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uavcannode updates and px4_fmu-v4_cannode example

Browse Source 
- drivers/uavcannode add baro, mag, gps publications
 - delete old px4_cannode-v1 board
 - add stripped down simple rcS for CAN nodes
This commit is contained in:
Daniel Agar
2020-02-16 12:11:54 -05:00
committed by GitHub
parent 342e0da796
commit d7c3e1066a
54 changed files with 1137 additions and 3184 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.ci/Jenkinsfile-compile
+21 -5
View File
@@ -32,20 +32,36 @@ pipeline {
"airmind_mindpx-v2_default", "airmind_mindpx-v2_default",
"av_x-v1_default", "av_x-v1_default",
"bitcraze_crazyflie_default", "bitcraze_crazyflie_default",
"holybro_kakutef7", "holybro_durandal-v1_default", "holybro_durandal-v1_stackcheck", "holybro_durandal-v1_default",
"holybro_durandal-v1_stackcheck",
"holybro_kakutef7",
"intel_aerofc-v1_default", "intel_aerofc-v1_default",
"modalai_fc-v1_default", "modalai_fc-v1_default",
"mro_x21_default", "mro_ctrl-zero-f7_default", "mro_x21-777_default", "mro_ctrl-zero-f7_default",
"mro_x21-777_default",
"mro_x21_default",
"nxp_fmuk66-v3_default", "nxp_fmuk66-v3_default",
"nxp_fmurt1062-v1_default", "nxp_fmurt1062-v1_default",
"nxp_rddrone-uavcan146_default", "nxp_rddrone-uavcan146_default",
"omnibus_f4sd_default", "omnibus_f4sd_default",
"px4_fmu-v2_default", "px4_fmu-v2_fixedwing", "px4_fmu-v2_lpe", "px4_fmu-v2_multicopter", "px4_fmu-v2_rover", "px4_fmu-v2_test", "px4_fmu-v2_default",
"px4_fmu-v2_fixedwing",
"px4_fmu-v2_lpe",
"px4_fmu-v2_multicopter",
"px4_fmu-v2_rover",
"px4_fmu-v2_test",
"px4_fmu-v3_default", "px4_fmu-v3_default",
"px4_fmu-v4_cannode",
"px4_fmu-v4_default", "px4_fmu-v4_default",
"px4_fmu-v4pro_default", "px4_fmu-v4pro_default",
"px4_fmu-v5_default", "px4_fmu-v5_fixedwing", "px4_fmu-v5_multicopter", "px4_fmu-v5_rover", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck", "px4_fmu-v5_default",
"px4_fmu-v5x_default", "px4_fmu-v5x_p2_base_phy_LAN8742Ai", "px4_fmu-v5_fixedwing",
"px4_fmu-v5_multicopter",
"px4_fmu-v5_rover",
"px4_fmu-v5_rtps",
"px4_fmu-v5_stackcheck",
"px4_fmu-v5x_default",
"px4_fmu-v5x_p2_base_phy_LAN8742Ai",
"px4_io-v2_default", "px4_io-v2_default",
"uvify_core_default" "uvify_core_default"
], ],
.github/workflows/compile_nuttx.yml
+22 -4
View File
@@ -18,18 +18,36 @@ jobs:
airmind_mindpx-v2_default, airmind_mindpx-v2_default,
av_x-v1_default, av_x-v1_default,
bitcraze_crazyflie_default, bitcraze_crazyflie_default,
holybro_kakutef7, holybro_durandal-v1_default, holybro_durandal-v1_stackcheck, holybro_durandal-v1_default,
holybro_durandal-v1_stackcheck,
holybro_kakutef7,
intel_aerofc-v1_default, intel_aerofc-v1_default,
modalai_fc-v1_default, modalai_fc-v1_default,
mro_x21_default, mro_ctrl-zero-f7_default, mro_x21-777_default, mro_ctrl-zero-f7_default,
mro_x21-777_default,
mro_x21_default,
nxp_fmuk66-v3_default, nxp_fmuk66-v3_default,
nxp_fmurt1062-v1_default,
nxp_rddrone-uavcan146_default,
omnibus_f4sd_default, omnibus_f4sd_default,
px4_fmu-v2_default, px4_fmu-v2_fixedwing, px4_fmu-v2_lpe, px4_fmu-v2_multicopter, px4_fmu-v2_rover, px4_fmu-v2_test, px4_fmu-v2_default,
px4_fmu-v2_fixedwing,
px4_fmu-v2_lpe,
px4_fmu-v2_multicopter,
px4_fmu-v2_rover,
px4_fmu-v2_test,
px4_fmu-v3_default, px4_fmu-v3_default,
px4_fmu-v4_cannode,
px4_fmu-v4_default, px4_fmu-v4_default,
px4_fmu-v4pro_default, px4_fmu-v4pro_default,
px4_fmu-v5_default, px4_fmu-v5_fixedwing, px4_fmu-v5_multicopter, px4_fmu-v5_rover, px4_fmu-v5_rtps, px4_fmu-v5_stackcheck, px4_fmu-v5_default,
px4_fmu-v5_fixedwing,
px4_fmu-v5_multicopter,
px4_fmu-v5_rover,
px4_fmu-v5_rtps,
px4_fmu-v5_stackcheck,
px4_fmu-v5x_default, px4_fmu-v5x_default,
px4_fmu-v5x_p2_base_phy_LAN8742Ai,
px4_io-v2_default, px4_io-v2_default,
uvify_core_default uvify_core_default
] ]
.gitmodules
-4
View File
@@ -42,10 +42,6 @@
path = platforms/nuttx/NuttX/apps path = platforms/nuttx/NuttX/apps
url = https://github.com/PX4/NuttX-apps.git url = https://github.com/PX4/NuttX-apps.git
branch = px4_firmware_nuttx-8.2 branch = px4_firmware_nuttx-8.2
[submodule "cmake/configs/uavcan_board_ident"]
path = cmake/configs/uavcan_board_ident
url = https://github.com/PX4/uavcan_board_ident.git
branch = master
[submodule "platforms/qurt/dspal"] [submodule "platforms/qurt/dspal"]
path = platforms/qurt/dspal path = platforms/qurt/dspal
url = https://github.com/ATLFlight/dspal.git url = https://github.com/ATLFlight/dspal.git
Makefile
+2 -7
View File
@@ -230,7 +230,7 @@ excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
# Other targets # Other targets
# -------------------------------------------------------------------- # --------------------------------------------------------------------
.PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware alt_firmware check_rtps .PHONY: qgc_firmware px4fmu_firmware misc_qgc_extra_firmware check_rtps
# QGroundControl flashable NuttX firmware # QGroundControl flashable NuttX firmware
qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
@@ -256,11 +256,6 @@ misc_qgc_extra_firmware: \
check_px4_fmu-v2_lpe \ check_px4_fmu-v2_lpe \
sizes sizes
# Other NuttX firmware
alt_firmware: \
check_px4_cannode-v1_default \
sizes
# builds with RTPS # builds with RTPS
check_rtps: \ check_rtps: \
check_px4_fmu-v3_rtps \ check_px4_fmu-v3_rtps \
@@ -275,7 +270,7 @@ sizes:
@-find build -name *.elf -type f | xargs size 2> /dev/null || : @-find build -name *.elf -type f | xargs size 2> /dev/null || :
# All default targets that don't require a special build environment # All default targets that don't require a special build environment
check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware tests check_format
# quick_check builds a single nuttx and SITL target, runs testing, and checks the style # quick_check builds a single nuttx and SITL target, runs testing, and checks the style
quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format quick_check: check_px4_sitl_test check_px4_fmu-v5_default tests check_format
