Merge remote-tracking branch 'origin/master' into fw_control

apps/commander/state_machine_helper.c

@@ -138,7 +138,7 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
 			current_status->flag_system_armed = false;
 			mavlink_log_critical(mavlink_fd, "[commander] REBOOTING SYSTEM");
 			usleep(500000);
-			reboot();
+			up_systemreset();
 			/* SPECIAL CASE: NEVER RETURNS FROM THIS FUNCTION CALL */
 		} else {
 			invalid_state = true;

apps/drivers/boards/px4fmu/px4fmu_init.c

@@ -294,9 +294,6 @@ __EXPORT int nsh_archinitialize(void)
 
 	/* Get board information if available */
 
-	/* Initialize the user GPIOs */
-	px4fmu_gpio_init();
-
 #ifdef CONFIG_ADC
 	int adc_state = adc_devinit();
 

apps/drivers/boards/px4fmu/px4fmu_internal.h

@@ -47,6 +47,12 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
+__BEGIN_DECLS
+
+/* these headers are not C++ safe */
+#include <stm32_internal.h>
+
+ 
 /****************************************************************************************************
  * Definitions
  ****************************************************************************************************/
@@ -150,17 +156,6 @@
 
 extern void stm32_spiinitialize(void);
 
-/****************************************************************************************************
- * Name: px4fmu_gpio_init
- *
- * Description:
- *   Called to configure the PX4FMU user GPIOs
- *
- ****************************************************************************************************/
-
-extern void px4fmu_gpio_init(void);
-
-
-// XXX additional SPI chipselect functions required?
-
 #endif /* __ASSEMBLY__ */
+
+__END_DECLS

apps/drivers/drv_gpio.h

@@ -40,25 +40,75 @@
 
 #include <sys/ioctl.h>
 
+#ifdef CONFIG_ARCH_BOARD_PX4FMU
 /*
- * GPIO defines come from a board-specific header, as they are shared
+ * PX4FMU GPIO numbers.
- * with board-specific logic.
  *
- * The board-specific header must define:
+ * For shared pins, alternate function 1 selects the non-GPIO mode 
- * GPIO_DEVICE_PATH
+ * (USART2, CAN2, etc.)
- * GPIO_RESET
- * GPIO_SET_OUTPUT
- * GPIO_SET_INPUT
- * GPIO_SET_ALT_1
- * GPIO_SET_ALT_2
- * GPIO_SET_ALT_3
- * GPIO_SET_ALT_4
- * GPIO_SET
- * GPIO_CLEAR
- * GPIO_GET
  */
+# define GPIO_EXT_1		(1<<0)		/**< high-power GPIO 1 */
+# define GPIO_EXT_2		(1<<1)		/**< high-power GPIO 1 */
+# define GPIO_MULTI_1		(1<<2)		/**< USART2 CTS */
+# define GPIO_MULTI_2		(1<<3)		/**< USART2 RTS */
+# define GPIO_MULTI_3		(1<<4)		/**< USART2 TX */
+# define GPIO_MULTI_4		(1<<5)		/**< USART2 RX */
+# define GPIO_CAN_TX		(1<<6)		/**< CAN2 TX */
+# define GPIO_CAN_RX		(1<<7)		/**< CAN2 RX */
 
