Mirrors_Framework/PX4-Autopilot
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Hoist the GPIO driver out and integrate it with the px4fmu driver. Move these pieces into the drivers tree.

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This commit is contained in:
px4dev
2012-10-27 01:39:10 -07:00
parent 241a0d8653
commit 5135e5308b
9 changed files with 372 additions and 398 deletions
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apps/drivers/boards/px4fmu/px4fmu_init.c
-3
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@@ -294,9 +294,6 @@ __EXPORT int nsh_archinitialize(void)
/* Get board information if available */ /* Get board information if available */
/* Initialize the user GPIOs */
px4fmu_gpio_init();
#ifdef CONFIG_ADC #ifdef CONFIG_ADC
int adc_state = adc_devinit(); int adc_state = adc_devinit();
apps/drivers/boards/px4fmu/px4fmu_internal.h
+2 -13
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@@ -47,6 +47,8 @@
#include <nuttx/compiler.h> #include <nuttx/compiler.h>
#include <stdint.h> #include <stdint.h>
#include "stm32_internal.h"
/**************************************************************************************************** /****************************************************************************************************
* Definitions * Definitions
****************************************************************************************************/ ****************************************************************************************************/
@@ -150,17 +152,4 @@
extern void stm32_spiinitialize(void); extern void stm32_spiinitialize(void);
/****************************************************************************************************
* Name: px4fmu_gpio_init
*
* Description:
* Called to configure the PX4FMU user GPIOs
*
****************************************************************************************************/
extern void px4fmu_gpio_init(void);
// XXX additional SPI chipselect functions required?
#endif /* __ASSEMBLY__ */ #endif /* __ASSEMBLY__ */
apps/drivers/drv_gpio.h
+66 -16
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@@ -40,25 +40,75 @@
#include <sys/ioctl.h> #include <sys/ioctl.h>
#ifdef CONFIG_ARCH_BOARD_PX4FMU
/* /*
* GPIO defines come from a board-specific header, as they are shared * PX4FMU GPIO numbers.
* with board-specific logic.
* *
* The board-specific header must define: * For shared pins, alternate function 1 selects the non-GPIO mode
* GPIO_DEVICE_PATH * (USART2, CAN2, etc.)
* GPIO_RESET
* GPIO_SET_OUTPUT
* GPIO_SET_INPUT
* GPIO_SET_ALT_1
* GPIO_SET_ALT_2
* GPIO_SET_ALT_3
* GPIO_SET_ALT_4
* GPIO_SET
* GPIO_CLEAR
* GPIO_GET
*/ */
# define GPIO_EXT_1 (1<<0) /**< high-power GPIO 1 */
# define GPIO_EXT_2 (1<<1) /**< high-power GPIO 1 */
# define GPIO_MULTI_1 (1<<2) /**< USART2 CTS */
# define GPIO_MULTI_2 (1<<3) /**< USART2 RTS */
# define GPIO_MULTI_3 (1<<4) /**< USART2 TX */
# define GPIO_MULTI_4 (1<<5) /**< USART2 RX */
# define GPIO_CAN_TX (1<<6) /**< CAN2 TX */
# define GPIO_CAN_RX (1<<7) /**< CAN2 RX */
/* Include board-specific GPIO definitions as well. */ /**
#include <arch/board/drv_gpio.h> * Default GPIO device - other devices may also support this protocol if
* they also export GPIO-like things. This is always the GPIOs on the
* main board.
*/
# define GPIO_DEVICE_PATH "/dev/px4fmu"
#endif
#ifndef GPIO_DEVICE_PATH
# error No GPIO support for this board.
#endif
/*
* IOCTL definitions.
*
* For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
* by the operation, with the LSB being the lowest-numbered GPIO.
*
* Note that there may be board-specific relationships between GPIOs;
* applications using GPIOs should be aware of this.
