mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 10:26:52 +08:00
Add support for ModalAI FC1
This commit is contained in:
modaltb
Daniel Agar
@@ -37,7 +37,8 @@ pipeline {
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|||||||
"px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
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"px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
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"px4_fmu-v5x_default",
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"px4_fmu-v5x_default",
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"intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
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"intel_aerofc-v1_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
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"holybro_kakutef7", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default", "uvify_core_default"],
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"holybro_kakutef7", "modalai_fc-v1_default", "mro_ctrl-zero-f7_default", "nxp_fmuk66-v3_default", "omnibus_f4sd_default",
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"uvify_core_default"],
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image: docker_images.nuttx,
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image: docker_images.nuttx,
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archive: true
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archive: true
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]
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]
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Vendored
+5
@@ -51,6 +51,11 @@ CONFIG:
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buildType: MinSizeRel
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buildType: MinSizeRel
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settings:
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settings:
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CONFIG: intel_aerofc-v1_default
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CONFIG: intel_aerofc-v1_default
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modalai_fc1_default:
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short: modalai_fc1_default
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buildType: MinSizeRel
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settings:
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CONFIG: modalai_fc1_default
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mro_ctrl-zero-f7_default:
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mro_ctrl-zero-f7_default:
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short: mro_ctrl-zero-f7_default
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short: mro_ctrl-zero-f7_default
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buildType: MinSizeRel
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buildType: MinSizeRel
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@@ -0,0 +1,120 @@
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px4_add_board(
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PLATFORM nuttx
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VENDOR modalai
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MODEL fc-v1
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LABEL default
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TOOLCHAIN arm-none-eabi
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ARCHITECTURE cortex-m7
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ROMFSROOT px4fmu_common
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TESTING
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UAVCAN_INTERFACES 1
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SERIAL_PORTS
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GPS1:/dev/ttyS0 # UART1 / J10
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TEL1:/dev/ttyS6 # UART7 / J5
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TEL2:/dev/ttyS4 # UART5 / J1
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TEL3:/dev/ttyS1 # USART2 / J4
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DRIVERS
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adc
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barometer # all available barometer drivers
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batt_smbus
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camera_capture
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camera_trigger
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differential_pressure # all available differential pressure drivers
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distance_sensor # all available distance sensor drivers
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gps
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imu/bmi088
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# TODO imu/icm42688
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imu/mpu6000
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irlock
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lights/blinkm
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lights/rgbled
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lights/rgbled_ncp5623c
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magnetometer # all available magnetometer drivers
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#md25
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mkblctrl
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#optical_flow # all available optical flow drivers
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pca9685
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power_monitor/ina226
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power_monitor/voxlpm
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#protocol_splitter
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#pwm_input
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pwm_out_sim
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px4fmu
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#px4io
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rc_input
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roboclaw
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safety_button
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tap_esc
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telemetry # all available telemetry drivers
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test_ppm
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#tone_alarm
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uavcan
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MODULES
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attitude_estimator_q
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camera_feedback
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commander
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dataman
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ekf2
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events
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fw_att_control
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fw_pos_control_l1
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land_detector
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landing_target_estimator
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load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_pos_control
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navigator
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rover_pos_control
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sensors
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sih
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vmount
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vtol_att_control
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airspeed_selector
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SYSTEMCMDS
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bl_update
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config
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dmesg
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dumpfile
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esc_calib
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hardfault_log
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i2cdetect
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led_control
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mixer
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motor_ramp
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motor_test
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mtd
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nshterm
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param
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perf
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pwm
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reboot
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reflect
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sd_bench
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shutdown
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tests # tests and test runner
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top
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topic_listener
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tune_control
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usb_connected
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ver
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work_queue
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EXAMPLES
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bottle_drop # OBC challenge
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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hwtest # Hardware test
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#matlab_csv_serial
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px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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||||||
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rover_steering_control # Rover example app
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uuv_example_app
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||||||
|
)
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@@ -0,0 +1,13 @@
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{
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"board_id": 41775,
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"magic": "PX4FWv1",
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"description": "Firmware for the ModalAI Flight Core v1 board",
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"image": "",
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"build_time": 0,
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"summary": "modalaifcv1",
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||||||
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"version": "0.1",
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"image_size": 0,
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"image_maxsize": 2064384,
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||||||
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"git_identity": "",
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"board_revision": 0
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}
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@@ -0,0 +1,26 @@
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#!/bin/sh
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#
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# ModalAI FC-v1 specific board defaults
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#------------------------------------------------------------------------------
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||||||
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if [ $AUTOCNF = yes ]
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||||||
|
then
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# Disable safety switch by default
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param set CBRK_IO_SAFETY 22027
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#
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# TELEM2 /dev/ttyS4
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#
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# In the VOXL-FMU, this port is connect to the VOXL internally
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# In the FMU, this J1 port can connect to the VOXL J12
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# By default, we use this UART connection with MAVLink at 921.6kHz
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#
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param set MAV_1_CONFIG 102 # TELEM2
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param set MAV_1_MODE 0 # normal
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param set SER_TEL2_BAUD 921600
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fi
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set LOGGER_BUF 64
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safety_button start
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@@ -0,0 +1,7 @@
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#!/bin/sh
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#
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# ModalAI FC-v1 specific board MAVLink startup script.
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#------------------------------------------------------------------------------
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# Start MAVLink on the USB port
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mavlink start -d /dev/ttyACM0
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@@ -0,0 +1,28 @@
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|
#!/bin/sh
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||||||
|
#
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# ModalAI FC-v1 specific board sensors init
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||||||
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#------------------------------------------------------------------------------
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||||||
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||||||
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# Start Digital power monitors
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voxlpm -R start
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|
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# Internal SPI bus ICM-20602
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|
mpu6000 -R 2 -s -T 20602 start
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||||||
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|
||||||
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# Internal SPI bus ICM-42688
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||||||
|
# TODO
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||||||
|
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||||||
|
# Internal SPI bus BMI088 accel
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||||||
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bmi088 -A start
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||||||
|
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|
# Internal SPI bus BMI088 gyro
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bmi088 -G start
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||||||
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||||||
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# Possible external compasses
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||||||
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ist8310 -C -b 1 start
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ist8310 -C -b 2 start
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hmc5883 -C -T -X start
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||||||
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qmc5883 -X start
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||||||
|
|
||||||
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# Internal I2C Baro
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bmp388 -I start
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||||||
@@ -0,0 +1,17 @@
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|||||||
|
#
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||||||
|
# For a description of the syntax of this configuration file,
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||||||
|
# see misc/tools/kconfig-language.txt.
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||||||
|
#
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||||||
|
config BOARD_HAS_PROBES
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||||||
|
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
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|
default y
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||||||
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---help---
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This board provides GPIO FMU-CH1-8, CAP1 as PROBE_1-9 to provide timing signals from selected drivers.
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||||||
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|
config BOARD_USE_PROBES
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|
bool "Enable the use the board provided FMU-CH1-8, CAP1 as PROBE_1-9"
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||||||
|
default n
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||||||
|
depends on BOARD_HAS_PROBES
|
||||||
|
|
||||||
|
---help---
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|
Select to use GPIO FMU-CH1-8, CAP1 to provide timing signals from selected drivers.