-/* Include board-specific GPIO definitions as well. */
+/**
-#include <arch/board/drv_gpio.h>
+ * Default GPIO device - other devices may also support this protocol if
+ * they also export GPIO-like things.  This is always the GPIOs on the
+ * main board.
+ */
+# define GPIO_DEVICE_PATH	"/dev/px4fmu"
+
+#endif
+
+#ifndef GPIO_DEVICE_PATH
+#  error No GPIO support for this board.
+#endif
+
+/*
+ * IOCTL definitions.
+ *
+ * For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
+ * by the operation, with the LSB being the lowest-numbered GPIO.
+ *
+ * Note that there may be board-specific relationships between GPIOs;
+ * applications using GPIOs should be aware of this.
+ */
+#define _GPIOCBASE	0x6700
+#define GPIOC(_x)	_IOC(_GPIOCBASE, _x)
+
+/** reset all board GPIOs to their default state */
+#define GPIO_RESET	GPIOC(0)
+
+/** configure the board GPIOs in (arg) as outputs */
+#define GPIO_SET_OUTPUT	GPIOC(1)
+
+/** configure the board GPIOs in (arg) as inputs */
+#define GPIO_SET_INPUT	GPIOC(2)
+
+/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
+#define GPIO_SET_ALT_1	GPIOC(3)
+
+/** configure the board GPIO (arg) for the second alternate function (if supported) */
+#define GPIO_SET_ALT_2	GPIOC(4)
+
+/** configure the board GPIO (arg) for the third alternate function (if supported) */
+#define GPIO_SET_ALT_3	GPIOC(5)
+
+/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
+#define GPIO_SET_ALT_4	GPIOC(6)
+
+/** set the GPIOs in (arg) */
+#define GPIO_SET	GPIOC(10)
+
+/** clear the GPIOs in (arg) */
+#define GPIO_CLEAR	GPIOC(11)
+
+/** read all the GPIOs and return their values in *(uint32_t *)arg */
+#define GPIO_GET	GPIOC(12)
 
 #endif /* _DRV_GPIO_H */

apps/drivers/hmc5883/hmc5883.cpp

@@ -58,17 +58,21 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
-#include <drivers/drv_hrt.h>
+#include <arch/board/board.h>
 
 #include <systemlib/perf_counter.h>
 #include <systemlib/err.h>
 
 #include <drivers/drv_mag.h>
+#include <drivers/drv_hrt.h>
 
 /*
  * HMC5883 internal constants and data structures.
  */
 
+#define HMC5883L_BUS			PX4_I2C_BUS_ONBOARD
+#define HMC5883L_ADDRESS		PX4_I2C_OBDEV_HMC5883
+
 /* Max measurement rate is 160Hz */
 #define HMC5883_CONVERSION_INTERVAL	(1000000 / 160)	/* microseconds */
 
@@ -86,8 +90,6 @@
 #define ADDR_ID_B			0x0b
 #define ADDR_ID_C			0x0c
 
-#define HMC5883L_ADDRESS		0x1E
-
 /* modes not changeable outside of driver */
 #define HMC5883L_MODE_NORMAL		(0 << 0)  /* default */
 #define HMC5883L_MODE_POSITIVE_BIAS	(1 << 0)  /* positive bias */
@@ -1100,8 +1102,7 @@ start()
 		errx(1, "already started");
 
 	/* create the driver */
-	/* XXX HORRIBLE hack - the bus number should not come from here */
+	g_dev = new HMC5883(HMC5883L_BUS);
-	g_dev = new HMC5883(2);
 
 	if (g_dev == nullptr)
 		goto fail;

apps/drivers/ms5611/ms5611.cpp

@@ -57,6 +57,8 @@
 #include <nuttx/wqueue.h>
 #include <nuttx/clock.h>
 
+#include <arch/board/board.h>
+
 #include <drivers/drv_hrt.h>
 
 #include <systemlib/perf_counter.h>
@@ -240,7 +242,8 @@ private:
 #define MS5611_CONVERSION_INTERVAL	10000	/* microseconds */
 #define MS5611_MEASUREMENT_RATIO	3	/* pressure measurements per temperature measurement */
 
-#define MS5611_ADDRESS_1		0x76    /* address select pins pulled high (PX4FMU series v1.6+) */
+#define MS5611_BUS			PX4_I2C_BUS_ONBOARD
+#define MS5611_ADDRESS_1		PX4_I2C_OBDEV_MS5611 /* address select pins pulled high (PX4FMU series v1.6+) */
 #define MS5611_ADDRESS_2		0x77    /* address select pins pulled low (PX4FMU prototypes) */
 
