Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-23 06:36:45 +08:00
Code Issues Actions 17 Packages Projects Releases Wiki Activity

s32k1xx:Add stubbed out chip and arch

Browse Source
This commit is contained in:
David Sidrane
2020-02-01 14:55:39 -08:00
committed by Daniel Agar
parent 0d36e5094b
commit 80ac80b5e4
28 changed files with 4351 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/include/px4_platform_common/board_common.h
+2
View File
@@ -384,6 +384,8 @@ typedef enum PX4_SOC_ARCH_ID_t {
PX4_SOC_ARCH_ID_STM32H7 = 0x0006,
PX4_SOC_ARCH_ID_NXPS32K146 = 0x0007,
PX4_SOC_ARCH_ID_EAGLE = 0x1001,
PX4_SOC_ARCH_ID_QURT = 0x1002,
PX4_SOC_ARCH_ID_OCPOC = 0x1003,
platforms/nuttx/cmake/px4_impl_os.cmake
+3
View File
@@ -121,6 +121,9 @@ function(px4_os_determine_build_chip)
elseif(CONFIG_ARCH_CHIP_MIMXRT1062DVL6A)
set(CHIP_MANUFACTURER "nxp")
set(CHIP "rt106x")
elseif(CONFIG_ARCH_CHIP_S32K146)
set(CHIP_MANUFACTURER "nxp")
set(CHIP "s32k14x")
else()
message(FATAL_ERROR "Could not determine chip architecture from NuttX config. You may have to add it.")
endif()
platforms/nuttx/src/px4/nxp/s32k14x/CMakeLists.txt
+42
View File
@@ -0,0 +1,42 @@
############################################################################
#
# 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.
#
############################################################################
add_subdirectory(../s32k1xx/adc adc)
add_subdirectory(../s32k1xx/board_reset board_reset)
add_subdirectory(../s32k1xx/board_critmon board_critmon)
add_subdirectory(../s32k1xx/led_pwm led_pwm)
add_subdirectory(../s32k1xx/hrt hrt)
add_subdirectory(../s32k1xx/io_pins io_pins)
add_subdirectory(../s32k1xx/tone_alarm tone_alarm)
add_subdirectory(../s32k1xx/version version)
platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/adc.h
+35
View File
@@ -0,0 +1,35 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include "../../../s32k1xx/include/px4_arch/adc.h"
platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/io_timer.h
+35
View File
@@ -0,0 +1,35 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include "../../../s32k1xx/include/px4_arch/io_timer.h"
platforms/nuttx/src/px4/nxp/s32k14x/include/px4_arch/micro_hal.h
+114
View File
@@ -0,0 +1,114 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include <px4_platform/micro_hal.h>
__BEGIN_DECLS
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_NXPS32K146
// Fixme: using ??
#define PX4_BBSRAM_SIZE 2048
#define PX4_BBSRAM_GETDESC_IOCTL 0
#define PX4_NUMBER_I2C_BUSES 2
#define GPIO_OUTPUT_SET GPIO_OUTPUT_ONE
#define GPIO_OUTPUT_CLEAR GPIO_OUTPUT_ZERO
#include <chip.h>
#include <s32k1xx_pin.h>
#include <s32k1xx_lpspi.h>
#include <s32k1xx_lpi2c.h>
//#include <s32k1xx_uid.h>
/* s32k1xx defines the 128 bit UUID as
* init32_t[4] that can be read as words
* init32_t[0] PX4_CPU_UUID_ADDRESS[0] bits 127:96 (offset 0)
* init32_t[1] PX4_CPU_UUID_ADDRESS[1] bits 95:64 (offset 4)
* init32_t[2] PX4_CPU_UUID_ADDRESS[1] bits 63:32 (offset 8)
* init32_t[3] PX4_CPU_UUID_ADDRESS[3] bits 31:0 (offset C)
*
* PX4 uses the words in bigendian order MSB to LSB
* word [0] [1] [2] [3]
* bits 127:96 95-64 63-32, 31-00,
*/
#define PX4_CPU_UUID_BYTE_LENGTH 16
#define PX4_CPU_UUID_WORD32_LENGTH (PX4_CPU_UUID_BYTE_LENGTH/sizeof(uint32_t))
/* The mfguid will be an array of bytes with
* MSD @ index 0 - LSD @ index PX4_CPU_MFGUID_BYTE_LENGTH-1
*
* It will be converted to a string with the MSD on left and LSD on the right most position.
*/
#define PX4_CPU_MFGUID_BYTE_LENGTH PX4_CPU_UUID_BYTE_LENGTH
/* define common formating across all commands */
#define PX4_CPU_UUID_WORD32_FORMAT "%08x"
#define PX4_CPU_UUID_WORD32_SEPARATOR ":"
#define PX4_CPU_UUID_WORD32_UNIQUE_H 3 /* Least significant digits change the most */
#define PX4_CPU_UUID_WORD32_UNIQUE_M 2 /* Middle High significant digits */
#define PX4_CPU_UUID_WORD32_UNIQUE_L 1 /* Middle Low significant digits */
#define PX4_CPU_UUID_WORD32_UNIQUE_N 0 /* Most significant digits change the least */
/* Separator nnn:nnn:nnnn 2 char per byte term */
#define PX4_CPU_UUID_WORD32_FORMAT_SIZE (PX4_CPU_UUID_WORD32_LENGTH-1+(2*PX4_CPU_UUID_BYTE_LENGTH)+1)
#define PX4_CPU_MFGUID_FORMAT_SIZE ((2*PX4_CPU_MFGUID_BYTE_LENGTH)+1)
#define s32k1xx_bbsram_savepanic(fileno, context, length) (0) // todo:Not implemented yet
#define px4_savepanic(fileno, context, length) s32k1xx_bbsram_savepanic(fileno, context, length)
/* bus_num is zero based on s32k1xx and must be translated from the legacy one based */
#define PX4_BUS_OFFSET 1 /* s32k1xx buses are 0 based and adjustment is needed */
#define px4_spibus_initialize(bus_num_1based) s32k1xx_lpspibus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
#define px4_i2cbus_initialize(bus_num_1based) s32k1xx_i2cbus_initialize(PX4_BUS_NUMBER_FROM_PX4(bus_num_1based))
#define px4_i2cbus_uninitialize(pdev) s32k1xx_i2cbus_uninitialize(pdev)
#define px4_arch_configgpio(pinset) s32k1xx_pinconfig(pinset)
#define px4_arch_unconfiggpio(pinset)
#define px4_arch_gpioread(pinset) s32k1xx_gpioread(pinset)
#define px4_arch_gpiowrite(pinset, value) s32k1xx_gpiowrite(pinset, value)
/* s32k1xx_gpiosetevent is not implemented and will need to be added */
#define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) s32k1xx_gpiosetevent(pinset,r,f,e,fp,a)
#define I2C_RESET(q)
__END_DECLS
platforms/nuttx/src/px4/nxp/s32k1xx/adc/CMakeLists.txt
+36
View File
@@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2015-2019 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.