*/
#define _GPIOCBASE 0x6700
#define GPIOC(_x) _IOC(_GPIOCBASE, _x)
/** reset all board GPIOs to their default state */
#define GPIO_RESET GPIOC(0)
/** configure the board GPIOs in (arg) as outputs */
#define GPIO_SET_OUTPUT GPIOC(1)
/** configure the board GPIOs in (arg) as inputs */
#define GPIO_SET_INPUT GPIOC(2)
/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
#define GPIO_SET_ALT_1 GPIOC(3)
/** configure the board GPIO (arg) for the second alternate function (if supported) */
#define GPIO_SET_ALT_2 GPIOC(4)
/** configure the board GPIO (arg) for the third alternate function (if supported) */
#define GPIO_SET_ALT_3 GPIOC(5)
/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
#define GPIO_SET_ALT_4 GPIOC(6)
/** set the GPIOs in (arg) */
#define GPIO_SET GPIOC(10)
/** clear the GPIOs in (arg) */
#define GPIO_CLEAR GPIOC(11)
/** read all the GPIOs and return their values in *(uint32_t *)arg */
#define GPIO_GET GPIOC(12)
#endif /* _DRV_GPIO_H */ #endif /* _DRV_GPIO_H */
apps/px4/fmu/Makefile → apps/drivers/px4fmu/Makefile
+2
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@@ -39,4 +39,6 @@ APPNAME = fmu
PRIORITY = SCHED_PRIORITY_DEFAULT PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048 STACKSIZE = 2048
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
include $(APPDIR)/mk/app.mk include $(APPDIR)/mk/app.mk
apps/px4/fmu/fmu.cpp → apps/drivers/px4fmu/fmu.cpp
+298 -59
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File diff suppressed because it is too large Load Diff
nuttx/configs/px4fmu/include/drv_gpio.h
-107
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@@ -1,107 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file GPIO driver interface.
*
* This header defines the basic interface to platform-specific GPIOs.
*/
#ifndef _BOARD_DRV_GPIO_H
#define _BOARD_DRV_GPIO_H
/*
* PX4FMU GPIO numbers.
*
* For shared pins, alternate function 1 selects the non-GPIO mode
* (USART2, CAN2, etc.)
*/
#define GPIO_EXT_1 (1<<0) /**< high-power GPIO 1 */
#define GPIO_EXT_2 (1<<1) /**< high-power GPIO 1 */
#define GPIO_MULTI_1 (1<<2) /**< USART2 CTS */
#define GPIO_MULTI_2 (1<<3) /**< USART2 RTS */
#define GPIO_MULTI_3 (1<<4) /**< USART2 TX */
#define GPIO_MULTI_4 (1<<5) /**< USART2 RX */
#define GPIO_CAN_TX (1<<6) /**< CAN2 TX */
#define GPIO_CAN_RX (1<<7) /**< CAN2 RX */
/**
* Default GPIO device - other devices may also support this protocol if
* they also export GPIO-like things. This is always the GPIOs on the
* main board.
*/
#define GPIO_DEVICE_PATH "/dev/gpio"
/*
* IOCTL definitions.
*
* For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
* by the operation, with the LSB being the lowest-numbered GPIO.
*
* Note that there may be board-specific relationships between GPIOs;
* applications using GPIOs should be aware of this.
*/
#define _GPIOCBASE 0x6700
#define GPIOC(_x) _IOC(_GPIOCBASE, _x)
/** reset all board GPIOs to their default state */
#define GPIO_RESET GPIOC(0)
/** configure the board GPIOs in (arg) as outputs */
#define GPIO_SET_OUTPUT GPIOC(1)
/** configure the board GPIOs in (arg) as inputs */
#define GPIO_SET_INPUT GPIOC(2)
/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
#define GPIO_SET_ALT_1 GPIOC(3)
/** configure the board GPIO (arg) for the second alternate function (if supported) */
#define GPIO_SET_ALT_2 GPIOC(4)
/** configure the board GPIO (arg) for the third alternate function (if supported) */
#define GPIO_SET_ALT_3 GPIOC(5)
/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
#define GPIO_SET_ALT_4 GPIOC(6)
/** set the GPIOs in (arg) */
#define GPIO_SET GPIOC(10)
/** clear the GPIOs in (arg) */
#define GPIO_CLEAR GPIOC(11)
/** read all the GPIOs and return their values in *(uint32_t *)arg */
#define GPIO_GET GPIOC(12)
#endif /* _DRV_GPIO_H */
nuttx/configs/px4fmu/nsh/appconfig
+1 -1
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@@ -95,7 +95,7 @@ CONFIGURED_APPS += drivers/l3gd20
CONFIGURED_APPS += drivers/px4io CONFIGURED_APPS += drivers/px4io
CONFIGURED_APPS += drivers/stm32 CONFIGURED_APPS += drivers/stm32
CONFIGURED_APPS += drivers/stm32/tone_alarm CONFIGURED_APPS += drivers/stm32/tone_alarm
CONFIGURED_APPS += px4/fmu CONFIGURED_APPS += drivers/px4fmu
# Testing stuff # Testing stuff
CONFIGURED_APPS += px4/sensors_bringup CONFIGURED_APPS += px4/sensors_bringup
nuttx/configs/px4fmu/src/Makefile
-1
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@@ -41,7 +41,6 @@ ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT)) AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = up_leds.c \ CSRCS = up_leds.c \
drv_gpio.c \
drv_led.c drv_eeprom.c drv_led.c drv_eeprom.c
COBJS = $(CSRCS:.c=$(OBJEXT)) COBJS = $(CSRCS:.c=$(OBJEXT))
nuttx/configs/px4fmu/src/drv_gpio.c
-195
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@@ -1,195 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* GPIO driver for PX4FMU.