 #define ADDR_RESET_CMD			0x1E	/* write to this address to reset chip */
@@ -937,8 +940,7 @@ start()
 		errx(1, "already started");
 
 	/* create the driver */
-	/* XXX HORRIBLE hack - the bus number should not come from here */
+	g_dev = new MS5611(MS5611_BUS);
-	g_dev = new MS5611(2);
 
 	if (g_dev == nullptr)
 		goto fail;

apps/drivers/px4fmu/Makefile

@@ -39,4 +39,6 @@ APPNAME		 = fmu
 PRIORITY	 = SCHED_PRIORITY_DEFAULT
 STACKSIZE	 = 2048
 
+INCLUDES	 = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
+
 include $(APPDIR)/mk/app.mk

apps/drivers/stm32/tone_alarm/tone_alarm.cpp

@@ -84,7 +84,7 @@
 #include <systemlib/err.h>
 
 #ifndef CONFIG_HRT_TIMER
-# error CONFIG_TONE_ALARM requires CONFIG_HRT_TIMER
+# error This driver requires CONFIG_HRT_TIMER
 #endif
 
 /* Tone alarm configuration */
@@ -611,7 +611,6 @@ play_pattern(unsigned pattern)
 	if (fd < 0)
 		err(1, "/dev/tone_alarm");
 
-	warnx("playing pattern %u", pattern);
 	ret = ioctl(fd, TONE_SET_ALARM, pattern);
 
 	if (ret != 0)

apps/mavlink/orb_listener.c

@@ -531,6 +531,7 @@ uorb_receive_thread(void *arg)
 	struct pollfd fds[n_listeners];
 	for (unsigned i = 0; i < n_listeners; i++) {
 		fds[i].fd = *listeners[i].subp;
+		fds[i].events = POLLIN;
 
 		/* Invoke callback to set initial state */
 		//listeners[i].callback(&listener[i]);

apps/systemcmds/reboot/reboot.c

@@ -41,14 +41,13 @@
 #include <unistd.h>
 #include <stdio.h>
 
-#include "systemlib/systemlib.h"
+#include <systemlib/systemlib.h>
 
 __EXPORT int reboot_main(int argc, char *argv[]);
 
 int reboot_main(int argc, char *argv[])
 {
-	reboot();
+	up_systemreset();
-	return 0;
 }
 
 

apps/systemlib/Makefile

@@ -42,7 +42,8 @@ CSRCS		 = err.c \
 		   bson/tinybson.c \
 		   conversions.c \
 		   cpuload.c \
-		   getopt_long.c
+		   getopt_long.c \
+		   up_cxxinitialize.c
 
 #		   ppm_decode.c \
 

apps/systemlib/systemlib.c

@@ -73,41 +73,6 @@ const struct __multiport_info multiport_info = {
 
 static void kill_task(FAR _TCB *tcb, FAR void *arg);
 
-/****************************************************************************
- * user_start
- ****************************************************************************/
-
-int reboot(void)
-{
-	sched_lock();
-	// print text
-	printf("\r\nRebooting system - ending tasks and performing hard reset\r\n\r\n");
-	fflush(stdout);
-	//usleep(5000);
-
-	/* Sending kill signal to other tasks */
-	//killall();
-
-	/* Waiting maximum time for all to exit */
-	//usleep(5000);
-	//sched_lock();
-
-	/* Resetting CPU */
-	// FIXME Need check for ARM architecture here
-#ifndef NVIC_AIRCR
-#define NVIC_AIRCR (*((uint32_t*)0xE000ED0C))
-#endif
-
-	/* Set the SYSRESETREQ bit to force a reset */
-	NVIC_AIRCR = 0x05fa0004;
-
-	/* Spinning until the board is really reset */
-	while (true);
-
-	/* Should never reach here */
-	return 0;
-}
-
 void killall()
 {
 //	printf("Sending SIGUSR1 to all processes now\n");

apps/systemlib/systemlib.h

@@ -45,7 +45,7 @@
 __BEGIN_DECLS
 
 /** Reboots the board */
-__EXPORT int reboot(void);
+extern void up_systemreset(void) noreturn_function;
 
