_reset(int ms);
extern void board_peripheral_reset(int ms);
/****************************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to configure USB IO.
*
****************************************************************************************************/
extern void stm32_usbinitialize(void);
#include <drivers/boards/common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS
boards/stm/nucleo-F767ZI/src/can.c
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4nucleo_can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "chip.h"
#include "stm32_can.h"
#include "board_config.h"
#ifdef CONFIG_CAN
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
# undef CONFIG_STM32_CAN2
#endif
#ifdef CONFIG_STM32_CAN1
# define CAN_PORT 1
#else
# define CAN_PORT 2
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: can_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/can.
*
************************************************************************************/
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL) {
canerr("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
if (ret < 0) {
canerr("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
initialized = true;
}
return OK;
}
#endif
boards/stm/nucleo-F767ZI/src/init.c
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/****************************************************************************
*
* Copyright (c) 2012-2016 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 px4nucleo_init.c
*
* PX4FMU-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 <px4_tasks.h>
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/mm/gran.h>
#include <chip.h>
#include "board_config.h"
#include <stm32_uart.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include "up_internal.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/*
* 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);
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: board_peripheral_reset
*
* Description:
*
************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
/* set the peripheral rails off */
stm32_configgpio(GPIO_PERIPH_3V3_EN);
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0);
bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN);
/* Keep Spektum on to discharge rail*/
stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);
/* wait for the peripheral rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the peripheral rail back on */
stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
}
/************************************************************************************
* 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();
/* configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
stm32_configgpio(GPIO_ADC1_IN11); /* RSSI analog in */
/* configure CAN interface */
#if defined(GPIO_CAN1_RX)
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
#endif
stm32_configgpio(GPIO_CAN2_RX);
stm32_configgpio(GPIO_CAN2_TX);
stm32_configgpio(GPIO_CAN3_RX);
stm32_configgpio(GPIO_CAN3_TX);
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_PERIPH_3V3_EN);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_SBUS_INV);
stm32_configgpio(GPIO_8266_GPIO0);
stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
stm32_configgpio(GPIO_8266_PD);
stm32_configgpio(GPIO_8266_RST);
stm32_configgpio(GPIO_BTN_SAFETY);
/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
stm32_configgpio(GPIO_GPIO2_OUTPUT);
stm32_configgpio(GPIO_GPIO3_OUTPUT);
stm32_configgpio(GPIO_GPIO4_OUTPUT);
stm32_configgpio(GPIO_GPIO5_OUTPUT);
/* configure SPI interfaces */
stm32_spiinitialize();
}
/****************************************************************************
* 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)
{
px4_platform_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
syslog(LOG_ERR, "DMA alloc FAILED\n");
}
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
/* initial LED state */
drv_led_start();
led_off(LED_RED);
led_off(LED_GREEN);
led_off(LED_BLUE);
if (board_hardfault_init(2, true) != 0) {
led_on(LED_RED);
}
#ifdef CONFIG_SPI
int ret = stm32_spi_bus_initialize();
if (ret != OK) {
led_on(LED_RED);
return ret;
}
#endif
#ifdef CONFIG_MMCSD
ret = stm32_sdio_initialize();
if (ret != OK) {
led_on(LED_RED);
return ret;
}
#endif
return OK;
}
boards/stm/nucleo-F767ZI/src/led.c
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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu2_led.c
*
* PX4FMU LED backend.