*
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/spi.h>
#include <arch/board/board.h>
#include "up_arch.h"
#include "chip.h"
#include "stm32_internal.h"
#include "px4fmu-internal.h"
#include <arch/board/drv_gpio.h>
static int px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg);
static const struct file_operations px4fmu_gpio_fops = {
.ioctl = px4fmu_gpio_ioctl,
};
static struct {
uint32_t input;
uint32_t output;
uint32_t alt;
} gpio_tab[] = {
{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
};
#define NGPIO (sizeof(gpio_tab) / sizeof(gpio_tab[0]))
static void
px4fmu_gpio_reset(void)
{
/*
* Setup default GPIO config - all pins as GPIOs, GPIO driver chip
* to input mode.
*/
for (unsigned i = 0; i < NGPIO; i++)
stm32_configgpio(gpio_tab[i].input);
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
stm32_configgpio(GPIO_GPIO_DIR);
}
static void
px4fmu_gpio_set_function(uint32_t gpios, int function)
{
/*
* GPIOs 0 and 1 must have the same direction as they are buffered
* by a shared 2-port driver. Any attempt to set either sets both.
*/
if (gpios & 3) {
gpios |= 3;
/* flip the buffer to output mode if required */
if (GPIO_SET_OUTPUT == function)
stm32_gpiowrite(GPIO_GPIO_DIR, 1);
}
/* configure selected GPIOs as required */
for (unsigned i = 0; i < NGPIO; i++) {
if (gpios & (1<<i)) {
switch (function) {
case GPIO_SET_INPUT:
stm32_configgpio(gpio_tab[i].input);
break;
case GPIO_SET_OUTPUT:
stm32_configgpio(gpio_tab[i].output);
break;
case GPIO_SET_ALT_1:
if (gpio_tab[i].alt != 0)
stm32_configgpio(gpio_tab[i].alt);
break;
}
}
}
/* flip buffer to input mode if required */
if ((GPIO_SET_INPUT == function) && (gpios & 3))
stm32_gpiowrite(GPIO_GPIO_DIR, 0);
}
static void
px4fmu_gpio_write(uint32_t gpios, int function)
{
int value = (function == GPIO_SET) ? 1 : 0;
for (unsigned i = 0; i < NGPIO; i++)
if (gpios & (1<<i))
stm32_gpiowrite(gpio_tab[i].output, value);
}
static uint32_t
px4fmu_gpio_read(void)
{
uint32_t bits = 0;
for (unsigned i = 0; i < NGPIO; i++)
if (stm32_gpioread(gpio_tab[i].input))
bits |= (1 << i);
return bits;
}
void
px4fmu_gpio_init(void)
{
/* reset all GPIOs to default state */
px4fmu_gpio_reset();
/* register the driver */
register_driver(GPIO_DEVICE_PATH, &px4fmu_gpio_fops, 0666, NULL);
}
static int
px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg)
{
int result = OK;
switch (cmd) {
case GPIO_RESET:
px4fmu_gpio_reset();
break;
case GPIO_SET_OUTPUT:
case GPIO_SET_INPUT:
case GPIO_SET_ALT_1:
px4fmu_gpio_set_function(arg, cmd);
break;
case GPIO_SET:
case GPIO_CLEAR:
px4fmu_gpio_write(arg, cmd);
break;
case GPIO_GET:
*(uint32_t *)arg = px4fmu_gpio_read();
break;
default:
result = -ENOTTY;
}
return result;
}