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,253 @@
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|||||||
|
#
|
||||||
|
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||||
|
#
|
||||||
|
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||||
|
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||||
|
# modifications.
|
||||||
|
#
|
||||||
|
# CONFIG_DISABLE_OS_API is not set
|
||||||
|
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||||
|
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||||
|
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||||
|
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||||
|
# CONFIG_MMCSD_SPI is not set
|
||||||
|
# CONFIG_NSH_DISABLEBG is not set
|
||||||
|
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||||
|
# CONFIG_NSH_DISABLE_DF is not set
|
||||||
|
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||||
|
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||||
|
# CONFIG_NSH_DISABLE_GET is not set
|
||||||
|
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||||
|
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||||
|
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||||
|
# CONFIG_NSH_DISABLE_TIME is not set
|
||||||
|
CONFIG_ARCH="arm"
|
||||||
|
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||||
|
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||||
|
CONFIG_ARCH_CHIP_STM32F765II=y
|
||||||
|
CONFIG_ARCH_CHIP_STM32F7=y
|
||||||
|
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||||
|
CONFIG_ARCH_MATH_H=y
|
||||||
|
CONFIG_ARCH_STACKDUMP=y
|
||||||
|
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||||
|
CONFIG_ARMV7M_DCACHE=y
|
||||||
|
CONFIG_ARMV7M_DTCM=y
|
||||||
|
CONFIG_ARMV7M_ICACHE=y
|
||||||
|
CONFIG_ARMV7M_MEMCPY=y
|
||||||
|
CONFIG_ARMV7M_USEBASEPRI=y
|
||||||
|
CONFIG_BOARDCTL_RESET=y
|
||||||
|
CONFIG_BOARD_CRASHDUMP=y
|
||||||
|
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||||
|
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||||
|
CONFIG_BUILTIN=y
|
||||||
|
CONFIG_C99_BOOL8=y
|
||||||
|
CONFIG_CDCACM=y
|
||||||
|
CONFIG_CDCACM_PRODUCTID=0xa32f
|
||||||
|
CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv1"
|
||||||
|
CONFIG_CDCACM_RXBUFSIZE=600
|
||||||
|
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||||
|
CONFIG_CDCACM_VENDORID=0x0483
|
||||||
|
CONFIG_CDCACM_VENDORSTR="ModalAI"
|
||||||
|
CONFIG_CLOCK_MONOTONIC=y
|
||||||
|
CONFIG_DEBUG_FULLOPT=y
|
||||||
|
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||||
|
CONFIG_DEBUG_SYMBOLS=y
|
||||||
|
CONFIG_DEFAULT_SMALL=y
|
||||||
|
CONFIG_DEV_FIFO_SIZE=0
|
||||||
|
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||||
|
CONFIG_DEV_PIPE_SIZE=70
|
||||||
|
CONFIG_FAT_DMAMEMORY=y
|
||||||
|
CONFIG_FAT_LCNAMES=y
|
||||||
|
CONFIG_FAT_LFN=y
|
||||||
|
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||||
|
CONFIG_FDCLONE_STDIO=y
|
||||||
|
CONFIG_FS_BINFS=y
|
||||||
|
CONFIG_FS_CROMFS=y
|
||||||
|
CONFIG_FS_FAT=y
|
||||||
|
CONFIG_FS_FATTIME=y
|
||||||
|
CONFIG_FS_PROCFS=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
|
||||||
|
CONFIG_FS_PROCFS_REGISTER=y
|
||||||
|
CONFIG_FS_ROMFS=y
|
||||||
|
CONFIG_GRAN=y
|
||||||
|
CONFIG_GRAN_INTR=y
|
||||||
|
CONFIG_HAVE_CXX=y
|
||||||
|
CONFIG_HAVE_CXXINITIALIZE=y
|
||||||
|
CONFIG_I2C=y
|
||||||
|
CONFIG_I2C_RESET=y
|
||||||
|
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||||
|
CONFIG_LIBC_FLOATINGPOINT=y
|
||||||
|
CONFIG_LIBC_LONG_LONG=y
|
||||||
|
CONFIG_LIBC_STRERROR=y
|
||||||
|
CONFIG_MAX_WDOGPARMS=2
|
||||||
|
CONFIG_MEMSET_64BIT=y
|
||||||
|
CONFIG_MEMSET_OPTSPEED=y
|
||||||
|
CONFIG_MMCSD=y
|
||||||
|
CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
|
||||||
|
CONFIG_MMCSD_SDIO=y
|
||||||
|
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||||
|
CONFIG_MM_REGIONS=3
|
||||||
|
CONFIG_MTD=y
|
||||||
|
CONFIG_MTD_BYTE_WRITE=y
|
||||||
|
CONFIG_MTD_PARTITION=y
|
||||||
|
CONFIG_MTD_RAMTRON=y
|
||||||
|
CONFIG_NFILE_DESCRIPTORS=54
|
||||||
|
CONFIG_NFILE_STREAMS=8
|
||||||
|
CONFIG_NSH_ARCHINIT=y
|
||||||
|
CONFIG_NSH_ARCHROMFS=y
|
||||||
|
CONFIG_NSH_ARGCAT=y
|
||||||
|
CONFIG_NSH_BUILTIN_APPS=y
|
||||||
|
CONFIG_NSH_CMDPARMS=y
|
||||||
|
CONFIG_NSH_CROMFSETC=y
|
||||||
|
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||||
|
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||||
|
CONFIG_NSH_DISABLE_MB=y
|
||||||
|
CONFIG_NSH_DISABLE_MH=y
|
||||||
|
CONFIG_NSH_DISABLE_TELNETD=y
|
||||||
|
CONFIG_NSH_LINELEN=128
|
||||||
|
CONFIG_NSH_MAXARGUMENTS=12
|
||||||
|
CONFIG_NSH_NESTDEPTH=8
|
||||||
|
CONFIG_NSH_QUOTE=y
|
||||||
|
CONFIG_NSH_ROMFSETC=y
|
||||||
|
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||||
|
CONFIG_NSH_STRERROR=y
|
||||||
|
CONFIG_NSH_VARS=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_16BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_1BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_24BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_2BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_32BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_4BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_8BPP=y
|
||||||
|
CONFIG_PIPES=y
|
||||||
|
CONFIG_PREALLOC_MQ_MSGS=4
|
||||||
|
CONFIG_PREALLOC_TIMERS=50
|
||||||
|
CONFIG_PREALLOC_WDOGS=50
|
||||||
|
CONFIG_PRIORITY_INHERITANCE=y
|
||||||
|
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||||
|
CONFIG_PTHREAD_STACK_MIN=512
|
||||||
|
CONFIG_RAMTRON_SETSPEED=y
|
||||||
|
CONFIG_RAMTRON_WRITEWAIT=y
|
||||||
|
CONFIG_RAM_SIZE=245760
|
||||||
|
CONFIG_RAM_START=0x20010000
|
||||||
|
CONFIG_RAW_BINARY=y
|
||||||
|
CONFIG_RTC_DATETIME=y
|
||||||
|
CONFIG_SCHED_ATEXIT=y
|
||||||
|
CONFIG_SCHED_HPWORK=y
|
||||||
|
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||||
|
CONFIG_SCHED_HPWORKSTACKSIZE=1024
|
||||||
|
CONFIG_SCHED_INSTRUMENTATION=y
|
||||||
|
CONFIG_SCHED_LPWORK=y
|
||||||
|
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||||
|
CONFIG_SCHED_LPWORKSTACKSIZE=1280
|
||||||
|
CONFIG_SCHED_WAITPID=y
|
||||||
|
CONFIG_SDCLONE_DISABLE=y
|
||||||
|
CONFIG_SEM_NNESTPRIO=8
|
||||||
|
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||||
|
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||||
|
CONFIG_SERIAL_TERMIOS=y
|
||||||
|
CONFIG_SIG_DEFAULT=y
|
||||||
|
CONFIG_SIG_SIGALRM_ACTION=y
|
||||||
|
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||||
|
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||||
|
CONFIG_SIG_SIGWORK=4
|
||||||
|
CONFIG_STACK_COLORATION=y
|
||||||
|
CONFIG_START_DAY=30
|
||||||
|
CONFIG_START_MONTH=11
|
||||||
|
CONFIG_STDIO_BUFFER_SIZE=32
|
||||||
|
CONFIG_STM32F7_ADC1=y
|
||||||
|
