mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-28 10:46:33 +08:00
px4io-v1:Removed px4io-v1 board from PX4
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
62a2351a72
commit
7123777e0e
@@ -1,2 +0,0 @@
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This directory contains header files unique to the
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PX4IO board.
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@@ -1,179 +0,0 @@
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/************************************************************************************
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* nuttx-configs/px4io-v1/include/board.h
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* include/arch/board/board.h
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*
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* Copyright (C) 2009 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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#ifndef __ARCH_BOARD_BOARD_H
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#define __ARCH_BOARD_BOARD_H
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#ifndef __ASSEMBLY__
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# include <stdint.h>
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# include <stdbool.h>
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#endif
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#include <stm32_rcc.h>
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#include <stm32_sdio.h>
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#include <stm32.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* Clocking *************************************************************************/
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/* On-board crystal frequency is 24MHz (HSE) */
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#define STM32_BOARD_XTAL 24000000ul
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/* Use the HSE output as the system clock */
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#define STM32_SYSCLK_SW RCC_CFGR_SW_HSE
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#define STM32_SYSCLK_SWS RCC_CFGR_SWS_HSE
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#define STM32_SYSCLK_FREQUENCY STM32_BOARD_XTAL
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/* AHB clock (HCLK) is SYSCLK (24MHz) */
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#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
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#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
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#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
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/* APB2 clock (PCLK2) is HCLK (24MHz) */
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#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
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#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
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#define STM32_APB2_CLKIN (STM32_PCLK2_FREQUENCY) /* Timers 2-4 */
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/* APB2 timer 1 will receive PCLK2. */
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#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM15_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM16_CLKIN (STM32_PCLK2_FREQUENCY)
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#define STM32_APB2_TIM17_CLKIN (STM32_PCLK2_FREQUENCY)
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/* APB1 clock (PCLK1) is HCLK (24MHz) */
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#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLK
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#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY)
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/* All timers run off PCLK */
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#define STM32_APB1_TIM2_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM3_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM4_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM5_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM6_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM7_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM12_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM13_CLKIN (STM32_PCLK1_FREQUENCY)
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#define STM32_APB1_TIM14_CLKIN (STM32_PCLK1_FREQUENCY)
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/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
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* otherwise frequency is 2xAPBx.
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* Note: TIM1, 15-17 are on APB2, others on APB1
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*/
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#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
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#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
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#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
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#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
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#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
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#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
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#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
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#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
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#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
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#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
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#define BOARD_TIM15_FREQUENCY STM32_APB2_TIM15_CLKIN
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#define BOARD_TIM16_FREQUENCY STM32_APB2_TIM16_CLKIN
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#define BOARD_TIM17_FREQUENCY STM32_APB2_TIM17_CLKIN
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/*
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* Some of the USART pins are not available; override the GPIO
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* definitions with an invalid pin configuration.
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*/
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#undef GPIO_USART2_CTS
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#define GPIO_USART2_CTS 0xffffffff
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#undef GPIO_USART2_RTS
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#define GPIO_USART2_RTS 0xffffffff
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#undef GPIO_USART2_CK
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#define GPIO_USART2_CK 0xffffffff
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#undef GPIO_USART3_TX
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#define GPIO_USART3_TX 0xffffffff
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#undef GPIO_USART3_CK
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#define GPIO_USART3_CK 0xffffffff
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#undef GPIO_USART3_CTS
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#define GPIO_USART3_CTS 0xffffffff
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#undef GPIO_USART3_RTS
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#define GPIO_USART3_RTS 0xffffffff
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/************************************************************************************
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* Public Data
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************************************************************************************/
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#ifndef __ASSEMBLY__
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C" {
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#else
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#define EXTERN extern
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#endif
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/************************************************************************************
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* Public Function Prototypes
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************************************************************************************/
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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* Description:
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* All STM32 architectures must provide the following entry point. This entry point
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* is called early in the intitialization -- after all memory has been configured
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* and mapped but before any devices have been initialized.
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*
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************************************************************************************/
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EXTERN void stm32_boardinitialize(void);
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __ARCH_BOARD_BOARD_H */
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@@ -1,158 +0,0 @@
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############################################################################
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# nuttx-configs/px4io-v1/nsh/Make.defs
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#
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# Copyright (C) 2011 Gregory Nutt. All rights reserved.