#
############################################################################
px4_add_library(arch_adc
adc.cpp
)
platforms/nuttx/src/px4/nxp/s32k1xx/adc/adc.cpp
+190
View File
@@ -0,0 +1,190 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#include <board_config.h>
#include <drivers/drv_adc.h>
#include <drivers/drv_hrt.h>
#include <px4_arch/adc.h>
#include <nuttx/analog/adc.h>
#include <hardware/s32k1xx_sim.h>
//todo S32K add ADC fior now steal the kinetis one
#include <kinetis.h>
#include <hardware/kinetis_adc.h>
#define _REG(_addr) (*(volatile uint32_t *)(_addr))
/* ADC register accessors */
#define REG(a, _reg) _REG(KINETIS_ADC##a##_BASE + (_reg))
#define rSC1A(adc) REG(adc, KINETIS_ADC_SC1A_OFFSET) /* ADC status and control registers 1 */
#define rSC1B(adc) REG(adc, KINETIS_ADC_SC1B_OFFSET) /* ADC status and control registers 1 */
#define rCFG1(adc) REG(adc, KINETIS_ADC_CFG1_OFFSET) /* ADC configuration register 1 */
#define rCFG2(adc) REG(adc, KINETIS_ADC_CFG2_OFFSET) /* Configuration register 2 */
#define rRA(adc) REG(adc, KINETIS_ADC_RA_OFFSET) /* ADC data result register */
#define rRB(adc) REG(adc, KINETIS_ADC_RB_OFFSET) /* ADC data result register */
#define rCV1(adc) REG(adc, KINETIS_ADC_CV1_OFFSET) /* Compare value registers */
#define rCV2(adc) REG(adc, KINETIS_ADC_CV2_OFFSET) /* Compare value registers */
#define rSC2(adc) REG(adc, KINETIS_ADC_SC2_OFFSET) /* Status and control register 2 */
#define rSC3(adc) REG(adc, KINETIS_ADC_SC3_OFFSET) /* Status and control register 3 */
#define rOFS(adc) REG(adc, KINETIS_ADC_OFS_OFFSET) /* ADC offset correction register */
#define rPG(adc) REG(adc, KINETIS_ADC_PG_OFFSET) /* ADC plus-side gain register */
#define rMG(adc) REG(adc, KINETIS_ADC_MG_OFFSET) /* ADC minus-side gain register */
#define rCLPD(adc) REG(adc, KINETIS_ADC_CLPD_OFFSET) /* ADC plus-side general calibration value register */
#define rCLPS(adc) REG(adc, KINETIS_ADC_CLPS_OFFSET) /* ADC plus-side general calibration value register */
#define rCLP4(adc) REG(adc, KINETIS_ADC_CLP4_OFFSET) /* ADC plus-side general calibration value register */
#define rCLP3(adc) REG(adc, KINETIS_ADC_CLP3_OFFSET) /* ADC plus-side general calibration value register */
#define rCLP2(adc) REG(adc, KINETIS_ADC_CLP2_OFFSET) /* ADC plus-side general calibration value register */
#define rCLP1(adc) REG(adc, KINETIS_ADC_CLP1_OFFSET) /* ADC plus-side general calibration value register */
#define rCLP0(adc) REG(adc, KINETIS_ADC_CLP0_OFFSET) /* ADC plus-side general calibration value register */
#define rCLMD(adc) REG(adc, KINETIS_ADC_CLMD_OFFSET) /* ADC minus-side general calibration value register */
#define rCLMS(adc) REG(adc, KINETIS_ADC_CLMS_OFFSET) /* ADC minus-side general calibration value register */
#define rCLM4(adc) REG(adc, KINETIS_ADC_CLM4_OFFSET) /* ADC minus-side general calibration value register */
#define rCLM3(adc) REG(adc, KINETIS_ADC_CLM3_OFFSET) /* ADC minus-side general calibration value register */
#define rCLM2(adc) REG(adc, KINETIS_ADC_CLM2_OFFSET) /* ADC minus-side general calibration value register */
#define rCLM1(adc) REG(adc, KINETIS_ADC_CLM1_OFFSET) /* ADC minus-side general calibration value register */
#define rCLM0(adc) REG(adc, KINETIS_ADC_CLM0_OFFSET) /* ADC minus-side general calibration value register */
int px4_arch_adc_init(uint32_t base_address)
{
/* Input is Buss Clock 56 Mhz We will use /8 for 7 Mhz */
irqstate_t flags = px4_enter_critical_section();
_REG(KINETIS_SIM_SCGC3) |= SIM_SCGC3_ADC1;
rCFG1(1) = ADC_CFG1_ADICLK_BUSCLK | ADC_CFG1_MODE_1213BIT | ADC_CFG1_ADIV_DIV8;
rCFG2(1) = 0;
rSC2(1) = ADC_SC2_REFSEL_DEFAULT;
px4_leave_critical_section(flags);
/* Clear the CALF and begin the calibration */
rSC3(1) = ADC_SC3_CAL | ADC_SC3_CALF;
while ((rSC1A(1) & ADC_SC1_COCO) == 0) {
usleep(100);
if (rSC3(1) & ADC_SC3_CALF) {
return -1;
}
}
/* dummy read to clear COCO of calibration */
int32_t r = rRA(1);
/* Check the state of CALF at the end of calibration */
if (rSC3(1) & ADC_SC3_CALF) {
return -1;
}
/* Calculate the calibration values for single ended positive */
r = rCLP0(1) + rCLP1(1) + rCLP2(1) + rCLP3(1) + rCLP4(1) + rCLPS(1) ;
r = 0x8000U | (r >> 1U);
rPG(1) = r;
/* Calculate the calibration values for double ended Negitive */
r = rCLM0(1) + rCLM1(1) + rCLM2(1) + rCLM3(1) + rCLM4(1) + rCLMS(1) ;
r = 0x8000U | (r >> 1U);
rMG(1) = r;
/* kick off a sample and wait for it to complete */
hrt_abstime now = hrt_absolute_time();
rSC1A(1) = ADC_SC1_ADCH(ADC_SC1_ADCH_TEMP);
while (!(rSC1A(1) & ADC_SC1_COCO)) {
/* don't wait for more than 500us, since that means something broke - should reset here if we see this */
if ((hrt_absolute_time() - now) > 500) {
return -1;
}
}
return 0;
}
void px4_arch_adc_uninit(uint32_t base_address)
{
irqstate_t flags = px4_enter_critical_section();
_REG(KINETIS_SIM_SCGC3) &= ~SIM_SCGC3_ADC1;
px4_leave_critical_section(flags);
}
uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
{
irqstate_t flags = px4_enter_critical_section();
/* clear any previous COCC */
rRA(1);
/* run a single conversion right now - should take about 35 cycles (5 microseconds) max */
rSC1A(1) = ADC_SC1_ADCH(channel);
/* wait for the conversion to complete */
const hrt_abstime now = hrt_absolute_time();
while (!(rSC1A(1) & ADC_SC1_COCO)) {
/* don't wait for more than 10us, since that means something broke - should reset here if we see this */
if ((hrt_absolute_time() - now) > 10) {
px4_leave_critical_section(flags);
return 0xffff;
}
}
/* read the result and clear EOC */
uint32_t result = rRA(1);
px4_leave_critical_section(flags);
return result;
}
uint32_t px4_arch_adc_temp_sensor_mask()
{
return 1 << (ADC_SC1_ADCH_TEMP >> ADC_SC1_ADCH_SHIFT);
}
uint32_t px4_arch_adc_dn_fullcount()
{
return 1 << 12; // 12 bit ADC
}
platforms/nuttx/src/px4/nxp/s32k1xx/board_critmon/CMakeLists.txt
+36
View File
@@ -0,0 +1,36 @@
############################################################################
#
# 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.
#
############################################################################
px4_add_library(arch_board_critmon
board_critmon.c
)
platforms/nuttx/src/px4/nxp/s32k1xx/board_critmon/board_critmon.c
+66
View File
@@ -0,0 +1,66 @@
/************************************************************************************
*
* Copyright (C) 2018 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 <arch/board/board.h>
#if defined(CONFIG_SCHED_CRITMONITOR) || defined(CONFIG_SCHED_IRQMONITOR)
/************************************************************************************
* Public Functions
************************************************************************************/
#error "missing implementation for up_critmon_gettime() and up_critmon_convert()"
/************************************************************************************
* Name: up_critmon_gettime
************************************************************************************/
// uint32_t up_critmon_gettime(void)
// {
// }
/************************************************************************************
* Name: up_critmon_convert
************************************************************************************/
// void up_critmon_convert(uint32_t elapsed, FAR struct timespec *ts)
// {
// }
#endif /* CONFIG_SCHED_CRITMONITOR */
platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/CMakeLists.txt
+36
View File
@@ -0,0 +1,36 @@
############################################################################
#
# 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.
#
############################################################################
px4_add_library(arch_board_reset
board_reset.c
)
platforms/nuttx/src/px4/nxp/s32k1xx/board_reset/board_reset.c
+109
View File
@@ -0,0 +1,109 @@
/****************************************************************************
*
* Copyright (C) 2017 PX4 Development Team. All rights reserved.