 /** Sends SIGUSR1 to all processes */
 __EXPORT void killall(void);

apps/systemlib/up_cxxinitialize.c

@@ -0,0 +1,150 @@
+/************************************************************************************
+ * configs/stm32f4discovery/src/up_cxxinitialize.c
+ * arch/arm/src/board/up_cxxinitialize.c
+ *
+ *   Copyright (C) 2012 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 <debug.h>
+
+#include <nuttx/arch.h>
+
+//#include <arch/stm32/chip.h>
+//#include "chip.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+/* Debug ****************************************************************************/
+/* Non-standard debug that may be enabled just for testing the static constructors */
+
+#ifndef CONFIG_DEBUG
+#  undef CONFIG_DEBUG_CXX
+#endif
+
+#ifdef CONFIG_DEBUG_CXX
+#  define cxxdbg              dbg
+#  define cxxlldbg            lldbg
+#  ifdef CONFIG_DEBUG_VERBOSE
+#    define cxxvdbg           vdbg
+#    define cxxllvdbg         llvdbg
+#  else
+#    define cxxvdbg(x...)
+#    define cxxllvdbg(x...)
+#  endif
+#else
+#  define cxxdbg(x...)
+#  define cxxlldbg(x...)
+#  define cxxvdbg(x...)
+#  define cxxllvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Private Types
+ ************************************************************************************/
+/* This type defines one entry in initialization array */
+
+typedef void (*initializer_t)(void);
+
+/************************************************************************************
+ * External references
+ ************************************************************************************/
+/* _sinit and _einit are symbols exported by the linker script that mark the
+ * beginning and the end of the C++ initialization section.
+ */
+
+extern initializer_t _sinit;
+extern initializer_t _einit;
+
+/* _stext and _etext are symbols exported by the linker script that mark the
+ * beginning and the end of text.
+ */
+
+extern uint32_t _stext;
+extern uint32_t _etext;
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/****************************************************************************
+ * Name: up_cxxinitialize
+ *
+ * Description:
+ *   If C++ and C++ static constructors are supported, then this function
+ *   must be provided by board-specific logic in order to perform
+ *   initialization of the static C++ class instances.
+ *
+ *   This function should then be called in the application-specific
+ *   user_start logic in order to perform the C++ initialization.  NOTE
+ *   that no component of the core NuttX RTOS logic is involved; This
+ *   function defintion only provides the 'contract' between application
+ *   specific C++ code and platform-specific toolchain support
+ *
+ ***************************************************************************/
+
+__EXPORT void up_cxxinitialize(void)
+{
+  initializer_t *initp;
+
+  cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
+         &_sinit, &_einit, &_stext, &_etext);
+
+  /* Visit each entry in the initialzation table */
+
+  for (initp = &_sinit; initp != &_einit; initp++)
+    {
+      initializer_t initializer = *initp;
+      cxxdbg("initp: %p initializer: %p\n", initp, initializer);
+
+      /* Make sure that the address is non-NULL and lies in the text region
+       * defined by the linker script.  Some toolchains may put NULL values
+       * or counts in the initialization table
+       */
+
+      if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext)
+        {
+          cxxdbg("Calling %p\n", initializer);
+          initializer();
+        }
+    }
+}

nuttx/configs/px4fmu/common/ld.script

@@ -87,6 +87,15 @@ SECTIONS
 		__errno = get_errno_ptr;
 	} > flash
 
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
 	/*
 	 * Construction data for parameters.
 	 */

nuttx/configs/px4fmu/include/board.h

@@ -45,9 +45,6 @@
 #ifndef __ASSEMBLY__
 # include <stdint.h>
 #endif
-//#include "stm32_rcc.h"
-//#include "stm32_sdio.h"
-//#include "stm32_internal.h"
 