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# Author: Gregory Nutt <gnutt@nuttx.org>
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name NuttX nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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include ${TOPDIR}/.config
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include ${TOPDIR}/tools/Config.mk
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include $(TOPDIR)/PX4_Warnings.mk
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include $(TOPDIR)/PX4_Config.mk
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#
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# We only support building with the ARM bare-metal toolchain from
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# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
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#
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CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI${HOST_OS_FIRST_LETTER}
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include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
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CC = $(CROSSDEV)gcc
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CXX = $(CROSSDEV)g++
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CPP = $(CROSSDEV)gcc -E
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LD = $(CROSSDEV)ld
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AR = $(CROSSDEV)ar rcs
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NM = $(CROSSDEV)nm
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OBJCOPY = $(CROSSDEV)objcopy
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OBJDUMP = $(CROSSDEV)objdump
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MAXOPTIMIZATION = -Os
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ARCHCPUFLAGS = -mcpu=cortex-m3 \
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-mthumb \
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-march=armv7-m
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# Enable precise stack overflow tracking
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ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
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INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
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endif
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# Use our linker script
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LDSCRIPT = ld.script
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ifeq ($(WINTOOL),y)
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# Windows-native toolchains
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DIRLINK = $(TOPDIR)/tools/copydir.sh
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DIRUNLINK = $(TOPDIR)/tools/unlink.sh
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MKDEP = $(TOPDIR)/tools/mknulldeps.sh
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ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
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ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
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ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)}"
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else
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ifeq ($(PX4_WINTOOL),y)
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# Windows-native toolchains (MSYS)
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DIRLINK = $(TOPDIR)/tools/copydir.sh
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DIRUNLINK = $(TOPDIR)/tools/unlink.sh
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MKDEP = $(TOPDIR)/tools/mknulldeps.sh
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ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
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ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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else
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# Linux/Cygwin-native toolchain
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MKDEP = $(TOPDIR)/tools/mkdeps$(HOSTEXEEXT)
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ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
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ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/scripts/$(LDSCRIPT)
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endif
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endif
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# Tool versions
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ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
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ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
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# Optimization flags
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ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
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-fno-strict-aliasing \
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-fno-strength-reduce \
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-fomit-frame-pointer \
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-funsafe-math-optimizations \
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-fno-builtin-printf \
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-ffunction-sections \
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-fdata-sections
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||||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
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ARCHOPTIMIZATION += -g
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||||||
endif
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ARCHCFLAGS = -std=gnu99
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ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
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ARCHWARNINGS = $(PX4_ARCHWARNINGS)
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ARCHCWARNINGS = $(PX4_ARCHWARNINGS) $(PX4_ARCHCWARNINGS)
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ARCHWARNINGSXX = $(ARCHWARNINGS) $(PX4_ARCHWARNINGSXX)
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ARCHDEFINES =
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||||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
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|
||||||
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||||||
# This seems to be the only way to add linker flags
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||||||
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||||||
EXTRA_LIBS += --warn-common \
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||||||
--gc-sections
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||||||
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CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
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CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
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||||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
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CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
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||||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
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||||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
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||||||
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||||||
NXFLATLDFLAGS1 = -r -d -warn-common
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||||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
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||||||
LDNXFLATFLAGS = -e main -s 2048
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|
||||||
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||||||
OBJEXT = .o
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||||||
LIBEXT = .a
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||||||
EXEEXT =
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||||||
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|
||||||
# Produce partially-linked $1 from files in $2
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|
||||||
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|
||||||
define PRELINK
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||||||
@echo "PRELINK: $1"
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||||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
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|
||||||
endef
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|
||||||
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|
||||||
HOSTCC = gcc
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|
||||||
HOSTINCLUDES = -I.