ROMFS/cannode/CMakeLists.txt
+34
View File
@@ -0,0 +1,34 @@
############################################################################
#
# Copyright (c) 2020 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(init.d)
boards/px4/cannode-v1/src/CMakeLists.txt → ROMFS/cannode/init.d/CMakeLists.txt
+3 -15
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (c) 2015 PX4 Development Team. All rights reserved. # Copyright (c) 2020 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -31,18 +31,6 @@
# #
############################################################################ ############################################################################
add_library(drivers_board px4_add_romfs_files(
buttons.c rcS
can.c
init.c
led.c
spi.c
) )
target_link_libraries(drivers_board
PRIVATE
nuttx_arch # sdio
nuttx_drivers # sdio
drivers__led # drv_led_start
px4_layer
)
ROMFS/cannode/init.d/rcS
+106
View File
@@ -0,0 +1,106 @@
#!/bin/sh
# Un comment and use set +e to ignore and set -e to enable 'exit on error control'
set +e
# Un comment the line below to help debug scripts by printing a trace of the script commands
#set -x
# PX4FMU startup script.
#
# NOTE: environment variable references:
# If the dollar sign ('$') is followed by a left bracket ('{') then the
# variable name is terminated with the right bracket character ('}').
# Otherwise, the variable name goes to the end of the argument.
#
#
# NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS.
#
#------------------------------------------------------------------------------
#
# Mount the procfs.
#
mount -t procfs /proc
#
# Start CDC/ACM serial driver.
#
sercon
#
# Print full system version.
#
ver all
#
# Start the ORB (first app to start)
# tone_alarm and tune_control
# is dependent.
#
uorb start
#
# Set the parameter file if mtd starts successfully.
#
if mtd start
then
set PARAM_FILE /fs/mtd_params
fi
#
# Load parameters.
#
param select $PARAM_FILE
if ! param load
then
param reset
fi
#
# Optional board defaults: rc.board_defaults
#
set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults
if [ -f $BOARD_RC_DEFAULTS ]
then
echo "Board defaults: ${BOARD_RC_DEFAULTS}"
sh $BOARD_RC_DEFAULTS
fi
unset BOARD_RC_DEFAULTS
#
# Start system state indicator.
#
rgbled start
rgbled_ncp5623c start
rgbled_pwm start
if param greater LIGHT_EN_BLINKM 0
then
if blinkm start
then
blinkm systemstate
fi
fi
#
# board sensors: rc.sensors
#
set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors
if [ -f $BOARD_RC_SENSORS ]
then
echo "Board sensors: ${BOARD_RC_SENSORS}"
sh $BOARD_RC_SENSORS
fi
unset BOARD_RC_SENSORS
#
# Start UART/Serial device drivers.
# Note: rc.serial is auto-generated from Tools/serial/generate_config.py
#
sh /etc/init.d/rc.serial
# Check for flow sensor, launched as a background task to scan
if param compare SENS_EN_PX4FLOW 1
then
px4flow start &
fi
uavcannode start
boards/nxp/rddrone-uavcan146/default.cmake
+63 -7
View File
@@ -1,3 +1,23 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.nxp.rddrone-uavcan146\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
px4_add_board( px4_add_board(
PLATFORM nuttx PLATFORM nuttx
VENDOR nxp VENDOR nxp
@@ -5,15 +25,51 @@ px4_add_board(
LABEL default LABEL default
TOOLCHAIN arm-none-eabi TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4 ARCHITECTURE cortex-m4
ROMFSROOT cannode
UAVCAN_INTERFACES 2 UAVCAN_INTERFACES 2
DRIVERS DRIVERS
#adc
#barometer # all available barometer drivers
#bootloaders
#differential_pressure # all available differential pressure drivers
#distance_sensor # all available distance sensor drivers
#dshot
#gps
#imu # all available imu drivers
#lights
#magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
#px4fmu
#safety_button
#tone_alarm
#uavcannode # TODO: CAN driver needed
MODULES MODULES
#ekf2
#load_mon
#sensors
#temperature_compensation
SYSTEMCMDS SYSTEMCMDS
#bl_update
#dmesg
#dumpfile
#esc_calib
#hardfault_log
i2cdetect i2cdetect
#led_control
EXAMPLES #mixer
) #motor_ramp
#motor_test
#nshterm
#param
#perf
#pwm
reboot
#reflect
#sd_bench
shutdown
#top
#topic_listener
#tune_control
ver
#work_queue
)
boards/px4/cannode-v1/default.cmake
-57
View File
@@ -1,57 +0,0 @@
add_definitions(
-DPARAM_NO_ORB
-DPARAM_NO_AUTOSAVE
)
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
# Bring in common uavcan hardware identity definitions
include(px4_git)
px4_add_git_submodule(TARGET git_uavcan_board_ident PATH "cmake/configs/uavcan_board_ident")
include(configs/uavcan_board_ident/px4cannode-v1)
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
include(px4_make_uavcan_bootloader)
px4_make_uavcan_bootloadable(
BOARD px4_cannode-v1
BIN ${PX4_BINARY_DIR}/px4_cannode-v1.bin
HWNAME ${uavcanblid_name}
HW_MAJOR ${uavcanblid_hw_version_major}
HW_MINOR ${uavcanblid_hw_version_minor}
SW_MAJOR ${uavcanblid_sw_version_major}
SW_MINOR ${uavcanblid_sw_version_minor}
)
px4_add_board(
PLATFORM nuttx
VENDOR px4
MODEL cannode-v1
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m3
DRIVERS
bootloaders
uavcannode
MODULES
SYSTEMCMDS
config
reboot
top
ver
work_queue
)
boards/px4/cannode-v1/firmware.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 22,
"magic": "CANNODEFWv1",
"description": "Firmware for the PX4CANNODE board",
"image": "",
"build_time": 0,
"summary": "PX4CANNODEv1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 122880,
"git_identity": "",
"board_revision": 0
}
boards/px4/cannode-v1/nuttx-config/Kconfig
-22
View File
@@ -1,22 +0,0 @@
#
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#
if CONFIG_ARCH_BOARD_PX4_CANNODE_V1
config BOARD_HAS_PROBES
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
default y
---help---
This board provides GPIO D0-D2,A0-A3 as PROBE_1-6 to provide timing signals from selected drivers.