CONFIG_STM32F7_ADC3=y
|
||||||
|
CONFIG_STM32F7_BBSRAM=y
|
||||||
|
CONFIG_STM32F7_BBSRAM_FILES=5
|
||||||
|
CONFIG_STM32F7_BKPSRAM=y
|
||||||
|
CONFIG_STM32F7_DMA1=y
|
||||||
|
CONFIG_STM32F7_DMA2=y
|
||||||
|
CONFIG_STM32F7_DMACAPABLE=y
|
||||||
|
CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
|
||||||
|
CONFIG_STM32F7_I2C1=y
|
||||||
|
CONFIG_STM32F7_I2C2=y
|
||||||
|
CONFIG_STM32F7_I2C3=y
|
||||||
|
CONFIG_STM32F7_I2C4=y
|
||||||
|
CONFIG_STM32F7_I2C_DYNTIMEO=y
|
||||||
|
CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
|
||||||
|
CONFIG_STM32F7_OTGFS=y
|
||||||
|
CONFIG_STM32F7_PWR=y
|
||||||
|
CONFIG_STM32F7_RTC=y
|
||||||
|
CONFIG_STM32F7_RTC_HSECLOCK=y
|
||||||
|
CONFIG_STM32F7_RTC_MAGIC_REG=1
|
||||||
|
CONFIG_STM32F7_SAVE_CRASHDUMP=y
|
||||||
|
CONFIG_STM32F7_SDMMC2=y
|
||||||
|
CONFIG_STM32F7_SDMMC_DMA=y
|
||||||
|
CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
|
||||||
|
CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
|
||||||
|
CONFIG_STM32F7_SPI1=y
|
||||||
|
CONFIG_STM32F7_SPI2=y
|
||||||
|
CONFIG_STM32F7_SPI3=n
|
||||||
|
CONFIG_STM32F7_SPI4=n
|
||||||
|
CONFIG_STM32F7_SPI5=y
|
||||||
|
CONFIG_STM32F7_SPI6=y
|
||||||
|
CONFIG_STM32F7_TIM10=y
|
||||||
|
CONFIG_STM32F7_TIM11=y
|
||||||
|
CONFIG_STM32F7_TIM3=y
|
||||||
|
CONFIG_STM32F7_TIM9=y
|
||||||
|
CONFIG_STM32F7_UART4=y
|
||||||
|
CONFIG_STM32F7_UART5=y
|
||||||
|
CONFIG_STM32F7_UART7=y
|
||||||
|
CONFIG_STM32F7_UART8=y
|
||||||
|
CONFIG_STM32F7_USART1=y
|
||||||
|
CONFIG_STM32F7_USART2=y
|
||||||
|
CONFIG_STM32F7_USART3=y
|
||||||
|
CONFIG_STM32F7_USART6=y
|
||||||
|
CONFIG_STM32F7_USART_BREAKS=y
|
||||||
|
CONFIG_STM32F7_USART_INVERT=y
|
||||||
|
CONFIG_STM32F7_USART_SINGLEWIRE=y
|
||||||
|
CONFIG_STM32F7_USART_SWAP=y
|
||||||
|
CONFIG_STM32F7_WWDG=y
|
||||||
|
CONFIG_SYSTEM_CDCACM=y
|
||||||
|
CONFIG_SYSTEM_NSH=y
|
||||||
|
CONFIG_TASK_NAME_SIZE=24
|
||||||
|
CONFIG_TIME_EXTENDED=y
|
||||||
|
CONFIG_UART4_BAUD=57600
|
||||||
|
CONFIG_UART4_RXBUFSIZE=600
|
||||||
|
CONFIG_UART4_TXBUFSIZE=1500
|
||||||
|
CONFIG_UART5_IFLOWCONTROL=y
|
||||||
|
CONFIG_UART5_OFLOWCONTROL=y
|
||||||
|
CONFIG_UART5_RXBUFSIZE=600
|
||||||
|
CONFIG_UART5_RXDMA=y
|
||||||
|
CONFIG_UART5_TXBUFSIZE=1500
|
||||||
|
CONFIG_UART7_BAUD=57600
|
||||||
|
CONFIG_UART7_IFLOWCONTROL=y
|
||||||
|
CONFIG_UART7_OFLOWCONTROL=y
|
||||||
|
CONFIG_UART7_RXBUFSIZE=600
|
||||||
|
CONFIG_UART7_RXDMA=y
|
||||||
|
CONFIG_UART7_TXBUFSIZE=3000
|
||||||
|
CONFIG_UART8_BAUD=57600
|
||||||
|
CONFIG_UART8_RXBUFSIZE=600
|
||||||
|
CONFIG_UART8_RXDMA=y
|
||||||
|
CONFIG_UART8_TXBUFSIZE=1500
|
||||||
|
CONFIG_USART1_BAUD=57600
|
||||||
|
CONFIG_USART1_RXBUFSIZE=600
|
||||||
|
CONFIG_USART1_TXBUFSIZE=1500
|
||||||
|
CONFIG_USART2_BAUD=57600
|
||||||
|
CONFIG_USART2_IFLOWCONTROL=y
|
||||||
|
CONFIG_USART2_OFLOWCONTROL=y
|
||||||
|
CONFIG_USART2_RXBUFSIZE=600
|
||||||
|
CONFIG_USART2_TXBUFSIZE=3000
|
||||||
|
CONFIG_USART3_BAUD=57600
|
||||||
|
CONFIG_USART3_RXBUFSIZE=180
|
||||||
|
CONFIG_USART3_SERIAL_CONSOLE=y
|
||||||
|
CONFIG_USART3_TXBUFSIZE=1500
|
||||||
|
CONFIG_USART6_BAUD=57600
|
||||||
|
CONFIG_USART6_RXBUFSIZE=600
|
||||||
|
CONFIG_USART6_RXDMA=y
|
||||||
|
CONFIG_USART6_TXBUFSIZE=1500
|
||||||
|
CONFIG_USBDEV=y
|
||||||
|
CONFIG_USBDEV_BUSPOWERED=y
|
||||||
|
CONFIG_USBDEV_MAXPOWER=500
|
||||||
|
CONFIG_USEC_PER_TICK=1000
|
||||||
|
CONFIG_USERMAIN_STACKSIZE=2624
|
||||||
|
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||||
@@ -0,0 +1,183 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* 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 STM32F765IIT6 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 STM32F765IIT6, 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 STM32F765IIT6 will
|
||||||
|
* boot from address 0x0020:0000 in ITCM FLASH.
|
||||||
|
*
|
||||||
|
* The STM32F765IIT6 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.
|
||||||
|
*
|
||||||
|
* Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank)
|
||||||
|
* organization (256 bits read width)
|
||||||
|
*/
|
||||||
|
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
itcm (rwx) : ORIGIN = 0x00208000, LENGTH = 2016K
|
||||||
|
flash (rx) : ORIGIN = 0x08008000, LENGTH = 2016K
|
||||||
|
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) }
|
||||||
|
}
|
||||||
@@ -0,0 +1,244 @@
|
|||||||
|
# CONFIG_DISABLE_OS_API is not set
|
||||||
|
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||||
|
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||||
|
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||||
|
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||||
|
# CONFIG_MMCSD_SPI is not set
|
||||||
|
# CONFIG_NSH_DISABLEBG is not set
|
||||||
|
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||||
|
# CONFIG_NSH_DISABLE_DF is not set
|
||||||
|
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||||
|
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||||
|
# CONFIG_NSH_DISABLE_GET is not set
|
||||||
|
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||||
|
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||||
|
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||||
|
# CONFIG_NSH_DISABLE_TIME is not set
|
||||||
|
CONFIG_ARCH="arm"
|
||||||
|
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
|
||||||
|
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||||
|
CONFIG_ARCH_CHIP_STM32F765II=y
|
||||||
|
CONFIG_ARCH_CHIP_STM32F7=y
|
||||||
|
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||||
|
CONFIG_ARCH_MATH_H=y
|
||||||
|
CONFIG_ARCH_STACKDUMP=y
|
||||||
|
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||||
|
CONFIG_ARMV7M_DCACHE=y
|
||||||
|
CONFIG_ARMV7M_DTCM=y
|
||||||
|
CONFIG_ARMV7M_ICACHE=y
|
||||||
|
CONFIG_ARMV7M_MEMCPY=y
|
||||||
|
CONFIG_ARMV7M_STACKCHECK=y
|
||||||
|
CONFIG_ARMV7M_USEBASEPRI=y
|
||||||
|
CONFIG_BOARDCTL_RESET=y
|
||||||
|
CONFIG_BOARD_CRASHDUMP=y
|
||||||
|
CONFIG_BOARD_LOOPSPERMSEC=22114
|
||||||
|
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||||
|
CONFIG_BUILTIN=y
|
||||||
|
CONFIG_C99_BOOL8=y
|
||||||
|
CONFIG_CDCACM=y
|
||||||
|
CONFIG_CDCACM_PRODUCTID=0xa32f
|
||||||
|
CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv1"
|
||||||
|
CONFIG_CDCACM_RXBUFSIZE=600
|
||||||
|
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||||
|
CONFIG_CDCACM_VENDORID=0x0483
|
||||||
|
CONFIG_CDCACM_VENDORSTR="ModalAI"
|
||||||
|
CONFIG_CLOCK_MONOTONIC=y
|
||||||
|
CONFIG_DEBUG_FULLOPT=y
|
||||||
|
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||||
|
CONFIG_DEBUG_SYMBOLS=y
|
||||||
|
CONFIG_DEFAULT_SMALL=y
|
||||||
|
CONFIG_DEV_FIFO_SIZE=0
|
||||||
|
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||||