* Author: @author David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_reset.c
* Implementation of kinetis based Board RESET API
*/
#include <px4_platform_common/px4_config.h>
#include <errno.h>
#include <nuttx/board.h>
#ifdef CONFIG_BOARDCTL_RESET
/****************************************************************************
* Public functions
****************************************************************************/
/****************************************************************************
* Name: board_reset
*
* Description:
* Reset board. Support for this function is required by board-level
* logic if CONFIG_BOARDCTL_RESET is selected.
*
* Input Parameters:
* status - Status information provided with the reset event. This
* meaning of this status information is board-specific. If not
* used by a board, the value zero may be provided in calls to
* board_reset().
*
* Returned Value:
* If this function returns, then it was not possible to power-off the
* board due to some constraints. The return value int this case is a
* board-specific reason for the failure to shutdown.
*
****************************************************************************/
int board_reset(int status)
{
up_systemreset();
return 0;
}
#endif /* CONFIG_BOARDCTL_RESET */
int board_set_bootload_mode(board_reset_e mode)
{
uint32_t regvalue = 0;
switch (mode) {
case board_reset_normal:
case board_reset_extended:
break;
case board_reset_enter_bootloader:
regvalue = 0xb007b007;
break;
default:
return -EINVAL;
}
//todo need nvram for reboot to botloader
UNUSED(regvalue);
//*((uint32_t *) KINETIS_VBATR_BASE) = regvalue;
return OK;
}
void board_system_reset(int status)
{
board_reset(status);
while (1);
}
platforms/nuttx/src/px4/nxp/s32k1xx/hrt/CMakeLists.txt
+37
View File
@@ -0,0 +1,37 @@
############################################################################
#
# Copyright (c) 2015-2019 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.
#
############################################################################
px4_add_library(arch_hrt
hrt.c
)
target_compile_options(arch_hrt PRIVATE -Wno-cast-align) # TODO: fix and enable
platforms/nuttx/src/px4/nxp/s32k1xx/hrt/hrt.c
+936
View File
File diff suppressed because it is too large Load Diff
platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/adc.h
+39
View File
@@ -0,0 +1,39 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include <board_config.h>
#define SYSTEM_ADC_BASE 0 // not used on s32k1xx
#include <px4_platform/adc.h>
platforms/nuttx/src/px4/nxp/s32k1xx/include/px4_arch/io_timer.h
+137
View File
@@ -0,0 +1,137 @@
/****************************************************************************
*
* Copyright (C) 2012, 2017 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 drv_io_timer.h
*
* stm32-specific PWM output data.
*/
#include <px4_platform_common/px4_config.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <drivers/drv_hrt.h>
#pragma once
__BEGIN_DECLS
/* configuration limits */
#ifdef BOARD_NUM_IO_TIMERS
#define MAX_IO_TIMERS BOARD_NUM_IO_TIMERS
#else
#define MAX_IO_TIMERS 2
#endif
#define MAX_TIMER_IO_CHANNELS 16
#define MAX_LED_TIMERS 2
#define MAX_TIMER_LED_CHANNELS 6
#define IO_TIMER_ALL_MODES_CHANNELS 0
typedef enum io_timer_channel_mode_t {
IOTimerChanMode_NotUsed = 0,
IOTimerChanMode_PWMOut = 1,
IOTimerChanMode_PWMIn = 2,
IOTimerChanMode_Capture = 3,
IOTimerChanMode_OneShot = 4,
IOTimerChanMode_Trigger = 5,
IOTimerChanModeSize
} io_timer_channel_mode_t;
typedef uint16_t io_timer_channel_allocation_t; /* big enough to hold MAX_TIMER_IO_CHANNELS */
/* array of timers dedicated to PWM in and out and capture use
*** Note that the clock_freq is set to the source in the clock tree that
*** feeds this specific timer. This can differs by Timer!
*** In PWM mode the timer's prescaler is set to achieve a counter frequency of 1MHz
*** In OneShot mode the timer's prescaler is set to achieve a counter frequency of 8MHz
*** Other prescaler rates can be achieved by fore instance by setting the clock_freq = 1Mhz
*** the resulting PSC will be one and the timer will count at it's clock frequency.
*/
typedef struct io_timers_t {
uint32_t base; /* Base address of the timer */
uint32_t clock_register; /* SIM_SCGCn */
uint32_t clock_bit; /* SIM_SCGCn bit pos */
uint32_t vectorno; /* IRQ number */
uint32_t first_channel_index; /* 0 based index in timer_io_channels */
uint32_t last_channel_index; /* 0 based index in timer_io_channels */
xcpt_t handler;
} io_timers_t;
/* array of channels in logical order */
typedef struct timer_io_channels_t {
uint32_t gpio_out; /* The timer channel GPIO for PWM */
uint32_t gpio_in; /* The timer channel GPIO for Capture */
uint8_t timer_index; /* 0 based index in the io_timers_t table */
uint8_t timer_channel; /* 1 based channel index GPIO_FTMt_CHcIN = c+1) */
} timer_io_channels_t;
typedef void (*channel_handler_t)(void *context, const io_timers_t *timer, uint32_t chan_index,
const timer_io_channels_t *chan,
hrt_abstime isrs_time, uint16_t isrs_rcnt,
uint16_t capture);
/* supplied by board-specific code */
__EXPORT extern const io_timers_t io_timers[MAX_IO_TIMERS];
__EXPORT extern const timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS];
__EXPORT extern const io_timers_t led_pwm_timers[MAX_LED_TIMERS];
__EXPORT extern const timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS];
__EXPORT extern io_timer_channel_allocation_t allocations[IOTimerChanModeSize];
__EXPORT int io_timer_handler0(int irq, void *context, void *arg);
__EXPORT int io_timer_handler1(int irq, void *context, void *arg);
__EXPORT int io_timer_handler2(int irq, void *context, void *arg);
__EXPORT int io_timer_handler3(int irq, void *context, void *arg);
__EXPORT int io_timer_channel_init(unsigned channel, io_timer_channel_mode_t mode,
channel_handler_t channel_handler, void *context);
__EXPORT int io_timer_init_timer(unsigned timer);
__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
__EXPORT int io_timer_set_enable(bool state, io_timer_channel_mode_t mode,
io_timer_channel_allocation_t masks);
__EXPORT int io_timer_set_rate(unsigned timer, unsigned rate);
__EXPORT uint16_t io_channel_get_ccr(unsigned channel);
__EXPORT int io_timer_set_ccr(unsigned channel, uint16_t value);
__EXPORT uint32_t io_timer_get_group(unsigned timer);
__EXPORT int io_timer_validate_channel_index(unsigned channel);
__EXPORT int io_timer_is_channel_free(unsigned channel);
__EXPORT int io_timer_free_channel(unsigned channel);
__EXPORT int io_timer_get_channel_mode(unsigned channel);
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
__EXPORT extern void io_timer_trigger(void);
__END_DECLS
platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/CMakeLists.txt
+39
View File
@@ -0,0 +1,39 @@
############################################################################
#
# Copyright (c) 2015-2019 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.
#
############################################################################
px4_add_library(arch_io_pins
io_timer.c
pwm_servo.c
pwm_trigger.c
input_capture.c
)
platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/input_capture.c
+455
View File
@@ -0,0 +1,455 @@
/****************************************************************************
*
* Copyright (C) 2012-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file drv_input_capture.c
*
* Servo driver supporting input capture connected to STM32 timer blocks.
*
* Works with any of the 'generic' or 'advanced' STM32 timers that
* have input pins.
*
* Require an interrupt.
*
* The use of thie interface is mutually exclusive with the pwm
* because the same timers are used and there is a resource contention
* with the ARR as it sets the pwm rate and in this driver needs to match
* that of the hrt to back calculate the actual point in time the edge
* was detected.
*
* This is accomplished by taking the difference between the current
* count rCNT snapped at the time interrupt and the rCCRx captured on the
* edge transition. This delta is applied to hrt time and the resulting
* value is the absolute system time the edge occured.