*/
#include <px4_config.h>
#include <stdbool.h>
#include "chip.h"
#include "stm32_gpio.h"
#include "board_config.h"
#include <nuttx/board.h>
#include <arch/board/board.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
#ifdef CONFIG_ARCH_LEDS
static bool nuttx_owns_leds = true;
// B R S G
// 0 1 2 3
static const uint8_t xlatpx4[] = {1, 2, 4, 0};
# define xlat(p) xlatpx4[(p)]
static uint32_t g_ledmap[] = {
GPIO_LED_GREEN, // Indexed by BOARD_LED_GREEN
GPIO_LED_BLUE, // Indexed by BOARD_LED_BLUE
GPIO_LED_RED, // Indexed by BOARD_LED_RED
GPIO_LED_SAFETY, // Indexed by LED_SAFETY by xlatpx4
};
#else
# define xlat(p)
static uint32_t g_ledmap[] = {
GPIO_LED_BLUE, // Indexed by LED_BLUE
GPIO_LED_RED, // Indexed by LED_RED, LED_AMBER
GPIO_LED_SAFETY, // Indexed by LED_SAFETY
GPIO_LED_GREEN, // Indexed by LED_GREEN
};
#endif
__EXPORT void led_init(void)
{
/* Configure LED GPIOs for output */
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
stm32_configgpio(g_ledmap[l]);
}
}
static void phy_set_led(int led, bool state)
{
/* Drive High 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(xlat(led), true);
}
__EXPORT void led_off(int led)
{
phy_set_led(xlat(led), false);
}
__EXPORT void led_toggle(int led)
{
phy_set_led(xlat(led), !phy_get_led(xlat(led)));
}
#ifdef CONFIG_ARCH_LEDS
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_autoled_initialize
****************************************************************************/
void board_autoled_initialize(void)
{
led_init();
}
/****************************************************************************
* Name: board_autoled_on
****************************************************************************/
void board_autoled_on(int led)
{
if (!nuttx_owns_leds) {
return;
}
switch (led) {
default:
break;
case LED_HEAPALLOCATE:
phy_set_led(BOARD_LED_BLUE, true);
break;
case LED_IRQSENABLED:
phy_set_led(BOARD_LED_BLUE, false);
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);
break;
case LED_INIRQ:
phy_set_led(BOARD_LED_BLUE, true);
break;
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_BLUE, true);
break;
case LED_PANIC:
phy_set_led(BOARD_LED_RED, true);
break;
case LED_IDLE : /* IDLE */
phy_set_led(BOARD_LED_RED, true);
break;
}
}
/****************************************************************************
* Name: board_autoled_off
****************************************************************************/
void board_autoled_off(int led)
{
if (!nuttx_owns_leds) {
return;
}
switch (led) {
default:
break;
case LED_SIGNAL:
phy_set_led(BOARD_LED_GREEN, false);
break;
case LED_INIRQ:
phy_set_led(BOARD_LED_BLUE, false);
break;
case LED_ASSERTION:
phy_set_led(BOARD_LED_RED, false);
phy_set_led(BOARD_LED_BLUE, false);
break;
case LED_PANIC:
phy_set_led(BOARD_LED_RED, false);
break;
case LED_IDLE : /* IDLE */
phy_set_led(BOARD_LED_RED, false);
break;
}
}
#endif /* CONFIG_ARCH_LEDS */
boards/stm/nucleo-F767ZI/src/sdio.c
-176
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@@ -1,176 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include "chip.h"
#include "board_config.h"
#include "stm32_gpio.h"
#include "stm32_sdmmc.h"
#ifdef CONFIG_MMCSD
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Card detections requires card support and a card detection GPIO */
#define HAVE_NCD 1
#if !defined(GPIO_SDMMC1_NCD)
# undef HAVE_NCD
#endif
/****************************************************************************
* Private Data
****************************************************************************/
static FAR struct sdio_dev_s *sdio_dev;
#ifdef HAVE_NCD
static bool g_sd_inserted = 0xff; /* Impossible value */
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: stm32_ncd_interrupt
*
* Description:
* Card detect interrupt handler.