|
|
||||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
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|
||||||
HOSTLDFLAGS =
|
|
||||||
|
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -1,47 +0,0 @@
|
|||||||
#!/bin/bash
|
|
||||||
# nuttx-configs/px4io-v1/nsh/setenv.sh
|
|
||||||
#
|
|
||||||
# Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
|
||||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
|
|
||||||
if [ "$(basename $0)" = "setenv.sh" ] ; then
|
|
||||||
echo "You must source this script, not run it!" 1>&2
|
|
||||||
exit 1
|
|
||||||
fi
|
|
||||||
|
|
||||||
if [ -z "${PATH_ORIG}" ]; then export PATH_ORIG="${PATH}"; fi
|
|
||||||
|
|
||||||
WD=`pwd`
|
|
||||||
export RIDE_BIN="/cygdrive/c/Program Files/Raisonance/Ride/arm-gcc/bin"
|
|
||||||
export BUILDROOT_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
|
||||||
export PATH="${BUILDROOT_BIN}:${RIDE_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
|
||||||
|
|
||||||
echo "PATH : ${PATH}"
|
|
||||||
@@ -1,135 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
* nuttx-configs/px4io-v1/scripts/ld.script
|
|
||||||
*
|
|
||||||
* Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved.
|
|
||||||
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
|
||||||
*
|
|
||||||
* 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 STM32F100C8 has 64Kb of FLASH beginning at address 0x0800:0000 and
|
|
||||||
* 8Kb of SRAM beginning at address 0x2000:0000. When booting from FLASH,
|
|
||||||
* FLASH memory is aliased to address 0x0000:0000 where the code expects to
|
|
||||||
* begin execution by jumping to the entry point in the 0x0800:0000 address
|
|
||||||
* range.
|
|
||||||
*/
|
|
||||||
|
|
||||||
MEMORY
|
|
||||||
{
|
|
||||||
flash (rx) : ORIGIN = 0x08001000, LENGTH = 60K
|
|
||||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 8K
|
|
||||||
}
|
|
||||||
|
|
||||||
OUTPUT_ARCH(arm)
|
|
||||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
|
||||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
|
||||||
|
|
||||||
/*
|
|
||||||
* Ensure that abort() is present in the final object. The exception handling
|
|
||||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
|
||||||
*/
|
|
||||||
EXTERN(abort)
|
|
||||||
|
|
||||||
SECTIONS
|
|
||||||
{
|
|
||||||
.text : {
|
|
||||||
_stext = ABSOLUTE(.);
|
|
||||||
*(.vectors)
|
|
||||||
*(.text .text.*)
|
|
||||||
*(.fixup)
|
|
||||||
*(.gnu.warning)
|
|
||||||
*(.rodata .rodata.*)
|
|
||||||
*(.gnu.linkonce.t.*)
|
|
||||||
*(.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
|
|
||||||
|
|
||||||
.ARM.extab : {
|
|
||||||
*(.ARM.extab*)
|
|
||||||
} > flash
|
|
||||||
|
|
||||||
__exidx_start = ABSOLUTE(.);
|
|
||||||
.ARM.exidx : {
|
|
||||||
*(.ARM.exidx*)
|
|
||||||
} > flash
|
|
||||||
__exidx_end = ABSOLUTE(.);
|
|
||||||
|
|
||||||
_eronly = ABSOLUTE(.);
|
|
||||||
|
|
||||||
/* The STM32F100CB has 8Kb of SRAM beginning at the following address */
|
|
||||||
|
|
||||||
.data : {
|
|
||||||
_sdata = ABSOLUTE(.);
|
|
||||||
*(.data .data.*)
|
|
||||||
*(.gnu.linkonce.d.*)
|
|
||||||
CONSTRUCTORS
|
|
||||||
_edata = ABSOLUTE(.);
|
|
||||||
. = ALIGN(4);
|
|
||||||
} > sram AT > flash
|
|
||||||
|
|
||||||
.bss : {
|
|
||||||
_sbss = ABSOLUTE(.);
|
|
||||||
*(.bss .bss.*)
|
|
||||||
*(.gnu.linkonce.b.*)
|
|
||||||
*(COMMON)
|
|
||||||
_ebss = ABSOLUTE(.);
|
|
||||||
} > sram
|
|
||||||
|
|
||||||
/* Stabs debugging sections. */
|
|
||||||
.stab 0 : { *(.stab) }
|
|
||||||
.stabstr 0 : { *(.stabstr) }
|
|
||||||
.stab.excl 0 : { *(.stab.excl) }
|
|
||||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
|
||||||
.stab.index 0 : { *(.stab.index) }
|
|
||||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
|
||||||
.comment 0 : { *(.comment) }
|
|
||||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
|
||||||
.debug_info 0 : { *(.debug_info) }
|
|
||||||
.debug_line 0 : { *(.debug_line) }
|
|
||||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
|
||||||
.debug_aranges 0 : { *(.debug_aranges) }
|
|
||||||
}
|
|
||||||
@@ -1,87 +0,0 @@
|
|||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (C) 2009-2010 Gregory Nutt. All rights reserved.