*
*
*/
#include <px4_platform_common/px4_config.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <sys/types.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <arch/board/board.h>
#include <drivers/drv_input_capture.h>
#include <px4_arch/io_timer.h>
#include <kinetis.h>
#include "hardware/kinetis_sim.h"
#include "hardware/kinetis_ftm.h"
#define _REG(_addr) (*(volatile uint32_t *)(_addr))
#define _REG32(_base, _reg) (*(volatile uint32_t *)(_base + _reg))
#define REG(_tmr, _reg) _REG32(io_timers[_tmr].base, _reg)
/* Timer register accessors */
#define rFILTER(_tmr) REG(_tmr,KINETIS_FTM_FILTER_OFFSET)
static input_capture_stats_t channel_stats[MAX_TIMER_IO_CHANNELS];
static struct channel_handler_entry {
capture_callback_t callback;
void *context;
} channel_handlers[MAX_TIMER_IO_CHANNELS];
static void input_capture_chan_handler(void *context, const io_timers_t *timer, uint32_t chan_index,
const timer_io_channels_t *chan,
hrt_abstime isrs_time, uint16_t isrs_rcnt,
uint16_t capture)
{
channel_stats[chan_index].last_edge = px4_arch_gpioread(chan->gpio_in);
if ((isrs_rcnt - capture) > channel_stats[chan_index].latnecy) {
channel_stats[chan_index].latnecy = (isrs_rcnt - capture);
}
channel_stats[chan_index].chan_in_edges_out++;
channel_stats[chan_index].last_time = isrs_time - (isrs_rcnt - capture);
uint32_t overflow = _REG32(timer, KINETIS_FTM_CSC_OFFSET(chan->timer_channel - 1)) & FTM_CSC_CHF;
if (overflow) {
/* Error we has a second edge before we cleared CCxR */
channel_stats[chan_index].overflows++;
}
if (channel_handlers[chan_index].callback) {
channel_handlers[chan_index].callback(channel_handlers[chan_index].context, chan_index,
channel_stats[chan_index].last_time,
channel_stats[chan_index].last_edge, overflow);
}
}
static void input_capture_bind(unsigned channel, capture_callback_t callback, void *context)
{
irqstate_t flags = px4_enter_critical_section();
channel_handlers[channel].callback = callback;
channel_handlers[channel].context = context;
px4_leave_critical_section(flags);
}
static void input_capture_unbind(unsigned channel)
{
input_capture_bind(channel, NULL, NULL);
}
int up_input_capture_set(unsigned channel, input_capture_edge edge, capture_filter_t filter,
capture_callback_t callback, void *context)
{
if (filter > FTM_FILTER_CH0FVAL_MASK) {
return -EINVAL;
}
if (edge > Both) {
return -EINVAL;
}
int rv = io_timer_validate_channel_index(channel);
if (rv == 0) {
/* This register selects the filter value for the inputs of channels.
Channels 4, 5, 6 and 7 do not have an input filter.
*/
if (filter && timer_io_channels[channel].timer_channel - 1 > 3) {
return -EINVAL;
}
if (edge == Disabled) {
io_timer_set_enable(false, IOTimerChanMode_Capture, 1 << channel);
input_capture_unbind(channel);
} else {
if (-EBUSY == io_timer_is_channel_free(channel)) {
io_timer_free_channel(channel);
}
input_capture_bind(channel, callback, context);
rv = io_timer_channel_init(channel, IOTimerChanMode_Capture, input_capture_chan_handler, context);
if (rv != 0) {
return rv;
}
rv = up_input_capture_set_filter(channel, filter);
if (rv == 0) {
rv = up_input_capture_set_trigger(channel, edge);
if (rv == 0) {
rv = io_timer_set_enable(true, IOTimerChanMode_Capture, 1 << channel);
}
}
}
}
return rv;
}
int up_input_capture_get_filter(unsigned channel, capture_filter_t *filter)
{
int rv = io_timer_validate_channel_index(channel);
if (rv == 0) {
rv = -EINVAL;
if (timer_io_channels[channel].timer_channel - 1 <= 3) {
rv = -ENXIO;
/* Any pins in capture mode */
if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
uint32_t timer = timer_io_channels[channel].timer_index;
uint16_t rvalue;
rv = OK;
switch (timer_io_channels[channel].timer_channel) {
case 1:
rvalue = rFILTER(timer) & FTM_FILTER_CH0FVAL_MASK;
*filter = (rvalue >> FTM_FILTER_CH0FVAL_SHIFT);
break;
case 2:
rvalue = rFILTER(timer) & FTM_FILTER_CH1FVAL_MASK;
*filter = (rvalue >> FTM_FILTER_CH1FVAL_SHIFT);
break;
case 3:
rvalue = rFILTER(timer) & FTM_FILTER_CH2FVAL_MASK;
*filter = (rvalue >> FTM_FILTER_CH2FVAL_SHIFT);
break;
case 4:
rvalue = rFILTER(timer) & FTM_FILTER_CH3FVAL_MASK;
*filter = (rvalue >> FTM_FILTER_CH3FVAL_SHIFT);
break;
default:
rv = -EIO;
}
}
}
}
return rv;
}
int up_input_capture_set_filter(unsigned channel, capture_filter_t filter)
{
if (filter > FTM_FILTER_CH0FVAL_MASK) {
return -EINVAL;
}
int rv = io_timer_validate_channel_index(channel);
if (rv == 0) {
rv = -ENXIO;
/* Any pins in capture mode */
if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
rv = OK;
uint32_t timer = timer_io_channels[channel].timer_index;
uint16_t rvalue;
irqstate_t flags = px4_enter_critical_section();
switch (timer_io_channels[channel].timer_channel) {
case 1:
rvalue = rFILTER(timer) & ~FTM_FILTER_CH0FVAL_MASK;
rvalue |= (filter << FTM_FILTER_CH0FVAL_SHIFT);
rFILTER(timer) = rvalue;
break;
case 2:
rvalue = rFILTER(timer) & ~FTM_FILTER_CH1FVAL_MASK;
rvalue |= (filter << FTM_FILTER_CH1FVAL_SHIFT);
rFILTER(timer) = rvalue;
break;
case 3:
rvalue = rFILTER(timer) & ~FTM_FILTER_CH2FVAL_MASK;
rvalue |= (filter << FTM_FILTER_CH2FVAL_SHIFT);
rFILTER(timer) = rvalue;
break;
case 4:
rvalue = rFILTER(timer) & ~FTM_FILTER_CH2FVAL_MASK;
rvalue |= (filter << FTM_FILTER_CH2FVAL_SHIFT);
rFILTER(timer) = rvalue;
break;
default:
rv = -EIO;
}
px4_leave_critical_section(flags);
}
}
return rv;
}
int up_input_capture_get_trigger(unsigned channel, input_capture_edge *edge)
{
int rv = io_timer_validate_channel_index(channel);
if (rv == 0) {
rv = -ENXIO;
/* Any pins in capture mode */
if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
rv = OK;
uint32_t timer = timer_io_channels[channel].timer_index;
uint16_t rvalue = _REG32(timer, KINETIS_FTM_CSC_OFFSET(timer_io_channels[channel].timer_channel - 1));
rvalue &= (FTM_CSC_MSB | FTM_CSC_MSA);
switch (rvalue) {
case (FTM_CSC_MSA):
*edge = Rising;
break;
case (FTM_CSC_MSB):
*edge = Falling;
break;
case (FTM_CSC_MSB|FTM_CSC_MSA):
*edge = Both;
break;
default:
rv = -EIO;
}
}
}
return rv;
}
int up_input_capture_set_trigger(unsigned channel, input_capture_edge edge)
{
int rv = io_timer_validate_channel_index(channel);
if (rv == 0) {
rv = -ENXIO;
/* Any pins in capture mode */
if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
uint16_t edge_bits = 0;
switch (edge) {
case Disabled:
break;
case Rising:
edge_bits = FTM_CSC_MSA;
break;
case Falling:
edge_bits = FTM_CSC_MSB;
break;
case Both:
edge_bits = (FTM_CSC_MSB | FTM_CSC_MSA);
break;
default:
return -EINVAL;;
}
uint32_t timer = timer_io_channels[channel].timer_index;
irqstate_t flags = px4_enter_critical_section();
uint32_t rvalue = _REG32(timer, KINETIS_FTM_CSC_OFFSET(timer_io_channels[channel].timer_channel - 1));
rvalue &= (FTM_CSC_MSB | FTM_CSC_MSA);
rvalue |= edge_bits;
_REG32(timer, KINETIS_FTM_CSC_OFFSET(timer_io_channels[channel].timer_channel - 1)) = rvalue;
px4_leave_critical_section(flags);
rv = OK;
}
}
return rv;
}
int up_input_capture_get_callback(unsigned channel, capture_callback_t *callback, void **context)
{
int rv = io_timer_validate_channel_index(channel);
if (rv == 0) {
rv = -ENXIO;
/* Any pins in capture mode */
if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
irqstate_t flags = px4_enter_critical_section();
*callback = channel_handlers[channel].callback;
*context = channel_handlers[channel].context;
px4_leave_critical_section(flags);
rv = OK;
}
}
return rv;
}
int up_input_capture_set_callback(unsigned channel, capture_callback_t callback, void *context)
{
int rv = io_timer_validate_channel_index(channel);
if (rv == 0) {
rv = -ENXIO;
/* Any pins in capture mode */
if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
input_capture_bind(channel, callback, context);
rv = 0;
}
}
return rv;
}
int up_input_capture_get_stats(unsigned channel, input_capture_stats_t *stats, bool clear)
{
int rv = io_timer_validate_channel_index(channel);
if (rv == 0) {
irqstate_t flags = px4_enter_critical_section();
*stats = channel_stats[channel];
if (clear) {
memset(&channel_stats[channel], 0, sizeof(*stats));
}
px4_leave_critical_section(flags);
}
return rv;
}
platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/io_timer.c
+891
View File
File diff suppressed because it is too large Load Diff
platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/pwm_servo.c
+162
View File
@@ -0,0 +1,162 @@
/****************************************************************************
*
* 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 drv_pwm_servo.c
*
* Servo driver supporting PWM servos connected to STM32 timer blocks.