*
****************************************************************************/
#ifdef HAVE_NCD
static int stm32_ncd_interrupt(int irq, FAR void *context)
{
bool present;
present = !stm32_gpioread(GPIO_SDMMC1_NCD);
if (sdio_dev && present != g_sd_inserted) {
sdio_mediachange(sdio_dev, present);
g_sd_inserted = present;
}
return OK;
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: stm32_sdio_initialize
*
* Description:
* Initialize SDIO-based MMC/SD card support
*
****************************************************************************/
int stm32_sdio_initialize(void)
{
int ret;
#ifdef HAVE_NCD
/* Card detect */
bool cd_status;
/* Configure the card detect GPIO */
stm32_configgpio(GPIO_SDMMC1_NCD);
/* Register an interrupt handler for the card detect pin */
stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
#endif
/* Mount the SDIO-based MMC/SD block driver */
/* First, get an instance of the SDIO interface */
finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
sdio_dev = sdio_initialize(SDIO_SLOTNO);
if (!sdio_dev) {
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
if (ret != OK) {
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
finfo("Successfully bound SDIO to the MMC/SD driver\n");
#ifdef HAVE_NCD
/* Use SD card detect pin to check if a card is g_sd_inserted */
cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
finfo("Card detect : %d\n", cd_status);
sdio_mediachange(sdio_dev, cd_status);
#else
/* Assume that the SD card is inserted. What choice do we have? */
sdio_mediachange(sdio_dev, true);
#endif
return OK;
}
#endif /* CONFIG_MMCSD */
boards/stm/nucleo-F767ZI/src/spi.c
-393
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@@ -1,393 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4nucleo_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <unistd.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
#include <up_arch.h>
#include <chip.h>
#include <stm32_gpio.h>
#include "board_config.h"
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_spiinitialize(void)
{
#ifdef CONFIG_STM32F7_SPI1
stm32_configgpio(GPIO_SPI_CS_MPU9250);
stm32_configgpio(GPIO_SPI_CS_HMC5983);
stm32_configgpio(GPIO_SPI_CS_MS5611);
stm32_configgpio(GPIO_SPI_CS_ICM_20608_G);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
stm32_configgpio(GPIO_DRDY_MPU9250);
stm32_configgpio(GPIO_DRDY_HMC5983);
stm32_configgpio(GPIO_DRDY_ICM_20608_G);
#endif
#ifdef CONFIG_STM32F7_SPI2
stm32_configgpio(GPIO_SPI_CS_FRAM);
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
#endif
}
/************************************************************************************
* Name: stm32_spi_bus_initialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
static struct spi_dev_s *spi_sensors;
static struct spi_dev_s *spi_fram;
static struct spi_dev_s *spi_baro;
static struct spi_dev_s *spi_icm;
__EXPORT int stm32_spi_bus_initialize(void)
{
/* Configure SPI-based devices */
spi_sensors = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
if (!spi_sensors) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
return -ENODEV;
}
/* Default PX4_SPI_BUS_SENSORS to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi_sensors, 10000000);
SPI_SETBITS(spi_sensors, 8);
SPI_SETMODE(spi_sensors, SPIDEV_MODE3);
for (int cs = PX4_SENSORS_BUS_FIRST_CS; cs <= PX4_SENSORS_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_sensors, cs, false);
}
/* Get the SPI port for the FRAM */
spi_fram = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
if (!spi_fram) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
return -ENODEV;
}
/* Default SPI_BUS_RAMTRON to 12MHz and de-assert the known chip selects.