|
CONFIG_DEV_PIPE_SIZE=70
|
||||||
|
CONFIG_FAT_DMAMEMORY=y
|
||||||
|
CONFIG_FAT_LCNAMES=y
|
||||||
|
CONFIG_FAT_LFN=y
|
||||||
|
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||||
|
CONFIG_FDCLONE_STDIO=y
|
||||||
|
CONFIG_FS_BINFS=y
|
||||||
|
CONFIG_FS_CROMFS=y
|
||||||
|
CONFIG_FS_FAT=y
|
||||||
|
CONFIG_FS_FATTIME=y
|
||||||
|
CONFIG_FS_PROCFS=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
|
||||||
|
CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
|
||||||
|
CONFIG_FS_PROCFS_REGISTER=y
|
||||||
|
CONFIG_FS_ROMFS=y
|
||||||
|
CONFIG_GRAN=y
|
||||||
|
CONFIG_GRAN_INTR=y
|
||||||
|
CONFIG_HAVE_CXX=y
|
||||||
|
CONFIG_HAVE_CXXINITIALIZE=y
|
||||||
|
CONFIG_I2C=y
|
||||||
|
CONFIG_I2C_RESET=y
|
||||||
|
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||||
|
CONFIG_LIBC_FLOATINGPOINT=y
|
||||||
|
CONFIG_LIBC_LONG_LONG=y
|
||||||
|
CONFIG_LIBC_STRERROR=y
|
||||||
|
CONFIG_MAX_WDOGPARMS=2
|
||||||
|
CONFIG_MEMSET_64BIT=y
|
||||||
|
CONFIG_MEMSET_OPTSPEED=y
|
||||||
|
CONFIG_MMCSD=y
|
||||||
|
CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
|
||||||
|
CONFIG_MMCSD_SDIO=y
|
||||||
|
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||||
|
CONFIG_MM_REGIONS=3
|
||||||
|
CONFIG_MTD=y
|
||||||
|
CONFIG_MTD_BYTE_WRITE=y
|
||||||
|
CONFIG_MTD_PARTITION=y
|
||||||
|
CONFIG_MTD_RAMTRON=y
|
||||||
|
CONFIG_NFILE_DESCRIPTORS=54
|
||||||
|
CONFIG_NFILE_STREAMS=8
|
||||||
|
CONFIG_NSH_ARCHINIT=y
|
||||||
|
CONFIG_NSH_ARCHROMFS=y
|
||||||
|
CONFIG_NSH_ARGCAT=y
|
||||||
|
CONFIG_NSH_BUILTIN_APPS=y
|
||||||
|
CONFIG_NSH_CMDPARMS=y
|
||||||
|
CONFIG_NSH_CROMFSETC=y
|
||||||
|
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||||
|
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||||
|
CONFIG_NSH_DISABLE_MB=y
|
||||||
|
CONFIG_NSH_DISABLE_MH=y
|
||||||
|
CONFIG_NSH_DISABLE_TELNETD=y
|
||||||
|
CONFIG_NSH_LINELEN=128
|
||||||
|
CONFIG_NSH_MAXARGUMENTS=12
|
||||||
|
CONFIG_NSH_NESTDEPTH=8
|
||||||
|
CONFIG_NSH_QUOTE=y
|
||||||
|
CONFIG_NSH_ROMFSETC=y
|
||||||
|
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||||
|
CONFIG_NSH_STRERROR=y
|
||||||
|
CONFIG_NSH_VARS=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_16BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_1BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_24BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_2BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_32BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_4BPP=y
|
||||||
|
CONFIG_NXFONTS_DISABLE_8BPP=y
|
||||||
|
CONFIG_PIPES=y
|
||||||
|
CONFIG_PREALLOC_MQ_MSGS=4
|
||||||
|
CONFIG_PREALLOC_TIMERS=50
|
||||||
|
CONFIG_PREALLOC_WDOGS=50
|
||||||
|
CONFIG_PRIORITY_INHERITANCE=y
|
||||||
|
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||||
|
CONFIG_PTHREAD_STACK_MIN=512
|
||||||
|
CONFIG_RAMTRON_SETSPEED=y
|
||||||
|
CONFIG_RAMTRON_WRITEWAIT=y
|
||||||
|
CONFIG_RAM_SIZE=245760
|
||||||
|
CONFIG_RAM_START=0x20010000
|
||||||
|
CONFIG_RAW_BINARY=y
|
||||||
|
CONFIG_RTC_DATETIME=y
|
||||||
|
CONFIG_SCHED_ATEXIT=y
|
||||||
|
CONFIG_SCHED_HPWORK=y
|
||||||
|
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||||
|
CONFIG_SCHED_HPWORKSTACKSIZE=1024
|
||||||
|
CONFIG_SCHED_INSTRUMENTATION=y
|
||||||
|
CONFIG_SCHED_LPWORK=y
|
||||||
|
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||||
|
CONFIG_SCHED_LPWORKSTACKSIZE=1280
|
||||||
|
CONFIG_SCHED_WAITPID=y
|
||||||
|
CONFIG_SDCLONE_DISABLE=y
|
||||||
|
CONFIG_SEM_NNESTPRIO=8
|
||||||
|
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||||
|
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||||
|
CONFIG_SERIAL_TERMIOS=y
|
||||||
|
CONFIG_SIG_DEFAULT=y
|
||||||
|
CONFIG_SIG_SIGALRM_ACTION=y
|
||||||
|
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||||
|
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||||
|
CONFIG_SIG_SIGWORK=4
|
||||||
|
CONFIG_STACK_COLORATION=y
|
||||||
|
CONFIG_START_DAY=30
|
||||||
|
CONFIG_START_MONTH=11
|
||||||
|
CONFIG_STDIO_BUFFER_SIZE=32
|
||||||
|
CONFIG_STM32F7_ADC1=y
|
||||||
|
CONFIG_STM32F7_BBSRAM=y
|
||||||
|
CONFIG_STM32F7_BBSRAM_FILES=5
|
||||||
|
CONFIG_STM32F7_BKPSRAM=y
|
||||||
|
CONFIG_STM32F7_DMA1=y
|
||||||
|
CONFIG_STM32F7_DMA2=y
|
||||||
|
CONFIG_STM32F7_DMACAPABLE=y
|
||||||
|
CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
|
||||||
|
CONFIG_STM32F7_I2C1=y
|
||||||
|
CONFIG_STM32F7_I2C2=y
|
||||||
|
CONFIG_STM32F7_I2C3=y
|
||||||
|
CONFIG_STM32F7_I2C4=y
|
||||||
|
CONFIG_STM32F7_I2C_DYNTIMEO=y
|
||||||
|
CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
|
||||||
|
CONFIG_STM32F7_OTGFS=y
|
||||||
|
CONFIG_STM32F7_PWR=y
|
||||||
|
CONFIG_STM32F7_RTC=y
|
||||||
|
CONFIG_STM32F7_RTC_HSECLOCK=y
|
||||||
|
CONFIG_STM32F7_RTC_MAGIC_REG=1
|
||||||
|
CONFIG_STM32F7_SAVE_CRASHDUMP=y
|
||||||
|
CONFIG_STM32F7_SDMMC2=y
|
||||||
|
CONFIG_STM32F7_SDMMC_DMA=y
|
||||||
|
CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
|
||||||
|
CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
|
||||||
|
CONFIG_STM32F7_SPI1=y
|
||||||
|
CONFIG_STM32F7_SPI2=y
|
||||||
|
CONFIG_STM32F7_SPI3=n
|
||||||
|
CONFIG_STM32F7_SPI4=n
|
||||||
|
CONFIG_STM32F7_SPI5=y
|
||||||
|
CONFIG_STM32F7_SPI6=y
|
||||||
|
CONFIG_STM32F7_TIM10=y
|
||||||
|
CONFIG_STM32F7_TIM11=y
|
||||||
|
CONFIG_STM32F7_TIM3=y
|
||||||
|
CONFIG_STM32F7_TIM9=y
|
||||||
|
CONFIG_STM32F7_UART4=y
|
||||||
|
CONFIG_STM32F7_UART5=y
|
||||||
|
CONFIG_STM32F7_UART7=y
|
||||||
|
CONFIG_STM32F7_UART8=y
|
||||||
|
CONFIG_STM32F7_USART1=y
|
||||||
|
CONFIG_STM32F7_USART2=y
|
||||||
|
CONFIG_STM32F7_USART3=y
|
||||||
|
CONFIG_STM32F7_USART6=y
|
||||||
|
CONFIG_STM32F7_USART_BREAKS=y
|
||||||
|
CONFIG_STM32F7_USART_SINGLEWIRE=y
|
||||||
|
CONFIG_STM32F7_WWDG=y
|
||||||
|
CONFIG_SYSTEM_CDCACM=y
|
||||||
|
CONFIG_SYSTEM_NSH=y
|
||||||
|
CONFIG_TASK_NAME_SIZE=24
|
||||||
|
CONFIG_TIME_EXTENDED=y
|
||||||
|
CONFIG_UART4_BAUD=57600
|
||||||
|
CONFIG_UART4_RXBUFSIZE=600
|
||||||
|
CONFIG_UART4_TXBUFSIZE=1500
|
||||||
|
CONFIG_UART5_IFLOWCONTROL=y
|
||||||
|
CONFIG_UART5_OFLOWCONTROL=y
|
||||||
|
CONFIG_UART5_RXBUFSIZE=600
|
||||||
|
CONFIG_UART5_RXDMA=y
|
||||||
|
CONFIG_UART5_TXBUFSIZE=1500
|
||||||
|
CONFIG_UART7_BAUD=57600
|
||||||
|
CONFIG_UART7_IFLOWCONTROL=y
|
||||||
|
CONFIG_UART7_OFLOWCONTROL=y
|
||||||
|
CONFIG_UART7_RXBUFSIZE=600
|
||||||
|
CONFIG_UART7_RXDMA=y
|
||||||
|
CONFIG_UART7_TXBUFSIZE=3000
|
||||||
|
CONFIG_UART8_BAUD=57600
|
||||||
|
CONFIG_UART8_RXBUFSIZE=600
|
||||||
|
CONFIG_UART8_RXDMA=y
|
||||||
|
CONFIG_UART8_TXBUFSIZE=1500
|
||||||
|
CONFIG_USART1_BAUD=57600
|
||||||
|
CONFIG_USART1_RXBUFSIZE=600
|
||||||
|
CONFIG_USART1_TXBUFSIZE=1500
|
||||||
|
CONFIG_USART2_BAUD=57600
|
||||||
|
CONFIG_USART2_IFLOWCONTROL=y