*
* Works with any of the 'generic' or 'advanced' STM32 timers that
* have output pins, does not require an interrupt.
*/
#include <px4_platform_common/px4_config.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <sys/types.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <px4_arch/io_timer.h>
#include <kinetis.h>
int up_pwm_servo_set(unsigned channel, servo_position_t value)
{
return io_timer_set_ccr(channel, value);
}
servo_position_t up_pwm_servo_get(unsigned channel)
{
return io_channel_get_ccr(channel);
}
int up_pwm_servo_init(uint32_t channel_mask)
{
/* Init channels */
uint32_t current = io_timer_get_mode_channels(IOTimerChanMode_PWMOut);
// First free the current set of PWMs
for (unsigned channel = 0; current != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
if (current & (1 << channel)) {
io_timer_free_channel(channel);
current &= ~(1 << channel);
}
}
// Now allocate the new set
for (unsigned channel = 0; channel_mask != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
if (channel_mask & (1 << channel)) {
// First free any that were not PWM mode before
if (-EBUSY == io_timer_is_channel_free(channel)) {
io_timer_free_channel(channel);
}
io_timer_channel_init(channel, IOTimerChanMode_PWMOut, NULL, NULL);
channel_mask &= ~(1 << channel);
}
}
return OK;
}
void up_pwm_servo_deinit(void)
{
/* disable the timers */
up_pwm_servo_arm(false);
}
int up_pwm_servo_set_rate_group_update(unsigned group, unsigned rate)
{
if ((group >= MAX_IO_TIMERS) || (io_timers[group].base == 0)) {
return ERROR;
}
/* Allow a rate of 0 to enter oneshot mode */
if (rate != 0) {
/* limit update rate to 1..10000Hz; somewhat arbitrary but safe */
if (rate < 1) {
return -ERANGE;
}
if (rate > 10000) {
return -ERANGE;
}
}
return io_timer_set_rate(group, rate);
}
void up_pwm_update(void)
{
io_timer_trigger();
}
int up_pwm_servo_set_rate(unsigned rate)
{
for (unsigned i = 0; i < MAX_IO_TIMERS; i++) {
up_pwm_servo_set_rate_group_update(i, rate);
}
return 0;
}
uint32_t up_pwm_servo_get_rate_group(unsigned group)
{
return io_timer_get_group(group);
}
void
up_pwm_servo_arm(bool armed)
{
io_timer_set_enable(armed, IOTimerChanMode_OneShot, IO_TIMER_ALL_MODES_CHANNELS);
io_timer_set_enable(armed, IOTimerChanMode_PWMOut, IO_TIMER_ALL_MODES_CHANNELS);
}
platforms/nuttx/src/px4/nxp/s32k1xx/io_pins/pwm_trigger.c
+107
View File
@@ -0,0 +1,107 @@
/****************************************************************************
*
* Copyright (C) 2017 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 drv_pwm_trigger.c
*
*/
#include <px4_platform_common/px4_config.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <sys/types.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_trigger.h>
#include <px4_arch/io_timer.h>
int up_pwm_trigger_set(unsigned channel, uint16_t value)
{
return io_timer_set_ccr(channel, value);
}
int up_pwm_trigger_init(uint32_t channel_mask)
{
/* Init channels */
for (unsigned channel = 0; channel_mask != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
if (channel_mask & (1 << channel)) {
// First free any that were not trigger mode before
if (-EBUSY == io_timer_is_channel_free(channel)) {
io_timer_free_channel(channel);
}
io_timer_channel_init(channel, IOTimerChanMode_Trigger, NULL, NULL);
channel_mask &= ~(1 << channel);
}
}
/* Enable the timers */
up_pwm_trigger_arm(true);
return OK;
}
void up_pwm_trigger_deinit()
{
/* Disable the timers */
up_pwm_trigger_arm(false);
/* Deinit channels */
uint32_t current = io_timer_get_mode_channels(IOTimerChanMode_Trigger);
for (unsigned channel = 0; current != 0 && channel < MAX_TIMER_IO_CHANNELS; channel++) {
if (current & (1 << channel)) {
io_timer_channel_init(channel, IOTimerChanMode_NotUsed, NULL, NULL);
current &= ~(1 << channel);
}
}
}
void
up_pwm_trigger_arm(bool armed)
{
io_timer_set_enable(armed, IOTimerChanMode_Trigger, IO_TIMER_ALL_MODES_CHANNELS);
}
platforms/nuttx/src/px4/nxp/s32k1xx/led_pwm/CMakeLists.txt
+36
View File
@@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2015-2019 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.