*/
SPI_SETFREQUENCY(spi_fram, 12 * 1000 * 1000);
SPI_SETBITS(spi_fram, 8);
SPI_SETMODE(spi_fram, SPIDEV_MODE3);
for (int cs = PX4_RAMTRON_BUS_FIRST_CS; cs <= PX4_RAMTRON_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_fram, cs, false);
}
/* Get the SPI port for the BARO */
spi_baro = stm32_spibus_initialize(PX4_SPI_BUS_BARO);
if (!spi_baro) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_BARO);
return -ENODEV;
}
/* MS5611 has max SPI clock speed of 20MHz
*/
SPI_SETFREQUENCY(spi_baro, 20 * 1000 * 1000);
SPI_SETBITS(spi_baro, 8);
SPI_SETMODE(spi_baro, SPIDEV_MODE3);
for (int cs = PX4_BARO_BUS_FIRST_CS; cs <= PX4_BARO_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_baro, cs, false);
}
/* Get the SPI port for the PX4_SPI_BUS_ICM */
spi_icm = stm32_spibus_initialize(PX4_SPI_BUS_ICM);
if (!spi_icm) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_ICM);
return -ENODEV;
}
/* ICM 20608 G has max SPI clock speed of 8MHz
*/
SPI_SETFREQUENCY(spi_icm, 8 * 1000 * 1000);
SPI_SETBITS(spi_icm, 8);
SPI_SETMODE(spi_icm, SPIDEV_MODE3);
for (int cs = PX4_ICM_BUS_FIRST_CS; cs <= PX4_ICM_BUS_LAST_CS; cs++) {
SPI_SELECT(spi_icm, cs, false);
}
return OK;
}
/* Define CS GPIO array */
static const uint32_t spi1selects_gpio[] = PX4_SENSOR_BUS_CS_GPIO;
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_SENSORS);
/* Making sure the other peripherals are not selected */
for (size_t cs = 0; arraySize(spi1selects_gpio) > 1 && cs < arraySize(spi1selects_gpio); cs++) {
if (spi1selects_gpio[cs] != 0) {
stm32_gpiowrite(spi1selects_gpio[cs], 1);
}
}
uint32_t gpio = spi1selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return SPI_STATUS_PRESENT;
}
/* Define CS GPIO array */
static const uint32_t spi4selects_gpio[] = PX4_RAMTRON_BUS_CS_GPIO;
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
int sel = (int) devid;
if (devid == SPIDEV_FLASH(0)) {
sel = PX4_SPIDEV_FRAM;
}
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_RAMTRON);
/* Making sure the other peripherals are not selected */
for (int cs = 0; arraySize(spi4selects_gpio) > 1 && cs < arraySize(spi4selects_gpio); cs++) {
stm32_gpiowrite(spi4selects_gpio[cs], 1);
}
uint32_t gpio = spi4selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
static const uint32_t spi5selects_gpio[] = PX4_BARO_BUS_CS_GPIO;
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_BARO);
/* Making sure the other peripherals are not selected */
for (int cs = 0; arraySize(spi5selects_gpio) > 1 && cs < arraySize(spi5selects_gpio); cs++) {
stm32_gpiowrite(spi5selects_gpio[cs], 1);
}
uint32_t gpio = spi5selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
static const uint32_t spi6selects_gpio[] = PX4_ICM_BUS_CS_GPIO;
__EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
int sel = (int) devid;
ASSERT(PX4_SPI_BUS_ID(sel) == PX4_SPI_BUS_ICM);
/* Making sure the other peripherals are not selected */
for (int cs = 0; arraySize(spi6selects_gpio) > 1 && cs < arraySize(spi6selects_gpio); cs++) {
stm32_gpiowrite(spi6selects_gpio[cs], 1);
}
uint32_t gpio = spi6selects_gpio[PX4_SPI_DEV_ID(sel)];
if (gpio) {
stm32_gpiowrite(gpio, !selected);
}
}
__EXPORT uint8_t stm32_spi6status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* FRAM is always present */
return SPI_STATUS_PRESENT;
}
__EXPORT void board_spi_reset(int ms)
{
/* disable SPI bus */
stm32_configgpio(GPIO_SPI_CS_OFF_MPU9250);
stm32_configgpio(GPIO_SPI_CS_OFF_HMC5983);
stm32_configgpio(GPIO_SPI_CS_OFF_MS5611);
stm32_configgpio(GPIO_SPI_CS_OFF_ICM_20608_G);
stm32_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
stm32_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
stm32_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
stm32_gpiowrite(GPIO_SPI_CS_OFF_ICM_20608_G, 0);
stm32_configgpio(GPIO_SPI1_SCK_OFF);
stm32_configgpio(GPIO_SPI1_MISO_OFF);
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