config BOARD_USE_PROBES
bool "Enable the use provides GPIO D0-D2,A0-A3 as PROBE_1-6 to provide timing signals from selected drivers"
default n
depends on BOARD_HAS_PROBES
---help---
Select to use GPIO provides GPIO D0-D2,A0-A3 to provide timing signals from selected drivers.
endif
boards/px4/cannode-v1/nuttx-config/include/README.txt
-6
View File
@@ -1,6 +0,0 @@
This directory contains header files unique to the
PX4 Can Node V1 board
Currently this is a demo on the OLIMEXINO-STM32
https://www.olimex.com/Products/Duino/STM32/OLIMEXINO-STM32/resources/OLIMEXINO-STM32.pdf
http://www.mouser.com/ProductDetail/Olimex-Ltd/OLIMEXINO-STM32/?qs=sGAEpiMZZMsUcx5t7XFI3Z5HrEKlvGsZ
boards/px4/cannode-v1/nuttx-config/include/board.h
-259
View File
@@ -1,259 +0,0 @@
/************************************************************************************
* nuttx-configs/px4_cannode-v1/include/board.h
*
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* 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 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.
*
************************************************************************************/
#ifndef __CONFIGS_PX4CANNODE_V1_INCLUDE_BOARD_H
#define __CONFIGS_PX4CANNODE_V1_INCLUDE_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include "stm32_rcc.h"
#include "stm32_sdio.h"
#include "stm32.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* HSI - 8 MHz RC factory-trimmed
* LSI - 40 KHz RC (30-60KHz, uncalibrated)
* HSE - On-board crystal frequency is 8MHz
* LSE - 32.768 kHz
*/
#define STM32_BOARD_XTAL 8000000ul
#define STM32_HSI_FREQUENCY 8000000ul
#define STM32_LSI_FREQUENCY 40000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
#define STM32_LSE_FREQUENCY 32768
/* PLL source is HSE/1, PLL multipler is 9: PLL frequency is 8MHz (XTAL) x 9 = 72MHz */
#define STM32_CFGR_PLLSRC RCC_CFGR_PLLSRC
#define STM32_CFGR_PLLXTPRE 0
#define STM32_CFGR_PLLMUL RCC_CFGR_PLLMUL_CLKx9
#define STM32_PLL_FREQUENCY (9*STM32_BOARD_XTAL)
/* Use the PLL and set the SYSCLK source to be the PLL */
#define STM32_SYSCLK_SW RCC_CFGR_SW_PLL
#define STM32_SYSCLK_SWS RCC_CFGR_SWS_PLL
#define STM32_SYSCLK_FREQUENCY STM32_PLL_FREQUENCY
/* AHB clock (HCLK) is SYSCLK (72MHz) */
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK
#define STM32_HCLK_FREQUENCY STM32_PLL_FREQUENCY
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
/* APB2 clock (PCLK2) is HCLK (72MHz) */
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLK
#define STM32_PCLK2_FREQUENCY STM32_HCLK_FREQUENCY
/* APB2 timers 1 and 8 will receive PCLK2. */
#define STM32_APB2_TIM1_CLKIN (STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM8_CLKIN (STM32_PCLK2_FREQUENCY)
/* APB1 clock (PCLK1) is HCLK/2 (36MHz) */
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd2
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/2)
/* APB1 timers 2-4 will be twice PCLK1 */
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1,8 are on APB2, others on APB1
*/
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
/* USB divider -- Divide PLL clock by 1.5 */
#define STM32_CFGR_USBPRE 0
/* Buttons *************************************************************************/
#define BUTTON_BOOT0_BIT (0)
#define BUTTON_BOOT0_MASK (1<<BUTTON_BOOT0_BIT)
/* Leds *************************************************************************/
/* LED index values for use with board_setled() */
#define BOARD_LED1 0
#define BOARD_LED_GREEN BOARD_LED1
#define BOARD_LED2 1
#define BOARD_LED_YELLOW BOARD_LED2
#define BOARD_NLEDS 2
/* LED bits for use with board_setleds() */
#define BOARD_LED_GREEN_BIT (1 << BOARD_LED_GREEN)
#define BOARD_LED_YELLOW_BIT (1 << BOARD_LED_YELLOW)
/* These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
* defined. In that case, the usage by the board port is as follows:
*
* SYMBOL Meaning LED state
* Green Yellow
* ------------------------ -------------------------- ------ ------ */
#define LED_STARTED 0 /* NuttX has been started OFF OFF */
#define LED_HEAPALLOCATE 1 /* Heap has been allocated OFF OFF */
#define LED_IRQSENABLED 2 /* Interrupts enabled OFF OFF */
#define LED_STACKCREATED 3 /* Idle stack created ON OFF */
#define LED_INIRQ 4 /* In an interrupt N/C ON */
#define LED_SIGNAL 5 /* In a signal handler N/C ON */
#define LED_ASSERTION 6 /* An assertion failed N/C ON */
#define LED_PANIC 7 /* The system has crashed N/C Blinking */
#define LED_IDLE 8 /* MCU is is sleep mode OFF N/C */
/* Thus if the Green is statically on, NuttX has successfully booted and is,
* apparently, running normally. If the YellowLED is flashing at
* approximately 2Hz, then a fatal error has been detected and the system
* has halted.
*
* NOTE: That the Yellow is not used after completion of booting and may
* be used by other board-specific logic.