|
|
||||||
# Author: Gregory Nutt <spudmonkey@racsa.co.cr>
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
|
|
||||||
-include $(TOPDIR)/Make.defs
|
|
||||||
|
|
||||||
CFLAGS += -I$(TOPDIR)/sched
|
|
||||||
|
|
||||||
ASRCS =
|
|
||||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
|
||||||
|
|
||||||
CSRCS = empty.c
|
|
||||||
|
|
||||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
|
||||||
|
|
||||||
SRCS = $(ASRCS) $(CSRCS)
|
|
||||||
OBJS = $(AOBJS) $(COBJS)
|
|
||||||
|
|
||||||
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
|
||||||
ifeq ($(WINTOOL),y)
|
|
||||||
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
|
||||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
|
||||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
|
||||||
else
|
|
||||||
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
|
||||||
endif
|
|
||||||
|
|
||||||
all: libboard$(LIBEXT)
|
|
||||||
|
|
||||||
$(AOBJS): %$(OBJEXT): %.S
|
|
||||||
$(call ASSEMBLE, $<, $@)
|
|
||||||
|
|
||||||
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
|
||||||
$(call COMPILE, $<, $@)
|
|
||||||
|
|
||||||
libboard$(LIBEXT): $(OBJS)
|
|
||||||
$(call ARCHIVE, $@, $(OBJS))
|
|
||||||
|
|
||||||
.depend: Makefile $(SRCS)
|
|
||||||
@$(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
|
||||||
@touch $@
|
|
||||||
|
|
||||||
depend: .depend
|
|
||||||
|
|
||||||
clean:
|
|
||||||
$(call DELFILE, libboard$(LIBEXT))
|
|
||||||
$(call CLEAN)
|
|
||||||
|
|
||||||
distclean: clean
|
|
||||||
$(call DELFILE, Make.dep)
|
|
||||||
$(call DELFILE, .depend)
|
|
||||||
|
|
||||||
ifneq ($(BOARD_CONTEXT),y)
|
|
||||||
context:
|
|
||||||
endif
|
|
||||||
|
|
||||||
-include Make.dep
|
|
||||||
@@ -1,4 +0,0 @@
|
|||||||
/*
|
|
||||||
* There are no source files here, but libboard.a can't be empty, so
|
|
||||||
* we have this empty source file to keep it company.
|
|
||||||
*/
|
|
||||||
@@ -1,42 +0,0 @@
|
|||||||
############################################################################
|
|
||||||
#
|
|
||||||
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
|
||||||
#
|
|
||||||
# Redistribution and use in source and binary forms, with or without
|
|
||||||
# modification, are permitted provided that the following conditions
|
|
||||||
# are met:
|
|
||||||
#
|
|
||||||
# 1. Redistributions of source code must retain the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer.
|
|
||||||
# 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
# notice, this list of conditions and the following disclaimer in
|
|
||||||
# the documentation and/or other materials provided with the
|
|
||||||
# distribution.
|
|
||||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
# used to endorse or promote products derived from this software
|
|
||||||
# without specific prior written permission.
|
|
||||||
#
|
|
||||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
# POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
#
|
|
||||||
############################################################################
|
|
||||||
px4_add_module(
|
|
||||||
MODULE drivers__boards__px4io-v1
|
|
||||||
COMPILE_FLAGS
|
|
||||||
SRCS
|
|
||||||
px4io_init.c
|
|
||||||
px4io_timer_config.c
|
|
||||||
DEPENDS
|
|
||||||
platforms__common
|
|
||||||
)
|
|
||||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
|
||||||
@@ -1,100 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
|
|
||||||
*
|
|
||||||
* Redistribution and use in source and binary forms, with or without
|
|
||||||
* modification, are permitted provided that the following conditions
|
|
||||||
* are met:
|
|
||||||
*
|
|
||||||
* 1. Redistributions of source code must retain the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer.