stm32_gpiowrite(GPIO_SPI1_SCK_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
stm32_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
stm32_configgpio(GPIO_DRDY_OFF_MPU9250);
stm32_configgpio(GPIO_DRDY_OFF_HMC5983);
stm32_configgpio(GPIO_DRDY_OFF_ICM_20608_G);
stm32_gpiowrite(GPIO_DRDY_OFF_MPU9250, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_HMC5983, 0);
stm32_gpiowrite(GPIO_DRDY_OFF_ICM_20608_G, 0);
/* set the sensor rail off */
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 0);
/* wait for the sensor rail to reach GND */
usleep(ms * 1000);
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
/* re-enable power */
/* switch the sensor rail back on */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* wait a bit before starting SPI, different times didn't influence results */
usleep(100);
/* reconfigure the SPI pins */
#ifdef CONFIG_STM32F7_SPI1
stm32_configgpio(GPIO_SPI_CS_MPU9250);
stm32_configgpio(GPIO_SPI_CS_HMC5983);
stm32_configgpio(GPIO_SPI_CS_MS5611);
stm32_configgpio(GPIO_SPI_CS_ICM_20608_G);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
stm32_gpiowrite(GPIO_SPI_CS_MS5611, 1);
stm32_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);
// // XXX bring up the EXTI pins again
// stm32_configgpio(GPIO_GYRO_DRDY);
// stm32_configgpio(GPIO_MAG_DRDY);
// stm32_configgpio(GPIO_ACCEL_DRDY);
// stm32_configgpio(GPIO_EXTI_MPU_DRDY);
#endif
}
boards/stm/nucleo-F767ZI/src/timer_config.c
-126
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@@ -1,126 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file px4nucleo_timer_config.c
*
* Configuration data for the stm32 pwm_servo, input capture and pwm input driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <chip.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/stm32/drv_io_timer.h>
#include "board_config.h"
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
{
.base = STM32_TIM1_BASE,
.clock_register = STM32_RCC_APB2ENR,
.clock_bit = RCC_APB2ENR_TIM1EN,
.clock_freq = STM32_APB2_TIM1_CLKIN,
.first_channel_index = 0,
.last_channel_index = 3,
.handler = io_timer_handler0,
.vectorno = STM32_IRQ_TIM1CC,
},
{
.base = STM32_TIM4_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM4EN,
.clock_freq = STM32_APB1_TIM4_CLKIN,
.first_channel_index = 4,
.last_channel_index = 5,
.handler = io_timer_handler1,
.vectorno = STM32_IRQ_TIM4,
}
};
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
{
.gpio_out = GPIO_TIM1_CH4OUT,
.gpio_in = GPIO_TIM1_CH4IN,
.timer_index = 0,
.timer_channel = 4,
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
},
{
.gpio_out = GPIO_TIM1_CH3OUT,
.gpio_in = GPIO_TIM1_CH3IN,
.timer_index = 0,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
},
{
.gpio_out = GPIO_TIM1_CH2OUT,
.gpio_in = GPIO_TIM1_CH2IN,
.timer_index = 0,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio_out = GPIO_TIM1_CH1OUT,
.gpio_in = GPIO_TIM1_CH1IN,
.timer_index = 0,
.timer_channel = 1,
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
},
{
.gpio_out = GPIO_TIM4_CH2OUT,
.gpio_in = GPIO_TIM4_CH2IN,
.timer_index = 1,
.timer_channel = 2,
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
},
{
.gpio_out = GPIO_TIM4_CH3OUT,
.gpio_in = GPIO_TIM4_CH3IN,
.timer_index = 1,
.timer_channel = 3,
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
}
};
boards/stm/nucleo-F767ZI/src/usb.c
-105
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@@ -1,105 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2016 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 px4nucleo_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 <chip.h>
#include <stm32_gpio.h>
#include <stm32_otg.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_STM32F7_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
#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);
}