*/
#if defined(CONFIG_BOARD_USE_PROBES)
# define PROBE_N(n) (1<<((n)-1))
# define PROBE_1 (GPIO_OUTPUT|GPIO_CNF_OUTPP | GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
# define PROBE_2 (GPIO_OUTPUT|GPIO_CNF_OUTPP | GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
# define PROBE_3 (GPIO_OUTPUT|GPIO_CNF_OUTPP | GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
# define PROBE_INIT(mask) \
do { \
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
} while(0)
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
#else
# define PROBE_INIT(mask)
# define PROBE(n,s)
# define PROBE_MARK(n)
#endif
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
void stm32_boardinitialize(void);
/************************************************************************************
* Name: stm32_ledinit, stm32_setled, and stm32_setleds
*
* Description:
* If CONFIG_ARCH_LEDS is defined, then NuttX will control the on-board LEDs. If
* CONFIG_ARCH_LEDS is not defined, then the following interfaces are available to
* control the LEDs from user applications.
*
************************************************************************************/
#ifndef CONFIG_ARCH_LEDS
void stm32_led_initialize(void);
void stm32_setled(int led, bool ledon);
void stm32_setleds(uint8_t ledset);
#endif
#if !defined(CONFIG_NSH_LIBRARY)
int app_archinitialize(void);
#else
#define app_archinitialize() (-ENOSYS)
#endif
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __CONFIGS_PX4CANNODE_V1_INCLUDE_BOARD_H */
boards/px4/cannode-v1/nuttx-config/nsh/defconfig
-105
View File
@@ -1,105 +0,0 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
# CONFIG_DEV_NULL is not set
# CONFIG_DISABLE_OS_API is not set
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD_CUSTOM=y
CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F103RB=y
CONFIG_ARCH_INTERRUPTSTACK=360
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_USEBASEPRI=y
CONFIG_BOARDCTL_RESET=y
CONFIG_BOARD_CUSTOM_BUTTONS=y
CONFIG_BOARD_CUSTOM_IRQBUTTONS=y
CONFIG_BOARD_CUSTOM_LEDS=y
CONFIG_BOARD_LOOPSPERMSEC=5483
CONFIG_BUILTIN=y
CONFIG_BUILTIN_PROXY_STACKSIZE=392
CONFIG_C99_BOOL8=y
CONFIG_CLOCK_MONOTONIC=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_HARDFAULT_ALERT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_EXAMPLES_NULL=y
CONFIG_FDCLONE_STDIO=y
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_IDLETHREAD_STACKSIZE=272
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBC_LONG_LONG=y
CONFIG_LIB_BOARDCTL=y
CONFIG_LIB_SENDFILE_BUFSIZE=0
CONFIG_MAX_TASKS=4
CONFIG_MAX_WDOGPARMS=2
CONFIG_MEMSET_64BIT=y
CONFIG_MEMSET_OPTSPEED=y
CONFIG_MM_SMALL=y
CONFIG_MQ_MAXMSGSIZE=8
CONFIG_NAME_MAX=8
CONFIG_NFILE_DESCRIPTORS=5
CONFIG_NFILE_STREAMS=1
CONFIG_NPTHREAD_KEYS=0
CONFIG_NXFONTS_DISABLE_16BPP=y
CONFIG_NXFONTS_DISABLE_1BPP=y
CONFIG_NXFONTS_DISABLE_24BPP=y
CONFIG_NXFONTS_DISABLE_2BPP=y
CONFIG_NXFONTS_DISABLE_32BPP=y
CONFIG_NXFONTS_DISABLE_4BPP=y
CONFIG_NXFONTS_DISABLE_8BPP=y
CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=394
CONFIG_PREALLOC_MQ_MSGS=4
CONFIG_PREALLOC_TIMERS=2
CONFIG_PREALLOC_WDOGS=4
CONFIG_PRIORITY_INHERITANCE=y
CONFIG_PTHREAD_MUTEX_ROBUST=y
CONFIG_PTHREAD_STACK_DEFAULT=516
CONFIG_PTHREAD_STACK_MIN=516
CONFIG_RAM_SIZE=20480
CONFIG_RAM_START=0x20000000
CONFIG_RAW_BINARY=y
CONFIG_SCHED_ATEXIT=y
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_SCHED_WAITPID=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_SEM_NNESTPRIO=4
CONFIG_SEM_PREALLOCHOLDERS=4
CONFIG_SIG_DEFAULT=y
CONFIG_SIG_SIGALRM_ACTION=y
CONFIG_SIG_SIGUSR1_ACTION=y
CONFIG_SIG_SIGUSR2_ACTION=y
CONFIG_STACK_COLORATION=y
CONFIG_START_DAY=20
CONFIG_START_MONTH=11
CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
CONFIG_STM32_FORCEPOWER=y
CONFIG_STM32_JTAG_FULL_ENABLE=y
CONFIG_STM32_PWR=y
CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32_TIM3=y
CONFIG_STM32_TIM3_FULL_REMAP=y
CONFIG_STM32_USART1=y
CONFIG_SYMTAB_ORDEREDBYNAME=y
CONFIG_SYSTEM_READLINE=y
CONFIG_TASK_NAME_SIZE=12
CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=394
CONFIG_USART1_RXBUFSIZE=32
CONFIG_USART1_RXDMA=y
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART1_TXBUFSIZE=32
CONFIG_USERMAIN_STACKSIZE=1048
CONFIG_USER_ENTRYPOINT="uavcannode_start"
CONFIG_WDOG_INTRESERVE=2
boards/px4/cannode-v1/nuttx-config/scripts/script.ld
-153
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@@ -1,153 +0,0 @@
/****************************************************************************
* nuttx-configs/px4_cannode-v1/scripts/ld.script
*
* Copyright (C) 2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* The STM32F103RB has 128KiB of FLASH beginning at address 0x0800:0000 and
* 20KiB of SRAM beginning at address 0x2000:0000. When booting from FLASH,
* FLASH memory is aliased to address 0x0000:0000 where the code expects to
* begin execution by jumping to the entry point in the 0x0800:0000 address
* range.
*
* The first 8KiB of flash is reserved for the bootloader.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x08002000, LENGTH = 120K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
}
OUTPUT_ARCH(arm)
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
EXTERN(_vectors) /* force the vectors to be included in the output */
/*
* Ensure that abort() is present in the final object. The exception handling
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
*/
EXTERN(abort)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
. = ALIGN(8);
/*
* This section positions the app_descriptor_t used
* by the make_can_boot_descriptor.py tool to set
* the application image's descriptor so that the
* uavcan bootloader has the ability to validate the
* image crc, size etc
*/
KEEP(*(.app_descriptor))
*(.text .text.*)
*(.fixup)
*(.gnu.warning)
*(.rodata .rodata.*)
*(.gnu.linkonce.t.*)
*(.got)
*(.gcc_except_table)
*(.gnu.linkonce.r.*)
_etext = ABSOLUTE(.);
/*
* This is a hack to make the newlib libm __errno() call
* use the NuttX get_errno_ptr() function.