 /************************************************************************************
  * Definitions
@@ -298,7 +295,7 @@
  * Note that these are unshifted addresses.
  */
 #define PX4_I2C_OBDEV_HMC5883	0x1e
-#define PX4_I2C_OBDEV_MS5611	NOTDEFINED
+#define PX4_I2C_OBDEV_MS5611	0x76
 #define PX4_I2C_OBDEV_EEPROM	NOTDEFINED
 
 #define PX4_I2C_OBDEV_PX4IO_BL	0x18
@@ -327,11 +324,9 @@
 /*
  * Tone alarm output
  */
-#ifdef CONFIG_TONE_ALARM
+#define TONE_ALARM_TIMER	3	/* timer 3 */
-# define TONE_ALARM_TIMER	3	/* timer 3 */
+#define TONE_ALARM_CHANNEL	3	/* channel 3 */
-# define TONE_ALARM_CHANNEL	3	/* channel 3 */
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
-# define GPIO_TONE_ALARM	(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTC|GPIO_PIN8)
-#endif
 
 /************************************************************************************
  * Public Data
@@ -362,37 +357,6 @@ extern "C" {
 
 EXTERN void stm32_boardinitialize(void);
 
-/************************************************************************************
- * Button support.
- *
- * Description:
- *   up_buttoninit() must be called to initialize button resources.  After
- *   that, up_buttons() may be called to collect the current state of all
- *   buttons or up_irqbutton() may be called to register button interrupt
- *   handlers.
- *
- *   After up_buttoninit() has been called, up_buttons() may be called to
- *   collect the state of all buttons.  up_buttons() returns an 8-bit bit set
- *   with each bit associated with a button.  See the BUTTON_*_BIT
- *   definitions in board.h for the meaning of each bit.
- *
- *   up_irqbutton() may be called to register an interrupt handler that will
- *   be called when a button is depressed or released.  The ID value is a
- *   button enumeration value that uniquely identifies a button resource. See the
- *   BUTTON_* definitions in board.h for the meaning of enumeration
- *   value.  The previous interrupt handler address is returned (so that it may
- *   restored, if so desired).
- *
- ************************************************************************************/
-
-#ifdef CONFIG_ARCH_BUTTONS
-EXTERN void up_buttoninit(void);
-EXTERN uint8_t up_buttons(void);
-#ifdef CONFIG_ARCH_IRQBUTTONS
-EXTERN xcpt_t up_irqbutton(int id, xcpt_t irqhandler);
-#endif
-#endif
-
 #undef EXTERN
 #if defined(__cplusplus)
 }