|
||||||
|
CONFIG_USART2_OFLOWCONTROL=y
|
||||||
|
CONFIG_USART2_RXBUFSIZE=600
|
||||||
|
CONFIG_USART2_TXBUFSIZE=3000
|
||||||
|
CONFIG_USART3_BAUD=57600
|
||||||
|
CONFIG_USART3_RXBUFSIZE=180
|
||||||
|
CONFIG_USART3_SERIAL_CONSOLE=y
|
||||||
|
CONFIG_USART3_TXBUFSIZE=1500
|
||||||
|
CONFIG_USART6_BAUD=57600
|
||||||
|
CONFIG_USART6_RXBUFSIZE=600
|
||||||
|
CONFIG_USART6_RXDMA=y
|
||||||
|
CONFIG_USART6_TXBUFSIZE=1500
|
||||||
|
CONFIG_USBDEV=y
|
||||||
|
CONFIG_USBDEV_BUSPOWERED=y
|
||||||
|
CONFIG_USBDEV_MAXPOWER=500
|
||||||
|
CONFIG_USEC_PER_TICK=1000
|
||||||
|
CONFIG_USERMAIN_STACKSIZE=2624
|
||||||
|
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||||
@@ -0,0 +1,51 @@
|
|||||||
|
############################################################################
|
||||||
|
#
|
||||||
|
# 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.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
add_library(drivers_board
|
||||||
|
can.c
|
||||||
|
init.c
|
||||||
|
led.c
|
||||||
|
manifest.c
|
||||||
|
sdio.c
|
||||||
|
spi.cpp
|
||||||
|
timer_config.c
|
||||||
|
usb.c
|
||||||
|
)
|
||||||
|
|
||||||
|
target_link_libraries(drivers_board
|
||||||
|
PRIVATE
|
||||||
|
drivers__led # drv_led_start
|
||||||
|
nuttx_arch # sdio
|
||||||
|
nuttx_drivers # sdio
|
||||||
|
px4_layer
|
||||||
|
)
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,123 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2019 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 px4fmu_can.c
|
||||||
|
*
|
||||||
|
* Board-specific CAN functions.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifdef CONFIG_CAN
|
||||||
|
|
||||||
|
#include <errno.h>
|
||||||
|
#include <debug.h>
|
||||||
|
|
||||||
|
#include <nuttx/can/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"
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Pre-processor Definitions
|
||||||
|
************************************************************************************/
|
||||||
|
/* Configuration ********************************************************************/
|
||||||
|
|
||||||
|
#if defined(CONFIG_STM32F7_CAN1) && defined(CONFIG_STM32F7_CAN2)
|
||||||
|
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
|
||||||
|
# undef CONFIG_STM32F7_CAN2
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_CAN1
|
||||||
|
# define CAN_PORT 1
|
||||||
|
#else
|
||||||
|
# define CAN_PORT 2
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Private Functions
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
************************************************************************************/
|
||||||
|
int can_devinit(void);
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* 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 /* CONFIG_CAN */
|
||||||
@@ -0,0 +1,340 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2012-2019 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 init.c
|
||||||
|
*
|
||||||
|
* PX4FMU-specific early startup code. This file implements the
|
||||||
|
* nsh_archinitialize() function that is called early by nsh during startup.
|
||||||
|
*
|
||||||
|
* Code here is run before the rcS script is invoked; it should start required
|
||||||
|
* subsystems and perform board-specific initialization.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include "board_config.h"
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <debug.h>
|
||||||
|
#include <errno.h>
|
||||||
|
|
||||||
|
#include <nuttx/config.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 <stm32_uart.h>
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
#include "up_internal.h"
|
||||||
|
|
||||||
|
#include <drivers/drv_hrt.h>
|
||||||
|
#include <drivers/drv_board_led.h>
|
||||||
|
#include <systemlib/px4_macros.h>
|
||||||
|
#include <px4_init.h>
|
||||||
|
#include <drivers/boards/common/board_dma_alloc.h>
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-Processor Definitions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/* Configuration ************************************************************/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* 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
|
||||||
|
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: board_rc_input
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* All boards my optionally provide this API to invert the Serial RC input.
|
||||||
|
* This is needed on SoCs that support the notion RXINV or TXINV as apposed to
|
||||||
|
* and external XOR controlled by a GPIO
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base)
|
||||||
|
{
|
||||||
|
|
||||||
|
irqstate_t irqstate = px4_enter_critical_section();
|
||||||
|
|
||||||
|
uint32_t cr1 = getreg32(STM32_USART_CR1_OFFSET + uxart_base);
|
||||||
|
uint32_t cr2 = getreg32(STM32_USART_CR2_OFFSET + uxart_base);
|
||||||
|
uint32_t regval = cr1;
|
||||||
|
|
||||||
|
/* {R|T}XINV bit fields can only be written when the USART is disabled (UE=0). */
|
||||||
|
|
||||||
|
regval &= ~USART_CR1_UE;
|
||||||
|
|
||||||
|
putreg32(regval, STM32_USART_CR1_OFFSET + uxart_base);
|
||||||
|
|
||||||
|
if (invert_on) {
|
||||||
|
#if defined(BOARD_HAS_RX_TX_SWAP) && RC_SERIAL_PORT_IS_SWAPED == 1
|
||||||
|
|
||||||
|
/* This is only ever turned on */
|
||||||
|
|
||||||
|
cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV | USART_CR2_SWAP);
|
||||||
|
#else
|
||||||
|
cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
} else {
|
||||||
|
cr2 &= ~(USART_CR2_RXINV | USART_CR2_TXINV);
|
||||||
|
}
|
||||||
|
|
||||||
|
putreg32(cr2, STM32_USART_CR2_OFFSET + uxart_base);
|
||||||
|
putreg32(cr1, STM32_USART_CR1_OFFSET + uxart_base);
|
||||||
|
|
||||||
|
leave_critical_section(irqstate);
|
||||||
|
}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: board_peripheral_reset
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
__EXPORT void board_peripheral_reset(int ms)
|
||||||
|
{
|
||||||
|
/* set the peripheral rails off */
|
||||||
|
|
||||||
|
// NA, rails not controlled in ModalAI FC-v1
|
||||||
|
|
||||||
|
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
|
||||||
|
/* Keep Spektum on to discharge rail*/
|
||||||
|
VDD_3V3_SPEKTRUM_POWER_EN(false);
|
||||||
|
|
||||||
|
/* 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 */
|
||||||
|
VDD_3V3_SPEKTRUM_POWER_EN(last);
|
||||||
|
|
||||||
|
// NA, rails not controlled in ModalAI FC-v1
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: board_on_reset
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Optionally provided function called on entry to board_system_reset
|
||||||
|
* It should perform any house keeping prior to the rest.