*/
__errno = get_errno_ptr;
} > flash
/*
* Init functions (static constructors and the like)
*/
.init_section : {
_sinit = ABSOLUTE(.);
KEEP(*(.init_array .init_array.*))
_einit = ABSOLUTE(.);
} > flash
/*
* Construction data for parameters.
*/
__param ALIGN(4): {
__param_start = ABSOLUTE(.);
KEEP(*(__param))
__param_end = ABSOLUTE(.);
} > flash
.ARM.extab : {
*(.ARM.extab*)
} > flash
__exidx_start = ABSOLUTE(.);
.ARM.exidx : {
*(.ARM.exidx*)
} > flash
__exidx_end = ABSOLUTE(.);
_eronly = ABSOLUTE(.);
/* The STM32F103CB has 20Kb of SRAM beginning at the following address */
.data : {
_sdata = ABSOLUTE(.);
*(.data .data.*)
*(.gnu.linkonce.d.*)
CONSTRUCTORS
_edata = ABSOLUTE(.);
} > sram AT > flash
.bss : {
_sbss = ABSOLUTE(.);
*(.bss .bss.*)
*(.gnu.linkonce.b.*)
*(COMMON)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}
boards/px4/cannode-v1/src/board_config.h
-281
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@@ -1,281 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_config.h
*
* PX4CANNODEv1 internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
/************************************************************************************
* Definitions
************************************************************************************/
#if STM32_NSPI < 1
# undef CONFIG_STM32_SPI1
# undef CONFIG_STM32_SPI2
#elif STM32_NSPI < 2
# undef CONFIG_STM32_SPI2
#endif
/* High-resolution timer
*/
#define HRT_TIMER 1 /* use timer1 for the HRT */
#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
#define HRT_PPM_CHANNEL 3 /* use capture/compare channel 3 */
#define GPIO_PPM_IN (GPIO_ALT|GPIO_CNF_INPULLUP|GPIO_PORTB|GPIO_PIN12)
/* LEDs *****************************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------------
*
* PA[05] PA5/SPI1_SCK/ADC5 21 D13(SCK1/LED1)
* PA[01] PA1/USART2_RTS/ADC1/TIM2_CH2 15 D3(LED2)
*/
#define GPIO_LED1 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_PORTA | GPIO_PIN5 | GPIO_OUTPUT_CLEAR)
#define GPIO_LED_GREEN GPIO_LED1
#define GPIO_LED2 (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_PORTA | GPIO_PIN1 | GPIO_OUTPUT_CLEAR)
#define GPIO_LED_YELLOW GPIO_LED2
/* BUTTON ***************************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------------
*
* PC[09] PC9/TIM3_CH4 40 BOOT0
*
*/
#define BUTTON_BOOT0n (GPIO_INPUT | GPIO_CNF_INFLOAT | GPIO_PORTC | GPIO_PIN9 | GPIO_EXTI)
#define IRQBUTTON BUTTON_BOOT0_BIT
/* USBs *****************************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------------
*
* PC[11] PC11/USART3_RX 52 USB_P
* PC[12] PC12/USART3_CK 53 DISC
*
*/
#define GPIO_USB_VBUS (GPIO_INPUT | GPIO_CNF_INFLOAT | GPIO_PORTC | GPIO_PIN11)
#define GPIO_USB_PULLUPn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_PORTC | GPIO_PIN12 | GPIO_OUTPUT_SET)
/* SPI ***************************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------------
*
* PC[09] PA4/SPI1_NSS/USART2_CK/ADC4 20 D10(#SS1)
* PD[02] PD2/TIM3_ETR 54 D25(MMC_CS)
*/
#define GPIO_SPI1_SSn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_PORTC | GPIO_PIN9 | GPIO_OUTPUT_SET)
#define USER_CSn GPIO_SPI1_SSn
#define GPIO_SPI2_SSn (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_PORTD | GPIO_PIN2 | GPIO_OUTPUT_SET)
#define MMCSD_CSn GPIO_SPI2_SSn
/* CAN ***************************************************************************
*
* GPIO Function MPU Board
* Pin # Name
* -- ----- -------------------------------- ----------------------------
*
* PB[08] PB8/TIM4_CH3/I2C1_SCL/CANRX 61 D14(CANRX)
* PB[09] PB9/TIM4_CH4/I2C1_SDA/CANTX 62 D24(CANTX)
* PC[13] PC13/ANTI_TAMP 2 D21(CAN_CTRL)
*/
#define GPIO_CAN_CTRL (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | GPIO_PORTC | GPIO_PIN13 | GPIO_OUTPUT_CLEAR)
__BEGIN_DECLS
/************************************************************************************
* Public Types
************************************************************************************/
/************************************************************************************
* Public data
************************************************************************************/
#ifndef __ASSEMBLY__
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins.
*
************************************************************************************/
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
defined(CONFIG_STM32_SPI3)
void weak_function board_spiinitialize(void);
#endif
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins.
*
************************************************************************************/
void stm32_usbinitialize(void);
/************************************************************************************
* Name: stm32_usb_set_pwr_callback()
*
* Description:
* Called to setup set a call back for USB power state changes.
*
* Inputs:
* pwr_changed_handler: An interrupt handler that will be called on VBUS power
* state changes.
*
************************************************************************************/
void stm32_usb_set_pwr_callback(xcpt_t pwr_changed_handler);
/****************************************************************************
* Name: stm32_led_initialize
*
* Description:
* This functions is called very early in initialization to perform board-
* specific initialization of LED-related resources. This includes such
* things as, for example, configure GPIO pins to drive the LEDs and also
* putting the LEDs in their correct initial state.
*
* NOTE: In most architectures, LED initialization() is called from
* board-specific initialization and should, therefore, have the name
* <arch>_led_intialize(). But there are a few architectures where the
* LED initialization function is still called from common chip
* architecture logic. This interface is not, however, a common board
* interface in any event and the name board_autoled_initialization is
* deprecated.
*
* Input Parameters:
* None
*
* Returned Value:
* None
*
****************************************************************************/
#ifdef CONFIG_ARCH_LEDS
void board_autoled_initialize(void);
#endif
/************************************************************************************
* Name: stm32_can_initialize
*
* Description:
* Called at application startup time to initialize the CAN functionality.