nuttx/configs/px4fmu/include/drv_gpio.h

@@ -1,107 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file GPIO driver interface.
- *
- * This header defines the basic interface to platform-specific GPIOs.
- */
-
-#ifndef _BOARD_DRV_GPIO_H
-#define _BOARD_DRV_GPIO_H
-
-/*
- * PX4FMU GPIO numbers.
- *
- * For shared pins, alternate function 1 selects the non-GPIO mode 
- * (USART2, CAN2, etc.)
- */
-#define GPIO_EXT_1		(1<<0)		/**< high-power GPIO 1 */
-#define GPIO_EXT_2		(1<<1)		/**< high-power GPIO 1 */
-#define GPIO_MULTI_1		(1<<2)		/**< USART2 CTS */
-#define GPIO_MULTI_2		(1<<3)		/**< USART2 RTS */
-#define GPIO_MULTI_3		(1<<4)		/**< USART2 TX */
-#define GPIO_MULTI_4		(1<<5)		/**< USART2 RX */
-#define GPIO_CAN_TX		(1<<6)		/**< CAN2 TX */
-#define GPIO_CAN_RX		(1<<7)		/**< CAN2 RX */
-
-/**
- * Default GPIO device - other devices may also support this protocol if
- * they also export GPIO-like things.  This is always the GPIOs on the
- * main board.
- */
-#define GPIO_DEVICE_PATH	"/dev/gpio"
-
-/*
- * IOCTL definitions.
- *
- * For all ioctls, the (arg) argument is a bitmask of GPIOs to be affected
- * by the operation, with the LSB being the lowest-numbered GPIO.
- *
- * Note that there may be board-specific relationships between GPIOs;
- * applications using GPIOs should be aware of this.
- */
-#define _GPIOCBASE	0x6700
-#define GPIOC(_x)	_IOC(_GPIOCBASE, _x)
-
-/** reset all board GPIOs to their default state */
-#define GPIO_RESET	GPIOC(0)
-
-/** configure the board GPIOs in (arg) as outputs */
-#define GPIO_SET_OUTPUT	GPIOC(1)
-
-/** configure the board GPIOs in (arg) as inputs */
-#define GPIO_SET_INPUT	GPIOC(2)
-
-/** configure the board GPIOs in (arg) for the first alternate function (if supported) */
-#define GPIO_SET_ALT_1	GPIOC(3)
-
-/** configure the board GPIO (arg) for the second alternate function (if supported) */
-#define GPIO_SET_ALT_2	GPIOC(4)
-
-/** configure the board GPIO (arg) for the third alternate function (if supported) */
-#define GPIO_SET_ALT_3	GPIOC(5)
-
-/** configure the board GPIO (arg) for the fourth alternate function (if supported) */
-#define GPIO_SET_ALT_4	GPIOC(6)
-
-/** set the GPIOs in (arg) */
-#define GPIO_SET	GPIOC(10)
-
-/** clear the GPIOs in (arg) */
-#define GPIO_CLEAR	GPIOC(11)
-
-/** read all the GPIOs and return their values in *(uint32_t *)arg */
-#define GPIO_GET	GPIOC(12)
-
-#endif /* _DRV_GPIO_H */

nuttx/configs/px4fmu/nsh/appconfig

@@ -97,7 +97,7 @@ CONFIGURED_APPS += drivers/l3gd20
 CONFIGURED_APPS	+= drivers/px4io
 CONFIGURED_APPS += drivers/stm32
 CONFIGURED_APPS += drivers/stm32/tone_alarm
-CONFIGURED_APPS += px4/fmu
+CONFIGURED_APPS += drivers/px4fmu
 
 # Testing stuff
 CONFIGURED_APPS += px4/sensors_bringup

nuttx/configs/px4fmu/nsh/defconfig

@@ -179,7 +179,7 @@ CONFIG_STM32_I2C1=y
 CONFIG_STM32_I2C2=y
 CONFIG_STM32_I2C3=y
 CONFIG_STM32_CAN1=n
-CONFIG_STM32_CAN2=y
+CONFIG_STM32_CAN2=n
 CONFIG_STM32_DAC=n
 CONFIG_STM32_PWR=y
 # APB2:
@@ -542,7 +542,7 @@ CONFIG_DEBUG_I2C=n
 CONFIG_DEBUG_INPUT=n
 
 CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=n
+CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_MM_REGIONS=2
 CONFIG_ARCH_LOWPUTC=y
 CONFIG_MSEC_PER_TICK=1

nuttx/configs/px4fmu/src/Makefile

@@ -41,7 +41,6 @@ ASRCS		=
 AOBJS		= $(ASRCS:.S=$(OBJEXT))
 
 CSRCS		= up_leds.c \
-		  drv_gpio.c \
 		  drv_led.c drv_eeprom.c 
 
 COBJS		= $(CSRCS:.c=$(OBJEXT))