#
############################################################################
px4_add_library(arch_led_pwm
led_pwm.cpp
)
platforms/nuttx/src/px4/nxp/s32k1xx/led_pwm/led_pwm.cpp
+345
View File
@@ -0,0 +1,345 @@
/****************************************************************************
*
* Copyright (c) 2015, 2016 Airmind 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 Airmind 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 drv_led_pwm.cpp
*
*
*/
#include <px4_platform_common/px4_config.h>
#include <systemlib/px4_macros.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <sys/types.h>
#include <stdbool.h>
#include <assert.h>
#include <debug.h>
#include <time.h>
#include <queue.h>
#include <errno.h>
#include <string.h>
#include <stdio.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <px4_arch/io_timer.h>
#include <kinetis.h>
#include "hardware/kinetis_sim.h"
#include "hardware/kinetis_ftm.h"
#if defined(BOARD_HAS_LED_PWM) || defined(BOARD_HAS_UI_LED_PWM)
#define FTM_SRC_CLOCK_FREQ 16000000
#define LED_PWM_FREQ 1000000
#if (BOARD_LED_PWM_RATE)
# define LED_PWM_RATE BOARD_LED_PWM_RATE
#else
# define LED_PWM_RATE 50
#endif
#define _REG(_addr) (*(volatile uint32_t *)(_addr))
#define _REG32(_base, _reg) (*(volatile uint32_t *)(_base + _reg))
#define REG(_tmr, _reg) _REG32(led_pwm_timers[_tmr].base, _reg)
/* Timer register accessors */
#define rSC(_tmr) REG(_tmr,KINETIS_FTM_SC_OFFSET)
#define rCNT(_tmr) REG(_tmr,KINETIS_FTM_CNT_OFFSET)
#define rMOD(_tmr) REG(_tmr,KINETIS_FTM_MOD_OFFSET)
#define rC0SC(_tmr) REG(_tmr,KINETIS_FTM_C0SC_OFFSET)
#define rC0V(_tmr) REG(_tmr,KINETIS_FTM_C0V_OFFSET)
#define rC1SC(_tmr) REG(_tmr,KINETIS_FTM_C1SC_OFFSET)
#define rC1V(_tmr) REG(_tmr,KINETIS_FTM_C1V_OFFSET)
#define rC2SC(_tmr) REG(_tmr,KINETIS_FTM_C2SC_OFFSET)
#define rC2V(_tmr) REG(_tmr,KINETIS_FTM_C2V_OFFSET)
#define rC3SC(_tmr) REG(_tmr,KINETIS_FTM_C3SC_OFFSET)
#define rC3V(_tmr) REG(_tmr,KINETIS_FTM_C3V_OFFSET)
#define rC4SC(_tmr) REG(_tmr,KINETIS_FTM_C4SC_OFFSET)
#define rC4V(_tmr) REG(_tmr,KINETIS_FTM_C4V_OFFSET)
#define rC5SC(_tmr) REG(_tmr,KINETIS_FTM_C5SC_OFFSET)
#define rC5V(_tmr) REG(_tmr,KINETIS_FTM_C5V_OFFSET)
#define rC6SC(_tmr) REG(_tmr,KINETIS_FTM_C6SC_OFFSET)
#define rC6V(_tmr) REG(_tmr,KINETIS_FTM_C6V_OFFSET)
#define rC7SC(_tmr) REG(_tmr,KINETIS_FTM_C7SC_OFFSET)
#define rC7V(_tmr) REG(_tmr,KINETIS_FTM_C7V_OFFSET)
#define rCNTIN(_tmr) REG(_tmr,KINETIS_FTM_CNTIN_OFFSET)
#define rSTATUS(_tmr) REG(_tmr,KINETIS_FTM_STATUS_OFFSET)
#define rMODE(_tmr) REG(_tmr,KINETIS_FTM_MODE_OFFSET)
#define rSYNC(_tmr) REG(_tmr,KINETIS_FTM_SYNC_OFFSET)
#define rOUTINIT(_tmr) REG(_tmr,KINETIS_FTM_OUTINIT_OFFSET)
#define rOUTMASK(_tmr) REG(_tmr,KINETIS_FTM_OUTMASK_OFFSET)
#define rCOMBINE(_tmr) REG(_tmr,KINETIS_FTM_COMBINE_OFFSET)
#define rDEADTIME(_tmr) REG(_tmr,KINETIS_FTM_DEADTIME_OFFSET)
#define rEXTTRIG(_tmr) REG(_tmr,KINETIS_FTM_EXTTRIG_OFFSET)
#define rPOL(_tmr) REG(_tmr,KINETIS_FTM_POL_OFFSET)
#define rFMS(_tmr) REG(_tmr,KINETIS_FTM_FMS_OFFSET)
#define rFILTER(_tmr) REG(_tmr,KINETIS_FTM_FILTER_OFFSET)
#define rFLTCTRL(_tmr) REG(_tmr,KINETIS_FTM_FLTCTRL_OFFSET)
#define rQDCTRL(_tmr) REG(_tmr,KINETIS_FTM_QDCTRL_OFFSET)
#define rCONF(_tmr) REG(_tmr,KINETIS_FTM_CONF_OFFSET)
#define rFLTPOL(_tmr) REG(_tmr,KINETIS_FTM_FLTPOL_OFFSET)
#define rSYNCONF(_tmr) REG(_tmr,KINETIS_FTM_SYNCONF_OFFSET)
#define rINVCTRL(_tmr) REG(_tmr,KINETIS_FTM_INVCTRL_OFFSET)
#define rSWOCTRL(_tmr) REG(_tmr,KINETIS_FTM_SWOCTRL_OFFSET)
#define rPWMLOAD(_tmr) REG(_tmr,KINETIS_FTM_PWMLOAD_OFFSET)
#define CnSC_RESET (FTM_CSC_CHF|FTM_CSC_CHIE|FTM_CSC_MSB|FTM_CSC_MSA|FTM_CSC_ELSB|FTM_CSC_ELSA|FTM_CSC_DMA)
#define CnSC_CAPTURE_INIT (FTM_CSC_CHIE|FTM_CSC_ELSB|FTM_CSC_ELSA) // Both
#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
#define CnSC_PWMOUT_INIT (FTM_CSC_MSB|FTM_CSC_ELSA)
#else
#define CnSC_PWMOUT_INIT (FTM_CSC_MSB|FTM_CSC_ELSB)
#endif
#define FTM_SYNC (FTM_SYNC_SWSYNC)
static void led_pwm_timer_init(unsigned timer);
static void led_pwm_timer_set_rate(unsigned timer, unsigned rate);
static void led_pwm_channel_init(unsigned channel);
int led_pwm_servo_set(unsigned channel, uint8_t value);
unsigned led_pwm_servo_get(unsigned channel);
int led_pwm_servo_init(void);
void led_pwm_servo_deinit(void);
void led_pwm_servo_arm(bool armed);
unsigned led_pwm_timer_get_period(unsigned timer);
static void led_pwm_timer_set_rate(unsigned timer, unsigned rate)
{
irqstate_t flags = px4_enter_critical_section();
uint32_t save = rSC(timer);
rSC(timer) = save & ~(FTM_SC_CLKS_MASK);
/* configure the timer to update at the desired rate */
rMOD(timer) = (LED_PWM_FREQ / rate) - 1;
rSC(timer) = save;
px4_leave_critical_section(flags);
}
static inline uint32_t div2psc(int div)
{
return 31 - __builtin_clz(div);
}
static inline void led_pwm_timer_set_PWM_mode(unsigned timer)
{
irqstate_t flags = px4_enter_critical_section();
rSC(timer) &= ~(FTM_SC_CLKS_MASK | FTM_SC_PS_MASK);
rSC(timer) |= (FTM_SC_CLKS_EXTCLK | div2psc(FTM_SRC_CLOCK_FREQ / LED_PWM_FREQ));
px4_leave_critical_section(flags);
}
static void
led_pwm_timer_init(unsigned timer)
{
/* valid Timer */
if (led_pwm_timers[timer].base != 0) {
/* enable the timer clock before we try to talk to it */
uint32_t regval = _REG(led_pwm_timers[timer].clock_register);
regval |= led_pwm_timers[timer].clock_bit;
_REG(led_pwm_timers[timer].clock_register) = regval;
/* disable and configure the timer */
rSC(timer) = FTM_SC_CLKS_NONE;
rCNT(timer) = 0;
rMODE(timer) = 0;
rSYNCONF(timer) = (FTM_SYNCONF_SYNCMODE | FTM_SYNCONF_SWWRBUF | FTM_SYNCONF_SWRSTCNT);
/* Set to run in debug mode */
rCONF(timer) |= FTM_CONF_BDMMODE_MASK;
/* enable the timer */
led_pwm_timer_set_PWM_mode(timer);
/*
* Note we do the Standard PWM Out init here
* default to updating at LED_PWM_RATE
*/
led_pwm_timer_set_rate(timer, LED_PWM_RATE);
}
}
unsigned
led_pwm_timer_get_period(unsigned timer)
{
// MOD is a 16 bit reg
unsigned mod = rMOD(timer);
if (mod == 0) {
return 1 << 16;
}
return (uint16_t)(mod + 1);
}
static void
led_pwm_channel_init(unsigned channel)
{
/* Only initialize used channels */
if (led_pwm_channels[channel].timer_channel) {
unsigned timer = led_pwm_channels[channel].timer_index;
irqstate_t flags = px4_enter_critical_section();