|
|
||||||
* 2. Redistributions in binary form must reproduce the above copyright
|
|
||||||
* notice, this list of conditions and the following disclaimer in
|
|
||||||
* the documentation and/or other materials provided with the
|
|
||||||
* distribution.
|
|
||||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
||||||
* used to endorse or promote products derived from this software
|
|
||||||
* without specific prior written permission.
|
|
||||||
*
|
|
||||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
||||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
||||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
||||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
||||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
||||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
||||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
||||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
||||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
||||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
||||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
||||||
* POSSIBILITY OF SUCH DAMAGE.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @file board_config.h
|
|
||||||
*
|
|
||||||
* PX4IO hardware definitions.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#pragma once
|
|
||||||
|
|
||||||
/************************************************************************************
|
|
||||||
* Included Files
|
|
||||||
************************************************************************************/
|
|
||||||
|
|
||||||
#include <px4_config.h>
|
|
||||||
#include <nuttx/compiler.h>
|
|
||||||
#include <stdint.h>
|
|
||||||
|
|
||||||
/************************************************************************************
|
|
||||||
* Definitions
|
|
||||||
************************************************************************************/
|
|
||||||
|
|
||||||
/* PX4IO GPIOs **********************************************************************/
|
|
||||||
/* LEDs */
|
|
||||||
|
|
||||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\
|
|
||||||
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
|
|
||||||
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\
|
|
||||||
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
|
|
||||||
#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTOD|GPIO_MODE_50MHz|\
|
|
||||||
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
|
|
||||||
|
|
||||||
#define GPIO_USART1_RX_SPEKTRUM (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN10)
|
|
||||||
|
|
||||||
/* Safety switch button *************************************************************/
|
|
||||||
|
|
||||||
#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
|
|
||||||
|
|
||||||
/* Power switch controls ************************************************************/
|
|
||||||
|
|
||||||
#define GPIO_ACC1_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
|
|
||||||
#define GPIO_ACC2_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
|
|
||||||
#define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
|
|
||||||
|
|
||||||
#define GPIO_ACC_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12)
|
|
||||||
#define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13)
|
|
||||||
|
|
||||||
#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
|
|
||||||
#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11)
|
|
||||||
|
|
||||||
#define GPIO_SPEKTRUM_PWR_EN GPIO_RELAY1_EN
|
|
||||||
#define SPEKTRUM_POWER(_on_true) px4_arch_gpiowrite(GPIO_RELAY1_EN, (_on_true))
|
|
||||||
|
|
||||||
#define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_USART1_RX_SPEKTRUM, (_one_true))
|
|
||||||
#define SPEKTRUM_RX_AS_UART() px4_arch_configgpio(GPIO_USART1_RX)
|
|
||||||
#define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_USART1_RX_SPEKTRUM)
|
|
||||||
|
|
||||||
/* Analog inputs ********************************************************************/
|
|
||||||
|
|
||||||
#define GPIO_ADC_VBATT (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN4)
|
|
||||||
#define GPIO_ADC_IN5 (GPIO_INPUT|GPIO_CNF_ANALOGIN|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN5)
|
|
||||||
|
|
||||||
/*
|
|
||||||
* High-resolution timer
|
|
||||||
*/
|
|
||||||
#define HRT_TIMER 1 /* use timer1 for the HRT */
|
|
||||||
#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 2 */
|
|
||||||
#define HRT_PPM_CHANNEL 1 /* use capture/compare channel 1 PA8 */
|
|
||||||
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTA|GPIO_PIN8)
|
|
||||||
@@ -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 px4io_init.c
|
|
||||||
*
|
|
||||||
* PX4IO-specific early startup code. This file implements the
|
|
||||||
* stm32_boardinitialize() function that is called during cpu startup.