|
||||||
|
*
|
||||||
|
* status - 1 if resetting to boot loader
|
||||||
|
* 0 if just resetting
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
__EXPORT void board_on_reset(int status)
|
||||||
|
{
|
||||||
|
/* configure the GPIO pins to outputs and keep them low */
|
||||||
|
|
||||||
|
const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
|
||||||
|
board_gpio_init(gpio, arraySize(gpio));
|
||||||
|
|
||||||
|
if (status >= 0) {
|
||||||
|
up_mdelay(6);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: board_app_finalinitialize
|
||||||
|
*
|
||||||
|
* 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_FINALINIT.
|
||||||
|
*
|
||||||
|
* Input Parameters:
|
||||||
|
* arg - The argument has no meaning.
|
||||||
|
*
|
||||||
|
* Returned Value:
|
||||||
|
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||||
|
* any failure to indicate the nature of the failure.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_BOARDCTL_FINALINIT
|
||||||
|
int board_app_finalinitialize(uintptr_t arg)
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* 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)
|
||||||
|
{
|
||||||
|
board_on_reset(-1); /* Reset PWM first thing */
|
||||||
|
|
||||||
|
/* configure LEDs */
|
||||||
|
|
||||||
|
board_autoled_initialize();
|
||||||
|
|
||||||
|
/* configure pins */
|
||||||
|
|
||||||
|
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||||
|
board_gpio_init(gpio, arraySize(gpio));
|
||||||
|
|
||||||
|
/* configure SPI interfaces */
|
||||||
|
|
||||||
|
stm32_spiinitialize();
|
||||||
|
|
||||||
|
/* configure USB interfaces */
|
||||||
|
|
||||||
|
stm32_usbinitialize();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* 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)
|
||||||
|
{
|
||||||
|
/* Power on Interfaces */
|
||||||
|
|
||||||
|
VDD_3V3_SD_CARD_EN(true);
|
||||||
|
VDD_3V3_SPEKTRUM_POWER_EN(true);
|
||||||
|
|
||||||
|
|
||||||
|
if (OK == board_determine_hw_info()) {
|
||||||
|
syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
|
||||||
|
board_get_hw_type_name());
|
||||||
|
|
||||||
|
} else {
|
||||||
|
syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
px4_platform_init();
|
||||||
|
|
||||||
|
/* configure the DMA allocator */
|
||||||
|
|
||||||
|
if (board_dma_alloc_init() < 0) {
|
||||||
|
syslog(LOG_ERR, "[boot] 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_on(LED_GREEN); // Indicate Power.
|
||||||
|
led_off(LED_BLUE);
|
||||||
|
|
||||||
|
if (board_hardfault_init(2, true) != 0) {
|
||||||
|
led_on(LED_RED);
|
||||||
|
}
|
||||||
|
|
||||||
|
#ifdef CONFIG_MMCSD
|
||||||
|
int ret = stm32_sdio_initialize();
|
||||||
|
|
||||||
|
if (ret != OK) {
|
||||||
|
led_on(LED_RED);
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif /* CONFIG_MMCSD */
|
||||||
|
|
||||||
|
return OK;
|
||||||
|
}
|
||||||
@@ -0,0 +1,107 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2019 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
|
||||||
|
|
||||||
|
# define xlat(p) (p)
|
||||||
|
static uint32_t g_ledmap[] = {
|
||||||
|
GPIO_nLED_BLUE, // Indexed by LED_BLUE
|
||||||
|
GPIO_nLED_RED, // Indexed by LED_RED, LED_AMBER
|
||||||
|
0, // Indexed by LED_SAFETY (defaulted to an input)
|
||||||
|
GPIO_nLED_GREEN, // Indexed by LED_GREEN
|
||||||
|
};
|
||||||
|
|
||||||
|
__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 Low to switch on */
|
||||||
|
|
||||||
|
stm32_gpiowrite(g_ledmap[led], !state);
|
||||||
|
}
|
||||||
|
|
||||||
|
static bool phy_get_led(int led)
|
||||||
|
{
|
||||||
|
/* If Low it is on */
|
||||||
|
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)));
|
||||||
|
}
|
||||||
@@ -0,0 +1,144 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2018 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 manifest.c
|
||||||
|
*
|
||||||
|
* This module supplies the interface to the manifest of hardware that is
|
||||||
|
* optional and dependent on the HW REV and HW VER IDs
|
||||||
|
*
|
||||||
|
* The manifest allows the system to know whether a hardware option
|
||||||
|
* say for example the PX4IO is an no-pop option vs it is broken.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
#include <board_config.h>
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
|
||||||
|
#include "systemlib/px4_macros.h"
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-Processor Definitions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
uint32_t hw_ver_rev; /* the version and revision */
|
||||||
|
const px4_hw_mft_item_t *mft; /* The first entry */
|
||||||
|
uint32_t entries; /* the lenght of the list */
|
||||||
|
} px4_hw_mft_list_entry_t;
|
||||||
|
|
||||||
|
typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
|
||||||
|
#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
|
||||||
|
|
||||||
|
static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
|
||||||
|
|
||||||
|
// List of components on a specific board configuration
|
||||||
|
// The index of those components is given by the enum (px4_hw_mft_item_id_t)
|
||||||
|
// declared in board_common.h
|
||||||
|
static const px4_hw_mft_item_t hw_mft_list_fc0100[] = {
|
||||||
|
{
|
||||||
|
.present = 0,
|
||||||
|
.mandatory = 0,
|
||||||
|
.connection = px4_hw_con_unknown,
|
||||||
|
},
|
||||||
|
};
|
||||||
|
|
||||||
|
static px4_hw_mft_list_entry_t mft_lists[] = {
|
||||||
|
{0x0000, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: board_rc_input
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* All boards my optionally provide this API to invert the Serial RC input.
|
||||||
|
* This is needed on SoCs that support the notion RXINV or TXINV as opposed to
|
||||||
|
* and external XOR controlled by a GPIO
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
__EXPORT bool board_supports_single_wire(uint32_t uxart_base)
|
||||||
|
{
|
||||||
|
return uxart_base == RC_UXART_BASE;
|
||||||
|
}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: board_query_manifest
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Optional returns manifest item.
|
||||||
|
*
|
||||||
|
* Input Parameters:
|
||||||
|
* manifest_id - the ID for the manifest item to retrieve
|
||||||
|
*
|
||||||
|
* Returned Value:
|
||||||
|
* 0 - item is not in manifest => assume legacy operations
|
||||||
|
* pointer to a manifest item
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
|
||||||
|
{
|
||||||
|
static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
|
||||||
|
|
||||||
|
if (boards_manifest == px4_hw_mft_list_uninitialized) {
|
||||||
|
uint32_t ver_rev = board_get_hw_version() << 8;
|
||||||
|
ver_rev |= board_get_hw_revision();
|
||||||
|
|
||||||
|
for (unsigned i = 0; i < arraySize(mft_lists); i++) {
|
||||||
|
if (mft_lists[i].hw_ver_rev == ver_rev) {
|
||||||
|
boards_manifest = &mft_lists[i];
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (boards_manifest == px4_hw_mft_list_uninitialized) {
|
||||||
|
syslog(LOG_ERR, "[boot] Board %4x is not supported!\n", ver_rev);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
px4_hw_mft_item rv = &device_unsupported;
|
||||||
|
|
||||||
|
if (boards_manifest != px4_hw_mft_list_uninitialized &&
|
||||||
|
id < boards_manifest->entries) {
|
||||||
|
rv = &boards_manifest->mft[id];
|
||||||
|
}
|
||||||
|
|
||||||
|
return rv;
|
||||||
|
}
|
||||||
@@ -0,0 +1,177 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 <nuttx/config.h>
|
||||||
|
#include <board_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 */
|
||||||
@@ -0,0 +1,493 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (C) 2019 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 spi.c
|
||||||
|
*
|
||||||
|
* Board-specific SPI functions.