*
************************************************************************************/
#if defined(CONFIG_CAN) && (defined(CONFIG_STM32_CAN1) || defined(CONFIG_STM32_CAN2))
int board_can_initialize(void);
#endif
/************************************************************************************
* Name: board_button_initialize
*
* Description:
* Called at application startup time to initialize the Buttons functionality.
*
************************************************************************************/
#if defined(CONFIG_ARCH_BUTTONS)
void board_button_initialize(void);
#endif
/****************************************************************************
* Name: usbmsc_archinitialize
*
* Description:
* Called from the application system/usbmc or the boards_nsh if the
* application is not included.
* Perform architecture specific initialization. This function must
* configure the block device to export via USB. This function must be
* provided by architecture-specific logic in order to use this add-on.
*
****************************************************************************/
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_USBMSC)
int usbmsc_archinitialize(void);
#endif
/****************************************************************************
* Name: composite_archinitialize
*
* Description:
* Called from the application system/composite or the boards_nsh if the
* application is not included.
* Perform architecture specific initialization. This function must
* configure the block device to export via USB. This function must be
* provided by architecture-specific logic in order to use this add-on.
*
****************************************************************************/
#if !defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_SYSTEM_COMPOSITE)
extern int composite_archinitialize(void);
#endif
#include <px4_platform_common/board_common.h>
#endif /* __ASSEMBLY__ */
__END_DECLS
boards/px4/cannode-v1/src/buttons.c
-152
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@@ -1,152 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4_cannode_buttons.c
*
* PX4CANNODE- Buttons
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <nuttx/arch.h>
#include <nuttx/board.h>
#include <arch/board/board.h>
#include "board_config.h"
#ifdef CONFIG_ARCH_BUTTONS
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
void board_button_initialize(void);
/****************************************************************************
* Button support.
*
* Description:
* board_button_initialize() must be called to initialize button resources.
*
* After board_button_initialize() has been called, board_buttons() may be
* called to collect the state of all buttons. board_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.
*
* board_button_irq() 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).
*
****************************************************************************/
/****************************************************************************
* Name: board_button_initialize
*
* Description:
* board_button_initialize() must be called to initialize button resources.
* After that, board_buttons() may be called to collect the current state of
* all buttons or board_button_irq() may be called to register button
* interrupt handlers.
*
****************************************************************************/
void board_button_initialize(void)
{
stm32_configgpio(BUTTON_BOOT0n);
}
/****************************************************************************
* Name: board_buttons
*
* Description:
*
* After board_button_initialize() has been called, board_buttons() may be
* called to collect the state of all buttons. board_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.
*
****************************************************************************/
uint32_t board_buttons(void)
{
return stm32_gpioread(BUTTON_BOOT0n) ? 0 : BUTTON_BOOT0_MASK;
}
/****************************************************************************
* Name: board_button_irq
*
* Description:
*
* board_button_irq() 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_IRQBUTTONS
int board_button_irq(int id, xcpt_t irqhandler, FAR void *arg)
{
int ret = -EINVAL;
/* The following should be atomic */
if (id == IRQBUTTON) {
ret = stm32_gpiosetevent(BUTTON_BOOT0n, true, true, true, irqhandler, arg);
}
return ret;
}
#endif
#endif /* CONFIG_ARCH_BUTTONS */
boards/px4/cannode-v1/src/can.c
-131
View File
@@ -1,131 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file pxesc_can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "stm32.h"
#include "stm32_can.h"
#include "board_config.h"
#if defined(CONFIG_CAN)
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
/* The STM32F107VC supports CAN1 and CAN2 */
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
# undef CONFIG_STM32_CAN2
#endif
#ifdef CONFIG_STM32_CAN1
# define CAN_PORT 1
#else
# define CAN_PORT 2
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
int can_devinit(void);
/************************************************************************************
* Name: can_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/can.
*
************************************************************************************/
__EXPORT int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL) {
canerr("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
if (ret < 0) {
canerr("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
initialized = true;
}
return OK;
}
#endif /* CONFIG_CAN && CONFIG_STM32_CAN1 */
boards/px4/cannode-v1/src/init.c
-182
View File
@@ -1,182 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4_cannode_init.c
*
* PX4CANNODE-specific early startup code. This file implements the
* board_app_initialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialization.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <stm32.h>
#include "board_config.h"
#include "stm32_uart.h"
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>
#include <px4_platform_common/init.h>
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
#endif
#include "board_config.h"
/* todo: This is constant but not proper */
__BEGIN_DECLS
extern void led_off(int led);
__END_DECLS
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
/* configure LEDs */
board_autoled_initialize();
board_button_initialize();
stm32_configgpio(GPIO_CAN_CTRL);
/* configure CAN interface */
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
defined(CONFIG_STM32_SPI3)
board_spiinitialize();
#endif
}
__EXPORT void board_initialize(void)
{
}
/****************************************************************************
* Name: board_app_initialize
*
* Description:
* Perform application specific initialization. This function is never
* called directly from application code, but only indirectly via the
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
*
* Input Parameters:
* arg - The boardctl() argument is passed to the board_app_initialize()
* implementation without modification. The argument has no
* meaning to NuttX; the meaning of the argument is a contract
* between the board-specific initalization logic and the the
* matching application logic. The value cold be such things as a
* mode enumeration value, a set of DIP switch switch settings, a
* pointer to configuration data read from a file or serial FLASH,
* or whatever you would like to do with it. Every implementation
* should accept zero/NULL as a default configuration.
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on
* any failure to indicate the nature of the failure.
*
****************************************************************************/
__EXPORT int board_app_initialize(uintptr_t arg)
{
int result = OK;
px4_platform_init();
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
return result;
}
boards/px4/cannode-v1/src/led.c
-174
View File
@@ -1,174 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4_cannode_led.c
*
* PX4ESC LED backend.