|
|
||||||
*
|
|
||||||
* Code here is run before the rcS script is invoked; it should start required
|
|
||||||
* subsystems and perform board-specific initialization.
|
|
||||||
*/
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Included Files
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
#include <px4_config.h>
|
|
||||||
|
|
||||||
#include <stdbool.h>
|
|
||||||
#include <stdio.h>
|
|
||||||
#include <debug.h>
|
|
||||||
#include <errno.h>
|
|
||||||
|
|
||||||
#include <nuttx/arch.h>
|
|
||||||
#include <nuttx/board.h>
|
|
||||||
|
|
||||||
#include "stm32.h"
|
|
||||||
#include "board_config.h"
|
|
||||||
#include "stm32_uart.h"
|
|
||||||
|
|
||||||
#include <arch/board/board.h>
|
|
||||||
|
|
||||||
#include <drivers/drv_hrt.h>
|
|
||||||
#include <drivers/drv_board_led.h>
|
|
||||||
#include <drivers/drv_pwm_output.h>
|
|
||||||
|
|
||||||
/****************************************************************************
|
|
||||||
* Public Functions
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/************************************************************************************
|
|
||||||
* Name: stm32_boardinitialize
|
|
||||||
*
|
|
||||||
* Description:
|
|
||||||
* All STM32 architectures must provide the following entry point. This entry point
|
|
||||||
* is called early in the intitialization -- after all memory has been configured
|
|
||||||
* and mapped but before any devices have been initialized.
|
|
||||||
*
|
|
||||||
************************************************************************************/
|
|
||||||
|
|
||||||
__EXPORT void stm32_boardinitialize(void)
|
|
||||||
{
|
|
||||||
/* configure GPIOs */
|
|
||||||
stm32_configgpio(GPIO_ACC1_PWR_EN);
|
|
||||||
stm32_configgpio(GPIO_ACC2_PWR_EN);
|
|
||||||
stm32_configgpio(GPIO_SERVO_PWR_EN);
|
|
||||||
stm32_configgpio(GPIO_RELAY1_EN);
|
|
||||||
stm32_configgpio(GPIO_RELAY2_EN);
|
|
||||||
|
|
||||||
/* turn off - all leds are active low */
|
|
||||||
stm32_gpiowrite(GPIO_LED1, true);
|
|
||||||
stm32_gpiowrite(GPIO_LED2, true);
|
|
||||||
stm32_gpiowrite(GPIO_LED3, true);
|
|
||||||
|
|
||||||
/* LED config */
|
|
||||||
stm32_configgpio(GPIO_LED1);
|
|
||||||
stm32_configgpio(GPIO_LED2);
|
|
||||||
stm32_configgpio(GPIO_LED3);
|
|
||||||
|
|
||||||
stm32_configgpio(GPIO_ACC_OC_DETECT);
|
|
||||||
stm32_configgpio(GPIO_SERVO_OC_DETECT);
|
|
||||||
stm32_configgpio(GPIO_BTN_SAFETY);
|
|
||||||
|
|
||||||
stm32_configgpio(GPIO_ADC_VBATT);
|
|
||||||
stm32_configgpio(GPIO_ADC_IN5);
|
|
||||||
}
|
|
||||||
@@ -1,151 +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 px4fmu_timer_config.c
|
|
||||||
*
|
|
||||||
* Configuration data for the stm32 pwm_servo driver.