|
||||||
|
*/
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Included Files
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
#include <board_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"
|
||||||
|
|
||||||
|
/* Define CS GPIO array */
|
||||||
|
#ifdef CONFIG_STM32F7_SPI1
|
||||||
|
static constexpr uint32_t spi1selects_gpio[] = PX4_SENSORS1_BUS_CS_GPIO;
|
||||||
|
#endif
|
||||||
|
#ifdef CONFIG_STM32F7_SPI2
|
||||||
|
static constexpr uint32_t spi2selects_gpio[] = PX4_SENSORS2_BUS_CS_GPIO;
|
||||||
|
#endif
|
||||||
|
#ifdef CONFIG_STM32F7_SPI3
|
||||||
|
static constexpr uint32_t spi3selects_gpio[] = 0; // Not used
|
||||||
|
#endif
|
||||||
|
#ifdef CONFIG_STM32F7_SPI4
|
||||||
|
static constexpr uint32_t spi4selects_gpio[] = 0; // Not used
|
||||||
|
#endif
|
||||||
|
#ifdef CONFIG_STM32F7_SPI5
|
||||||
|
static constexpr uint32_t spi5selects_gpio[] = PX4_MEMORY_BUS_CS_GPIO;
|
||||||
|
#endif
|
||||||
|
#ifdef CONFIG_STM32F7_SPI6
|
||||||
|
static constexpr uint32_t spi6selects_gpio[] = PX4_SENSORS3_BUS_CS_GPIO;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_spiinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
__EXPORT void stm32_spiinitialize()
|
||||||
|
{
|
||||||
|
#ifdef CONFIG_STM32F7_SPI1
|
||||||
|
|
||||||
|
for (auto gpio : spi1selects_gpio) {
|
||||||
|
px4_arch_configgpio(gpio);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // CONFIG_STM32F7_SPI1
|
||||||
|
|
||||||
|
#if defined(CONFIG_STM32F7_SPI2)
|
||||||
|
|
||||||
|
for (auto gpio : spi2selects_gpio) {
|
||||||
|
px4_arch_configgpio(gpio);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // CONFIG_STM32F7_SPI2
|
||||||
|
|
||||||
|
#if defined(CONFIG_STM32F7_SPI3)
|
||||||
|
|
||||||
|
for (auto gpio : spi3selects_gpio) {
|
||||||
|
px4_arch_configgpio(gpio);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // CONFIG_STM32F7_SPI3
|
||||||
|
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI4
|
||||||
|
|
||||||
|
for (auto gpio : spi4selects_gpio) {
|
||||||
|
px4_arch_configgpio(gpio);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // CONFIG_STM32F7_SPI4
|
||||||
|
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI5
|
||||||
|
|
||||||
|
for (auto gpio : spi5selects_gpio) {
|
||||||
|
px4_arch_configgpio(gpio);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // CONFIG_STM32F7_SPI5
|
||||||
|
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI6
|
||||||
|
|
||||||
|
for (auto gpio : spi6selects_gpio) {
|
||||||
|
px4_arch_configgpio(gpio);
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif // CONFIG_STM32F7_SPI6
|
||||||
|
}
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_spi1select and stm32_spi1status
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called by stm32 spi driver on bus 1.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
#ifdef CONFIG_STM32F7_SPI1
|
||||||
|
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||||
|
{
|
||||||
|
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS1);
|
||||||
|
|
||||||
|
// Making sure the other peripherals are not selected
|
||||||
|
for (auto cs : spi1selects_gpio) {
|
||||||
|
stm32_gpiowrite(cs, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// SPI select is active low, so write !selected to select the device
|
||||||
|
stm32_gpiowrite(spi1selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||||
|
{
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
|
}
|
||||||
|
#endif // CONFIG_STM32F7_SPI1
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_spi2select and stm32_spi2status
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called by stm32 spi driver on bus 2.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
#if defined(CONFIG_STM32F7_SPI2)
|
||||||
|
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||||
|
{
|
||||||
|
|
||||||
|
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS2);
|
||||||
|
|
||||||
|
// Making sure the other peripherals are not selected
|
||||||
|
for (auto cs : spi2selects_gpio) {
|
||||||
|
stm32_gpiowrite(cs, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// SPI select is active low, so write !selected to select the device
|
||||||
|
stm32_gpiowrite(spi2selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||||
|
{
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
|
}
|
||||||
|
#endif // CONFIG_STM32F7_SPI2
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_spi3select and stm32_spi3status
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called by stm32 spi driver on bus 3.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
#if defined(CONFIG_STM32F7_SPI3)
|
||||||
|
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||||
|
{
|
||||||
|
|
||||||
|
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);
|
||||||
|
|
||||||
|
// Making sure the other peripherals are not selected
|
||||||
|
for (auto cs : spi3selects_gpio) {
|
||||||
|
stm32_gpiowrite(cs, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// SPI select is active low, so write !selected to select the device
|
||||||
|
stm32_gpiowrite(spi3selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||||
|
{
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
|
}
|
||||||
|
#endif // CONFIG_STM32F7_SPI3
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_spi4select and stm32_spi4status
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called by stm32 spi driver on bus 4.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
#ifdef CONFIG_STM32F7_SPI4
|
||||||
|
__EXPORT void stm32_spi4select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||||
|
{
|
||||||
|
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);
|
||||||
|
|
||||||
|
// Making sure the other peripherals are not selected
|
||||||
|
for (auto cs : spi4selects_gpio) {
|
||||||
|
stm32_gpiowrite(cs, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// SPI select is active low, so write !selected to select the device
|
||||||
|
stm32_gpiowrite(spi4selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT uint8_t stm32_spi4status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||||
|
{
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
|
}
|
||||||
|
#endif // CONFIG_STM32F7_SPI4
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_spi5select and stm32_spi5status
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called by stm32 spi driver on bus 5.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
#ifdef CONFIG_STM32F7_SPI5
|
||||||
|
__EXPORT void stm32_spi5select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||||
|
{
|
||||||
|
if (devid == SPIDEV_FLASH(0)) {
|
||||||
|
devid = PX4_SPIDEV_MEMORY;
|
||||||
|
}
|
||||||
|
|
||||||
|
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_MEMORY);
|
||||||
|
|
||||||
|
// Making sure the other peripherals are not selected
|
||||||
|
for (auto cs : spi5selects_gpio) {
|
||||||
|
stm32_gpiowrite(cs, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// SPI select is active low, so write !selected to select the device
|
||||||
|
stm32_gpiowrite(spi5selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT uint8_t stm32_spi5status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||||
|
{
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
|
}
|
||||||
|
#endif // CONFIG_STM32F7_SPI5
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: stm32_spi6select and stm32_spi6status
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called by stm32 spi driver on bus 6.