/* configure the GPIO first */
px4_arch_configgpio(led_pwm_channels[channel].gpio_out);
/* configure the channel */
uint32_t chan = led_pwm_channels[channel].timer_channel - 1;
uint16_t rvalue = REG(timer, KINETIS_FTM_CSC_OFFSET(chan));
rvalue &= ~CnSC_RESET;
rvalue |= CnSC_PWMOUT_INIT;
REG(timer, KINETIS_FTM_CSC_OFFSET(chan)) = rvalue;
REG(timer, KINETIS_FTM_CV_OFFSET(0)) = 0;
px4_leave_critical_section(flags);
}
}
int
led_pwm_servo_set(unsigned channel, uint8_t cvalue)
{
if (channel >= arraySize(led_pwm_channels)) {
return -1;
}
unsigned timer = led_pwm_channels[channel].timer_index;
/* test timer for validity */
if ((led_pwm_timers[timer].base == 0) ||
(led_pwm_channels[channel].gpio_out == 0)) {
return -1;
}
unsigned period = led_pwm_timer_get_period(timer);
unsigned value = (unsigned)cvalue * period / 255;
/* configure the channel */
if (value > 0) {
value--;
}
REG(timer, KINETIS_FTM_CV_OFFSET(led_pwm_channels[channel].timer_channel - 1)) = value;
return 0;
}
unsigned
led_pwm_servo_get(unsigned channel)
{
if (channel >= 3) {
return 0;
}
unsigned timer = led_pwm_channels[channel].timer_index;
servo_position_t value = 0;
/* test timer for validity */
if ((led_pwm_timers[timer].base == 0) ||
(led_pwm_channels[channel].timer_channel == 0)) {
return value;
}
value = REG(timer, KINETIS_FTM_CV_OFFSET(led_pwm_channels[channel].timer_channel - 1));
unsigned period = led_pwm_timer_get_period(timer);
return ((value + 1) * 255 / period);
}
int
led_pwm_servo_init(void)
{
/* do basic timer initialisation first */
for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
led_pwm_timer_init(i);
}
/* now init channels */
for (unsigned i = 0; i < arraySize(led_pwm_channels); i++) {
led_pwm_channel_init(i);
}
led_pwm_servo_arm(true);
return OK;
}
void
led_pwm_servo_deinit(void)
{
/* disable the timers */
led_pwm_servo_arm(false);
}
void
led_pwm_servo_arm(bool armed)
{
/* iterate timers and arm/disarm appropriately */
for (unsigned i = 0; i < arraySize(led_pwm_timers); i++) {
if (led_pwm_timers[i].base != 0) {
if (armed) {
/* force an update to preload all registers */
led_pwm_timer_set_PWM_mode(i);
} else {
/* disable and configure the timer */
rSC(i) = FTM_SC_CLKS_NONE;
rCNT(i) = 0;
}
}
}
}
#endif // BOARD_HAS_LED_PWM || BOARD_HAS_UI_LED_PWM
platforms/nuttx/src/px4/nxp/s32k1xx/tone_alarm/CMakeLists.txt
+36
View File
@@ -0,0 +1,36 @@
############################################################################
#
# Copyright (c) 2015-2019 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.
#
############################################################################
px4_add_library(arch_tone_alarm
ToneAlarmInterface.cpp
)
platforms/nuttx/src/px4/nxp/s32k1xx/tone_alarm/ToneAlarmInterface.cpp
+188
View File
@@ -0,0 +1,188 @@
/****************************************************************************
*
* Copyright (C) 2017-2019 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 ToneAlarmInterface.cpp
*/
#include "hardware/kinetis_sim.h"
#include "kinetis_tpm.h"
#include <drivers/device/device.h>
#include <drivers/drv_tone_alarm.h>
#include <px4_platform_common/defines.h>
#include <systemlib/px4_macros.h>
#include <math.h>
#define CAT3_(A, B, C) A##B##C
#define CAT3(A, B, C) CAT3_(A, B, C)
/* Check that tone alarm and HRT timers are different */
#if defined(TONE_ALARM_TIMER) && defined(HRT_TIMER)
# if TONE_ALARM_TIMER == HRT_TIMER
# error TONE_ALARM_TIMER and HRT_TIMER must use different timers.
# endif
#endif
#ifndef TONE_ALARM_CLOCK
#define TONE_ALARM_CLOCK (BOARD_TPM_FREQ/(1 << (TONE_ALARM_TIMER_PRESCALE >> TPM_SC_PS_SHIFT)))
#endif
/* Period of the free-running counter, in microseconds. */
#ifndef TONE_ALARM_COUNTER_PERIOD
#define TONE_ALARM_COUNTER_PERIOD 65536
#endif
/* Tone Alarm configuration */
#define TONE_ALARM_SIM_SCGC2_TPM CAT(SIM_SCGC2_TPM, TONE_ALARM_TIMER) /* The Clock Gating enable bit for this TPM */
#define TONE_ALARM_TIMER_BASE CAT(CAT(KINETIS_TPM, TONE_ALARM_TIMER),_BASE) /* The Base address of the TPM */
#define TONE_ALARM_TIMER_CLOCK BOARD_TPM_FREQ /* The input clock frequency to the TPM block */
#define TONE_ALARM_TIMER_PRESCALE TPM_SC_PS_DIV16 /* The constant Prescaler */
#define TONE_ALARM_TIMER_VECTOR CAT(KINETIS_IRQ_TPM, TONE_ALARM_TIMER) /* The TPM Interrupt vector */
#if TONE_ALARM_TIMER == 1 && defined(CONFIG_KINETIS_TPM1)
# error must not set CONFIG_KINETIS_TPM1=y and TONE_ALARM_TIMER=1
#elif TONE_ALARM_TIMER == 2 && defined(CONFIG_KINETIS_TPM2)
# error must not set CONFIG_STM32_TIM2=y and TONE_ALARM_TIMER=2
#endif
/* Tone Alarm clock must be a multiple of 1MHz greater than 1MHz. */
#if (TONE_ALARM_TIMER_CLOCK % TONE_ALARM_CLOCK) != 0
# error TONE_ALARM_TIMER_CLOCK must be a multiple of 1MHz
#endif
#if TONE_ALARM_TIMER_CLOCK <= TONE_ALARM_CLOCK
# error TONE_ALARM_TIMER_CLOCK must be greater than 1MHz
#endif
#if (TONE_ALARM_CHANNEL != 0) && (TONE_ALARM_CHANNEL != 1)
# error TONE_ALARM_CHANNEL must be a value between 0 and 1
#endif
/* Register accessors */
#define _REG(_addr) (*(volatile uint32_t *)(_addr))
/* Timer register accessors */
#define REG(_reg) _REG(TONE_ALARM_TIMER_BASE + (_reg))
#define rC0SC REG(KINETIS_TPM_C0SC_OFFSET)
#define rC0V REG(KINETIS_TPM_C0V_OFFSET)
#define rC1SC REG(KINETIS_TPM_C1SC_OFFSET)
#define rC1V REG(KINETIS_TPM_C1V_OFFSET)
#define rCNT REG(KINETIS_TPM_CNT_OFFSET)
#define rCOMBINE REG(KINETIS_TPM_COMBINE_OFFSET)
#define rCONF REG(KINETIS_TPM_CONF_OFFSET)
#define rFILTER REG(KINETIS_TPM_FILTER_OFFSET)
#define rMOD REG(KINETIS_TPM_MOD_OFFSET)
#define rPOL REG(KINETIS_TPM_POL_OFFSET)
#define rQDCTRL REG(KINETIS_TPM_QDCTRL_OFFSET)
#define rSC REG(KINETIS_TPM_SC_OFFSET)
#define rSTATUS REG(KINETIS_TPM_STATUS_OFFSET)
/* Specific registers and bits used by Tone Alarm sub-functions. */
# define rCNV CAT3(rC, TONE_ALARM_CHANNEL, V) /* Channel Value Register used by Tone alarm */
# define rCNSC CAT3(rC, TONE_ALARM_CHANNEL, SC) /* Channel Status and Control Register used by Tone alarm */
# define STATUS CAT3(TPM_STATUS_CH, TONE_ALARM_CHANNEL, F) /* Capture and Compare Status Register used by Tone alarm */
namespace ToneAlarmInterface
{
void init()
{
#ifdef GPIO_TONE_ALARM_NEG
px4_arch_configgpio(GPIO_TONE_ALARM_NEG);
#else
// Configure the GPIO to the idle state.