*/
#include <px4_platform_common/px4_config.h>
#include <stdbool.h>
#include <nuttx/board.h>
#include "stm32.h"
#include "board_config.h"
#include <arch/board/board.h>
#include <systemlib/px4_macros.h>
/*
* Ideally we'd be able to get these from up_internal.h,
* but since we want to be able to disable the NuttX use
* of leds for system indication at will and there is no
* separate switch, we need to build independent of the
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
static uint16_t g_ledmap[] = {
GPIO_LED_GREEN, // Indexed by BOARD_LED_GREEN
GPIO_LED_YELLOW, // Indexed by BOARD_LED_YELLOW
};
__EXPORT void led_init(void)
{
/* Configure LED1-2 GPIOs for output */
for (size_t l = 0; l < arraySize(g_ledmap); l++) {
stm32_configgpio(g_ledmap[l]);
}
}
__EXPORT void board_autoled_initialize(void)
{
led_init();
}
static void phy_set_led(int led, bool state)
{
/* Pull Up to switch on */
stm32_gpiowrite(g_ledmap[led], state);
}
static bool phy_get_led(int led)
{
return !stm32_gpioread(g_ledmap[led]);
}
__EXPORT void led_on(int led)
{
phy_set_led(led, true);
}
__EXPORT void led_off(int led)
{
phy_set_led(led, false);
}
__EXPORT void led_toggle(int led)
{
phy_set_led(led, !phy_get_led(led));
}
static bool g_initialized;
// Nuttx Usages
__EXPORT void board_autoled_on(int led)
{
switch (led) {
default:
case LED_STARTED:
case LED_HEAPALLOCATE:
case LED_IRQSENABLED:
phy_set_led(BOARD_LED_GREEN, false);
phy_set_led(BOARD_LED_YELLOW, false);
break;
case LED_STACKCREATED:
phy_set_led(BOARD_LED_GREEN, true);
phy_set_led(BOARD_LED_YELLOW, false);
g_initialized = true;
break;
case LED_INIRQ:
case LED_SIGNAL:
case LED_ASSERTION:
case LED_PANIC:
phy_set_led(BOARD_LED_YELLOW, true);
break;
case LED_IDLE : /* IDLE */
phy_set_led(BOARD_LED_GREEN, false);
break;
}
}
/****************************************************************************
* Name: board_autoled_off
****************************************************************************/
__EXPORT void board_autoled_off(int led)
{
switch (led) {
default:
case LED_STARTED:
case LED_HEAPALLOCATE:
case LED_IRQSENABLED:
case LED_STACKCREATED:
phy_set_led(BOARD_LED_GREEN, false);
/* FALLTHROUGH */
case LED_INIRQ:
case LED_SIGNAL:
case LED_ASSERTION:
case LED_PANIC:
phy_set_led(BOARD_LED_YELLOW, false);
break;
case LED_IDLE: /* IDLE */
phy_set_led(BOARD_LED_GREEN, g_initialized);
break;
}
}
boards/px4/cannode-v1/src/spi.c
-216
View File
@@ -1,216 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4_cannode_led.c
*
* PX4FMU SPI backend.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <stdint.h>
#include <stdbool.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <nuttx/board.h>
#include "chip.h"
#include "stm32.h"
#include "board_config.h"
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the board.
*
************************************************************************************/
void weak_function board_spiinitialize(void)
{
/* Setup CS */
#ifdef CONFIG_STM32_SPI1
stm32_configgpio(USER_CSn);
#endif
#ifdef CONFIG_STM32_SPI2
stm32_configgpio(MMCSD_CSn);
#endif
}
/****************************************************************************
* Name: stm32_spi1/2/3select and stm32_spi1/2/3status
*
* Description:
* The external functions, stm32_spi1/2/3select and stm32_spi1/2/3status
* must be provided by board-specific logic. They are implementations of
* the select and status methods of the SPI interface defined by struct
* spi_ops_s (see include/nuttx/spi/spi.h). All other methods (including
* stm32_spibus_initialize()) are provided by common STM32 logic. To use
* this common SPI logic on your board:
*
* 1. Provide logic in stm32_boardinitialize() to configure SPI chip
* select pins.
* 2. Provide stm32_spi1/2/3select() and stm32_spi1/2/3status() functions
* in your board-specific logic. These functions will perform chip
* selection and status operations using GPIOs in the way your board
* is configured.
* 3. Add a calls to stm32_spibus_initialize() in your low level application
* initialization logic
* 4. The handle returned by stm32_spibus_initialize() may then be used to
* bind the SPI driver to higher level logic (e.g., calling
* mmcsd_spislotinitialize(), for example, will bind the SPI driver to
* the SPI MMC/SD driver).
*
****************************************************************************/
#ifdef CONFIG_STM32_SPI1
void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
if (devid == SPIDEV_USER) {
stm32_gpiowrite(USER_CSn, !selected);
}
}
uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return 0;
}
#endif
#ifdef CONFIG_STM32_SPI2
void stm32_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
#if defined(CONFIG_MMCSD)
if (devid == SPIDEV_MMCSD) {
stm32_gpiowrite(MMCSD_CSn, !selected);
}
#endif
}
uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
{
/* No switch on SD card socket so assume it is here */
return SPI_STATUS_PRESENT;
}
#endif
#ifdef CONFIG_STM32_SPI3
void stm32_spi3select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
{
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
}
uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, uint32_t devid)
{
return 0;
}
#endif
/****************************************************************************
* Name: stm32_spi1cmddata
*
* Description:
* Set or clear the SH1101A A0 or SD1306 D/C n bit to select data (true)
* or command (false). This function must be provided by platform-specific
* logic. This is an implementation of the cmddata method of the SPI
* interface defined by struct spi_ops_s (see include/nuttx/spi/spi.h).
*
* Input Parameters:
*
* spi - SPI device that controls the bus the device that requires the CMD/
* DATA selection.
* devid - If there are multiple devices on the bus, this selects which one
* to select cmd or data. NOTE: This design restricts, for example,
* one one SPI display per SPI bus.