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
#ifdef CONFIG_STM32F7_SPI6
|
||||||
|
__EXPORT void stm32_spi6select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||||
|
{
|
||||||
|
ASSERT(PX4_SPI_BUS_ID(devid) == PX4_SPI_BUS_SENSORS3);
|
||||||
|
|
||||||
|
// Making sure the other peripherals are not selected
|
||||||
|
for (auto cs : spi6selects_gpio) {
|
||||||
|
stm32_gpiowrite(cs, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
// SPI select is active low, so write !selected to select the device
|
||||||
|
stm32_gpiowrite(spi6selects_gpio[PX4_SPI_DEV_ID(devid)], !selected);
|
||||||
|
}
|
||||||
|
|
||||||
|
__EXPORT uint8_t stm32_spi6status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||||
|
{
|
||||||
|
return SPI_STATUS_PRESENT;
|
||||||
|
}
|
||||||
|
#endif // CONFIG_STM32F7_SPI6
|
||||||
|
|
||||||
|
/************************************************************************************
|
||||||
|
* Name: board_spi_reset
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* TODO:Add 4 bit MASK active LOW for Bus 1-4
|
||||||
|
*
|
||||||
|
************************************************************************************/
|
||||||
|
|
||||||
|
__EXPORT void board_spi_reset(int mask_ms)
|
||||||
|
{
|
||||||
|
int ms = mask_ms & 0x00ffffff;
|
||||||
|
int mask = ((mask_ms & 0xff000000) >> 24) ^ 0xff;
|
||||||
|
|
||||||
|
// disable SPI bus
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI1
|
||||||
|
|
||||||
|
if (mask & 1) {
|
||||||
|
for (auto cs : spi1selects_gpio) {
|
||||||
|
stm32_configgpio(_PIN_OFF(cs));
|
||||||
|
}
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SPI1_SCK_OFF);
|
||||||
|
stm32_configgpio(GPIO_SPI1_MISO_OFF);
|
||||||
|
stm32_configgpio(GPIO_SPI1_MOSI_OFF);
|
||||||
|
#if BOARD_USE_DRDY
|
||||||
|
stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* set the sensor rail off */
|
||||||
|
|
||||||
|
// NA, not controlling rails in ModalAI FC-v1
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI2
|
||||||
|
|
||||||
|
if (mask & 2) {
|
||||||
|
for (auto cs : spi2selects_gpio) {
|
||||||
|
stm32_configgpio(_PIN_OFF(cs));
|
||||||
|
}
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SPI2_SCK_OFF);
|
||||||
|
stm32_configgpio(GPIO_SPI2_MISO_OFF);
|
||||||
|
stm32_configgpio(GPIO_SPI2_MOSI_OFF);
|
||||||
|
#if BOARD_USE_DRDY
|
||||||
|
stm32_configgpio(GPIO_DRDY_OFF_SPI2_DRDY1_ISM330);
|
||||||
|
#endif
|
||||||
|
/* set the sensor rail off */
|
||||||
|
|
||||||
|
// NA, not controlling rails in ModalAI FC-v1
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI3
|
||||||
|
|
||||||
|
if (mask & 4) {
|
||||||
|
for (auto cs : spi3selects_gpio) {
|
||||||
|
stm32_configgpio(_PIN_OFF(cs));
|
||||||
|
}
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SPI3_SCK_OFF);
|
||||||
|
stm32_configgpio(GPIO_SPI3_MISO_OFF);
|
||||||
|
stm32_configgpio(GPIO_SPI3_MOSI_OFF);
|
||||||
|
#if BOARD_USE_DRDY
|
||||||
|
stm32_configgpio(GPIO_DRDY_OFF_SPI3_DRDY1_BMI088);
|
||||||
|
stm32_configgpio(GPIO_DRDY_OFF_SPI3_DRDY2_BMI088);
|
||||||
|
#endif
|
||||||
|
/* set the sensor rail off */
|
||||||
|
|
||||||
|
// NA, not controlling rails in ModalAI FC-v1
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI4
|
||||||
|
|
||||||
|
if (mask & 8) {
|
||||||
|
for (auto cs : spi4selects_gpio) {
|
||||||
|
stm32_configgpio(_PIN_OFF(cs));
|
||||||
|
}
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SPI4_SCK_OFF);
|
||||||
|
stm32_configgpio(GPIO_SPI4_MISO_OFF);
|
||||||
|
stm32_configgpio(GPIO_SPI4_MOSI_OFF);
|
||||||
|
#if BOARD_USE_DRDY
|
||||||
|
stm32_configgpio(GPIO_DRDY_OFF_SPI4_DRDY1_BMM150);
|
||||||
|
#endif
|
||||||
|
/* set the sensor rail off */
|
||||||
|
|
||||||
|
// NA, not controlling rails in ModalAI FC-v1
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* wait for the sensor rail to reach GND */
|
||||||
|
usleep(ms * 1000);
|
||||||
|
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||||
|
|
||||||
|
/* re-enable power */
|
||||||
|
|
||||||
|
// NA, not controlling rails in ModalAI FC-v1
|
||||||
|
|
||||||
|
/* wait a bit before starting SPI, different times didn't influence results */
|
||||||
|
usleep(100);
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI1
|
||||||
|
|
||||||
|
if (mask & 1) {
|
||||||
|
/* reconfigure the SPI pins */
|
||||||
|
for (auto cs : spi1selects_gpio) {
|
||||||
|
stm32_configgpio(cs);
|
||||||
|
}
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SPI1_SCK);
|
||||||
|
stm32_configgpio(GPIO_SPI1_MISO);
|
||||||
|
stm32_configgpio(GPIO_SPI1_MOSI);
|
||||||
|
#if BOARD_USE_DRDY
|
||||||
|
stm32_configgpio(GPIO_SPI1_DRDY1_ICM20602);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI2
|
||||||
|
|
||||||
|
if (mask & 2) {
|
||||||
|
/* reconfigure the SPI pins */
|
||||||
|
for (auto cs : spi2selects_gpio) {
|
||||||
|
stm32_configgpio(cs);
|
||||||
|
}
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SPI2_SCK);
|
||||||
|
stm32_configgpio(GPIO_SPI2_MISO);
|
||||||
|
stm32_configgpio(GPIO_SPI2_MOSI);
|
||||||
|
#if BOARD_USE_DRDY
|
||||||
|
stm32_configgpio(GPIO_SPI2_DRDY1_ISM330);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI3
|
||||||
|
|
||||||
|
if (mask & 4) {
|
||||||
|
/* reconfigure the SPI pins */
|
||||||
|
for (auto cs : spi3selects_gpio) {
|
||||||
|
stm32_configgpio(cs);
|
||||||
|
}
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SPI3_SCK);
|
||||||
|
stm32_configgpio(GPIO_SPI3_MISO);
|
||||||
|
stm32_configgpio(GPIO_SPI3_MOSI);
|
||||||
|
#if BOARD_USE_DRDY
|
||||||
|
stm32_configgpio(GPIO_SPI3_DRDY1_BMI088);
|
||||||
|
stm32_configgpio(GPIO_SPI3_DRDY2_BMI088);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32F7_SPI4
|
||||||
|
|
||||||
|
if (mask & 8) {
|
||||||
|
/* reconfigure the SPI pins */
|
||||||
|
for (auto cs : spi4selects_gpio) {
|
||||||
|
stm32_configgpio(cs);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
stm32_configgpio(GPIO_SPI4_SCK);
|
||||||
|
stm32_configgpio(GPIO_SPI4_MISO);
|
||||||
|
stm32_configgpio(GPIO_SPI4_MOSI);
|
||||||
|
#if BOARD_USE_DRDY
|
||||||
|
stm32_configgpio(GPIO_SPI4_DRDY1_BMM150);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
#endif
|
||||||
|
}
|
||||||
@@ -0,0 +1,156 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 px4fmu_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 <px4_arch/io_timer.h>
|
||||||
|
|
||||||
|
#include "board_config.h"
|
||||||
|
|
||||||
|
/* Timer allocation
|
||||||
|
*
|
||||||
|
* TIM1_CH4 T FMU_CH1
|
||||||
|
* TIM1_CH3 T FMU_CH2
|
||||||
|
* TIM1_CH2 T FMU_CH3
|
||||||
|
* TIM1_CH1 T FMU_CH4
|
||||||
|
* TIM4_CH2 T FMU_CH5
|
||||||
|
* TIM4_CH3 T FMU_CH6
|
||||||
|
* TIM4_CH1 T FMU_CH7
|
||||||
|
* TIM4_CH4 T FMU_CH8
|
||||||
|
*
|
||||||
|
* TIM8_CH1_IN T FMU_PPM_INPUT - Sampled by HRT by other driver
|
||||||
|
|
||||||
|
*/
|
||||||
|
|
||||||
|
__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
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio_out = GPIO_TIM4_CH1OUT,
|
||||||
|
.gpio_in = GPIO_TIM4_CH1IN,
|
||||||
|
.timer_index = 1,
|
||||||
|
.timer_channel = 1,
|
||||||
|
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
|
||||||
|
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
|
||||||
|
},
|
||||||
|
{
|
||||||
|
.gpio_out = GPIO_TIM4_CH4OUT,
|
||||||
|
.gpio_in = GPIO_TIM4_CH4IN,
|
||||||
|
.timer_index = 1,
|
||||||
|
.timer_channel = 4,
|
||||||
|
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
|
||||||
|
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
|
||||||
|
}
|
||||||
|
};
|
||||||
@@ -0,0 +1,105 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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 px4fmu_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);
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user