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
#endif
// Select a the clock source to the TPM.
uint32_t regval = _REG(KINETIS_SIM_SOPT2);
regval &= ~(SIM_SOPT2_TPMSRC_MASK);
regval |= BOARD_TPM_CLKSRC;
_REG(KINETIS_SIM_SOPT2) = regval;
// Enabled System Clock Gating Control for TPM.
regval = _REG(KINETIS_SIM_SCGC2);
regval |= TONE_ALARM_SIM_SCGC2_TPM;
_REG(KINETIS_SIM_SCGC2) = regval;
// Disable and configure the timer.
rSC = TPM_SC_TOF;
rCNT = 0;
rMOD = TONE_ALARM_COUNTER_PERIOD - 1;
rSTATUS = (TPM_STATUS_TOF | STATUS);
// Configure for output compare to toggle on over flow.
rCNSC = (TPM_CnSC_CHF | TPM_CnSC_MSA | TPM_CnSC_ELSA);
rCOMBINE = 0;
rPOL = 0;
rFILTER = 0;
rQDCTRL = 0;
rCONF = TPM_CONF_DBGMODE_CONT;
rCNV = 0; // Toggle the CC output each time the count passes 0.
rSC |= (TPM_SC_CMOD_LPTPM_CLK | TONE_ALARM_TIMER_PRESCALE); // Enable the timer.
rMOD = 0; // Default the timer to a modulo value of 1; playing notes will change this.
}
void start_note(unsigned frequency)
{
// Calculate the signal switching period.
// (Signal switching period is one half of the frequency period).
float signal_period = (1.0f / frequency) * 0.5f;
// Calculate the hardware clock divisor rounded to the nearest integer.
unsigned int divisor = roundf(signal_period * TONE_ALARM_CLOCK);
rCNT = 0;
rMOD = divisor; // Load new signal switching period.
rSC |= (TPM_SC_CMOD_LPTPM_CLK);
// Configure the GPIO to enable timer output.
px4_arch_configgpio(GPIO_TONE_ALARM);
}
void stop_note()
{
// Stop the current note.
rSC &= ~TPM_SC_CMOD_MASK;
// Ensure the GPIO is not driving the speaker.
px4_arch_configgpio(GPIO_TONE_ALARM_IDLE);
}
} /* namespace ToneAlarmInterface */
platforms/nuttx/src/px4/nxp/s32k1xx/version/CMakeLists.txt
+37
View File
@@ -0,0 +1,37 @@
############################################################################
#
# Copyright (c) 2015-2019 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.
#
############################################################################
px4_add_library(arch_version
board_identity.c
board_mcu_version.c
)
platforms/nuttx/src/px4/nxp/s32k1xx/version/board_identity.c
+136
View File
@@ -0,0 +1,136 @@
/****************************************************************************
*
* Copyright (C) 2017 PX4 Development Team. All rights reserved.
* Author: @author David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_identity.c
* Implementation of Kientis based Board identity API
*/
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <stdio.h>
#include <string.h>
#include <hardware/s32k1xx_memorymap.h>
#include <hardware/s32k1xx_sim.h>
static const uint16_t soc_arch_id = PX4_SOC_ARCH_ID;
#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
void board_get_uuid(uuid_byte_t uuid_bytes)
{
uint32_t *chip_uuid = (uint32_t *) S32K1XX_SIM_UIDH;
uint8_t *uuid_words = uuid_bytes;
for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
uint32_t current_uuid_bytes = SWAP_UINT32(chip_uuid[i]);
memcpy(uuid_words, &current_uuid_bytes, sizeof(uint32_t));
uuid_words += sizeof(uint32_t);
}
}
void board_get_uuid32(uuid_uint32_t uuid_words)
{
board_get_uuid(*(uuid_byte_t *) uuid_words);
}
int board_get_uuid32_formated(char *format_buffer, int size,
const char *format,
const char *seperator)
{
uuid_uint32_t uuid;
board_get_uuid32(uuid);
int offset = 0;
int sep_size = seperator ? strlen(seperator) : 0;
for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
offset += snprintf(&format_buffer[offset], size - ((i * 2 * sizeof(uint32_t)) + 1), format, uuid[i]);
if (sep_size && i < PX4_CPU_UUID_WORD32_LENGTH - 1) {
strcat(&format_buffer[offset], seperator);
offset += sep_size;
}
}
return 0;
}
int board_get_mfguid(mfguid_t mfgid)
{
board_get_uuid(* (uuid_byte_t *) mfgid);
return PX4_CPU_MFGUID_BYTE_LENGTH;
}
int board_get_mfguid_formated(char *format_buffer, int size)
{
mfguid_t mfguid;
board_get_mfguid(mfguid);
int offset = 0;
for (unsigned int i = 0; i < PX4_CPU_MFGUID_BYTE_LENGTH; i++) {
offset += snprintf(&format_buffer[offset], size - offset, "%02x", mfguid[i]);
}
return offset;
}
int board_get_px4_guid(px4_guid_t px4_guid)
{
uint8_t *pb = (uint8_t *) &px4_guid[0];
*pb++ = (soc_arch_id >> 8) & 0xff;
*pb++ = (soc_arch_id & 0xff);
board_get_uuid(pb);
return PX4_GUID_BYTE_LENGTH;
}
int board_get_px4_guid_formated(char *format_buffer, int size)
{
px4_guid_t px4_guid;
board_get_px4_guid(px4_guid);
int offset = 0;
/* size should be 2 per byte + 1 for termination
* So it needs to be odd
*/
size = size & 1 ? size : size - 1;
/* Discard from MSD */
for (unsigned i = PX4_GUID_BYTE_LENGTH - size / 2; offset < size && i < PX4_GUID_BYTE_LENGTH; i++) {
offset += snprintf(&format_buffer[offset], size - offset, "%02x", px4_guid[i]);
}
return offset;
}
platforms/nuttx/src/px4/nxp/s32k1xx/version/board_mcu_version.c
+66
View File
@@ -0,0 +1,66 @@
/****************************************************************************
*
* Copyright (C) 2017 PX4 Development Team. All rights reserved.
* Author: @author David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_mcu_version.c
* Implementation of Kinetis based SoC version API
*/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include "up_arch.h"
#include "hardware/s32k1xx_sim.h"
//todo upstrem chip id defs
#define CHIP_TAG "S32K1??"
#define CHIP_TAG_LEN sizeof(CHIP_TAG)-1
int board_mcu_version(char *rev, const char **revstr, const char **errata)
{
uint32_t sim_sdid = getreg32(S32K1XX_SIM_SDID);
UNUSED(sim_sdid);
static char chip[sizeof(CHIP_TAG)] = CHIP_TAG;
chip[CHIP_TAG_LEN - 2] = '0' /*+ ((sim_sdid & SIM_SDID_FAMILYID_MASK) >> SIM_SDID_FAMILYID_SHIFT) */;
chip[CHIP_TAG_LEN - 1] = '0' /*+ ((sim_sdid & SIM_SDID_SUBFAMID_MASK) >> SIM_SDID_SUBFAMID_SHIFT)*/;
*revstr = chip;
*rev = '0' /*+ ((sim_sdid & SIM_SDID_REVID_MASK) >> SIM_SDID_REVID_SHIFT)*/;
if (errata) {
*errata = NULL;
}
return 0;
}