nuttx/configs/px4fmu/src/drv_gpio.c

@@ -1,195 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/*
- * GPIO driver for PX4FMU.
- *
- */
-
-#include <nuttx/config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/spi.h>
-#include <arch/board/board.h>
-
-#include "up_arch.h"
-#include "chip.h"
-#include "stm32_internal.h"
-#include "px4fmu-internal.h"
-
-#include <arch/board/drv_gpio.h>
-
-static int	px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg);
-
-static const struct file_operations px4fmu_gpio_fops = {
-	.ioctl = px4fmu_gpio_ioctl,
-};
-
-static struct {
-	uint32_t	input;
-	uint32_t	output;
-	uint32_t	alt;
-} gpio_tab[] = {
-	{GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0},
-	{GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0},
-	{GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1},
-	{GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1},
-	{GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1},
-	{GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1},
-	{GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2},
-	{GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2},
-};
-
-#define NGPIO	(sizeof(gpio_tab) / sizeof(gpio_tab[0]))
-
-
-static void
-px4fmu_gpio_reset(void)
-{
-	/*
-	 * Setup default GPIO config - all pins as GPIOs, GPIO driver chip 
-	 * to input mode.
-	 */
-	for (unsigned i = 0; i < NGPIO; i++)
-		stm32_configgpio(gpio_tab[i].input);
-
-	stm32_gpiowrite(GPIO_GPIO_DIR, 0);
-	stm32_configgpio(GPIO_GPIO_DIR);
-}
-
-static void
-px4fmu_gpio_set_function(uint32_t gpios, int function)
-{
-	/*
-	 * GPIOs 0 and 1 must have the same direction as they are buffered
-	 * by a shared 2-port driver.  Any attempt to set either sets both.
-	 */
-	if (gpios & 3) {
-		gpios |= 3;
-
-		/* flip the buffer to output mode if required */
-		if (GPIO_SET_OUTPUT == function)
-			stm32_gpiowrite(GPIO_GPIO_DIR, 1);
-	}
-
-	/* configure selected GPIOs as required */
-	for (unsigned i = 0; i < NGPIO; i++) {
-		if (gpios & (1<<i)) {
-			switch (function) {
-			case GPIO_SET_INPUT:
-				stm32_configgpio(gpio_tab[i].input);
-				break;
-			case GPIO_SET_OUTPUT:
-				stm32_configgpio(gpio_tab[i].output);
-				break;
-			case GPIO_SET_ALT_1:
-				if (gpio_tab[i].alt != 0)
-					stm32_configgpio(gpio_tab[i].alt);
-				break;
-			}
-		}
-	}
-
-	/* flip buffer to input mode if required */
-	if ((GPIO_SET_INPUT == function) && (gpios & 3))
-		stm32_gpiowrite(GPIO_GPIO_DIR, 0);
-}
-
-static void
-px4fmu_gpio_write(uint32_t gpios, int function)
-{
-	int value = (function == GPIO_SET) ? 1 : 0;
-
-	for (unsigned i = 0; i < NGPIO; i++)
-		if (gpios & (1<<i))
-			stm32_gpiowrite(gpio_tab[i].output, value);
-}
-
-static uint32_t
-px4fmu_gpio_read(void)
-{
-	uint32_t bits = 0;
-
-	for (unsigned i = 0; i < NGPIO; i++)
-		if (stm32_gpioread(gpio_tab[i].input))
-			bits |= (1 << i);
-
-	return bits;
-}
-
-void
-px4fmu_gpio_init(void)
-{
-	/* reset all GPIOs to default state */
-	px4fmu_gpio_reset();
-
-	/* register the driver */
-	register_driver(GPIO_DEVICE_PATH, &px4fmu_gpio_fops, 0666, NULL);
-}
-
-static int
-px4fmu_gpio_ioctl(struct file *filep, int cmd, unsigned long arg)
-{
-	int	result = OK;
-
-	switch (cmd) {
-		
-	case GPIO_RESET:
-		px4fmu_gpio_reset();
-		break;
-
-	case GPIO_SET_OUTPUT:
-	case GPIO_SET_INPUT:
-	case GPIO_SET_ALT_1:
-		px4fmu_gpio_set_function(arg, cmd);
-		break;
-
-	case GPIO_SET:
-	case GPIO_CLEAR:
-		px4fmu_gpio_write(arg, cmd);
-		break;
-
-	case GPIO_GET:
-		*(uint32_t *)arg = px4fmu_gpio_read();
-		break;
-
-	default:
-		result = -ENOTTY;
-	}
-	return result;
-}
-