|
|
||||||
*
|
|
||||||
* Note that these arrays must always be fully-sized.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <stdint.h>
|
|
||||||
|
|
||||||
#include <drivers/drv_pwm_output.h>
|
|
||||||
#include <drivers/stm32/drv_io_timer.h>
|
|
||||||
|
|
||||||
#include <arch/board/board.h>
|
|
||||||
|
|
||||||
#include <stm32.h>
|
|
||||||
#include <stm32_gpio.h>
|
|
||||||
#include <stm32_tim.h>
|
|
||||||
|
|
||||||
__EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
|
|
||||||
{
|
|
||||||
.base = STM32_TIM2_BASE,
|
|
||||||
.clock_register = STM32_RCC_APB1ENR,
|
|
||||||
.clock_bit = RCC_APB1ENR_TIM2EN,
|
|
||||||
.clock_freq = STM32_APB1_TIM2_CLKIN,
|
|
||||||
.first_channel_index = 0,
|
|
||||||
.last_channel_index = 1,
|
|
||||||
.handler = io_timer_handler0,
|
|
||||||
.vectorno = STM32_IRQ_TIM2,
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.base = STM32_TIM3_BASE,
|
|
||||||
.clock_register = STM32_RCC_APB1ENR,
|
|
||||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
|
||||||
.clock_freq = STM32_APB1_TIM3_CLKIN,
|
|
||||||
.first_channel_index = 4,
|
|
||||||
.last_channel_index = 7,
|
|
||||||
.handler = io_timer_handler1,
|
|
||||||
.vectorno = STM32_IRQ_TIM3,
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.base = STM32_TIM4_BASE,
|
|
||||||
.clock_register = STM32_RCC_APB1ENR,
|
|
||||||
.clock_bit = RCC_APB1ENR_TIM4EN,
|
|
||||||
.clock_freq = STM32_APB1_TIM4_CLKIN,
|
|
||||||
.first_channel_index = 2,
|
|
||||||
.last_channel_index = 3,
|
|
||||||
.handler = io_timer_handler2,
|
|
||||||
.vectorno = STM32_IRQ_TIM4,
|
|
||||||
}
|
|
||||||
};
|
|
||||||
|
|
||||||
__EXPORT const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
|
||||||
{
|
|
||||||
.gpio_out = GPIO_TIM2_CH1OUT,
|
|
||||||
.gpio_in = GPIO_TIM2_CH1IN,
|
|
||||||
.timer_index = 0,
|
|
||||||
.timer_channel = 1,
|
|
||||||
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
|
|
||||||
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.gpio_out = GPIO_TIM2_CH2OUT,
|
|
||||||
.gpio_in = GPIO_TIM2_CH2IN,
|
|
||||||
.timer_index = 0,
|
|
||||||
.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 = 2,
|
|
||||||
.timer_channel = 3,
|
|
||||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
|
||||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.gpio_out = GPIO_TIM4_CH4OUT,
|
|
||||||
.gpio_in = GPIO_TIM4_CH4IN,
|
|
||||||
.timer_index = 2,
|
|
||||||
.timer_channel = 4,
|
|
||||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
|
||||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.gpio_out = GPIO_TIM3_CH1OUT,
|
|
||||||
.gpio_in = GPIO_TIM3_CH1IN,
|
|
||||||
.timer_index = 1,
|
|
||||||
.timer_channel = 1,
|
|
||||||
.ccr_offset = STM32_GTIM_CCR1_OFFSET,
|
|
||||||
.masks = GTIM_SR_CC1IF | GTIM_SR_CC1OF
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.gpio_out = GPIO_TIM3_CH2OUT,
|
|
||||||
.gpio_in = GPIO_TIM3_CH2IN,
|
|
||||||
.timer_index = 1,
|
|
||||||
.timer_channel = 2,
|
|
||||||
.ccr_offset = STM32_GTIM_CCR2_OFFSET,
|
|
||||||
.masks = GTIM_SR_CC2IF | GTIM_SR_CC2OF
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.gpio_out = GPIO_TIM3_CH3OUT,
|
|
||||||
.gpio_in = GPIO_TIM3_CH3IN,
|
|
||||||
.timer_index = 1,
|
|
||||||
.timer_channel = 3,
|
|
||||||
.ccr_offset = STM32_GTIM_CCR3_OFFSET,
|
|
||||||
.masks = GTIM_SR_CC3IF | GTIM_SR_CC3OF
|
|
||||||
},
|
|
||||||
{
|
|
||||||
.gpio_out = GPIO_TIM3_CH4OUT,
|
|
||||||
.gpio_in = GPIO_TIM3_CH4IN,
|
|
||||||
.timer_index = 1,
|
|
||||||
.timer_channel = 4,
|
|
||||||
.ccr_offset = STM32_GTIM_CCR4_OFFSET,
|
|
||||||
.masks = GTIM_SR_CC4IF | GTIM_SR_CC4OF
|
|
||||||
}
|
|
||||||
};
|
|
||||||
Reference in New Issue
Block a user