* cmd - true: select command; false: select data
*
* Returned Value:
* None
*
****************************************************************************/
#ifdef CONFIG_SPI_CMDDATA
#ifdef CONFIG_STM32_SPI1
int stm32_spi1cmddata(FAR struct spi_dev_s *dev, uint32_t devid, bool cmd)
{
return OK;
}
#endif
#ifdef CONFIG_STM32_SPI2
int stm32_spi2cmddata(FAR struct spi_dev_s *dev, uint32_t devid, bool cmd)
{
return OK;
}
#endif
#ifdef CONFIG_STM32_SPI3
int stm32_spi3cmddata(FAR struct spi_dev_s *dev, uint32_t devid, bool cmd)
{
return -ENODEV;
}
#endif
#endif /* CONFIG_SPI_CMDDATA */
#endif /* CONFIG_STM32_SPI1 || CONFIG_STM32_SPI2 */
boards/px4/fmu-v4/cannode.cmake
+100
View File
@@ -0,0 +1,100 @@
# UAVCAN boot loadable Module ID
set(uavcanblid_sw_version_major 0)
set(uavcanblid_sw_version_minor 1)
add_definitions(
-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
)
set(uavcanblid_hw_version_major 1)
set(uavcanblid_hw_version_minor 0)
set(uavcanblid_name "\"org.px4.fmu-v4_cannode\"")
add_definitions(
-DHW_UAVCAN_NAME=${uavcanblid_name}
-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
)
px4_add_board(
PLATFORM nuttx
VENDOR px4
MODEL fmu-v4
LABEL cannode
TOOLCHAIN arm-none-eabi
ARCHITECTURE cortex-m4
ROMFSROOT cannode
UAVCAN_INTERFACES 1
SERIAL_PORTS
GPS1:/dev/ttyS3
TEL1:/dev/ttyS1
TEL2:/dev/ttyS2
DRIVERS
adc
#barometer # all available barometer drivers
barometer/ms5611
bootloaders
#differential_pressure # all available differential pressure drivers
#distance_sensor # all available distance sensor drivers
#dshot
gps
#imu # all available imu drivers
#imu/adis16448
#imu/adis16477
#imu/adis16497
#imu/invensense/icm20602
#imu/invensense/icm20608-g
imu/mpu6000
imu/mpu9250
#lights/rgbled
#lights/rgbled_ncp5623c
#magnetometer # all available magnetometer drivers
#optical_flow # all available optical flow drivers
#px4fmu
#safety_button
#tone_alarm
uavcannode
MODULES
#ekf2
#load_mon
#sensors
#temperature_compensation
SYSTEMCMDS
#bl_update
#dmesg
#dumpfile
#esc_calib
#hardfault_log
i2cdetect
#led_control
#mixer
#motor_ramp
#motor_test
mtd
#nshterm
param
perf
#pwm
reboot
#reflect
#sd_bench
#shutdown
top
#topic_listener
#tune_control
ver
work_queue
)
include(px4_make_uavcan_bootloader)
px4_make_uavcan_bootloadable(
BOARD ${PX4_BOARD}
BIN ${PX4_BINARY_DIR}/${PX4_BOARD}.bin
HWNAME ${uavcanblid_name}
HW_MAJOR ${uavcanblid_hw_version_major}
HW_MINOR ${uavcanblid_hw_version_minor}
SW_MAJOR ${uavcanblid_sw_version_major}
SW_MINOR ${uavcanblid_sw_version_minor}
)
boards/px4/fmu-v4/src/CMakeLists.txt
+1
View File
@@ -46,4 +46,5 @@ target_link_libraries(drivers_board
nuttx_arch # sdio nuttx_arch # sdio
nuttx_drivers # sdio nuttx_drivers # sdio
px4_layer px4_layer
arch_io_pins
) )
cmake/configs/uavcan_board_ident
-1
Submodule cmake/configs/uavcan_board_ident deleted from 2e5f9d6768
platforms/common/px4_log.cpp
-4
View File
@@ -66,9 +66,7 @@ void px4_log_initialize(void)
log_message.severity = 6; //info log_message.severity = 6; //info
strcpy((char *)log_message.text, "initialized uORB logging"); strcpy((char *)log_message.text, "initialized uORB logging");
#if !defined(PARAM_NO_ORB)
orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, 2); orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, 2);
#endif /* !PARAM_NO_ORB */
if (!orb_log_message_pub) { if (!orb_log_message_pub) {
PX4_ERR("failed to advertise log_message"); PX4_ERR("failed to advertise log_message");
@@ -136,9 +134,7 @@ __EXPORT void px4_log_modulename(int level, const char *moduleName, const char *
va_end(argptr); va_end(argptr);
log_message.text[max_length_pub - 1] = 0; //ensure 0-termination log_message.text[max_length_pub - 1] = 0; //ensure 0-termination
#if !defined(PARAM_NO_ORB)
orb_publish(ORB_ID(log_message), orb_log_message_pub, &log_message); orb_publish(ORB_ID(log_message), orb_log_message_pub, &log_message);
#endif /* !PARAM_NO_ORB */
} }
} }
src/drivers/differential_pressure/ms4525/CMakeLists.txt
+1
View File
@@ -38,4 +38,5 @@ px4_add_module(
ms4525_airspeed.cpp ms4525_airspeed.cpp
DEPENDS DEPENDS
drivers__airspeed drivers__airspeed
mathlib
) )
src/drivers/differential_pressure/ms5525/CMakeLists.txt
+1
View File
@@ -39,4 +39,5 @@ px4_add_module(
MS5525_main.cpp MS5525_main.cpp
DEPENDS DEPENDS
drivers__airspeed drivers__airspeed
mathlib
) )
src/drivers/differential_pressure/sdp3x/CMakeLists.txt
+1
View File
@@ -39,4 +39,5 @@ px4_add_module(
SDP3X_main.cpp SDP3X_main.cpp
DEPENDS DEPENDS
drivers__airspeed drivers__airspeed
mathlib
) )
src/drivers/distance_sensor/ll40ls/CMakeLists.txt
+1
View File
@@ -42,4 +42,5 @@ px4_add_module(
LidarLitePWM.cpp LidarLitePWM.cpp
DEPENDS DEPENDS
drivers_rangefinder drivers_rangefinder
#arch_io_pins # LidarLitePWM
) )
src/drivers/magnetometer/bmm150/CMakeLists.txt
+2
View File
@@ -37,4 +37,6 @@ px4_add_module(
-Wno-cast-align # TODO: fix and enable -Wno-cast-align # TODO: fix and enable
SRCS SRCS
bmm150.cpp bmm150.cpp
DEPENDS
conversion
) )
src/drivers/magnetometer/lis3mdl/CMakeLists.txt
+2
View File
@@ -40,4 +40,6 @@ px4_add_module(
lis3mdl_spi.cpp lis3mdl_spi.cpp
lis3mdl_main.cpp lis3mdl_main.cpp
lis3mdl.cpp lis3mdl.cpp
DEPENDS
conversion
) )
src/drivers/uavcan/.gitignore
-1
View File
@@ -1 +0,0 @@
./dsdlc_generated/
src/drivers/uavcan/CMakeLists.txt
+32 -29
View File
@@ -31,16 +31,19 @@
# #
############################################################################ ############################################################################
px4_add_git_submodule(TARGET git_uavcan PATH "libuavcan") set(LIBUAVCAN_DIR ${PX4_SOURCE_DIR}/src/drivers/uavcan/libuavcan)
set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03") set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM "generic") set(UAVCAN_PLATFORM "generic")
if(CONFIG_ARCH_CHIP) if(CONFIG_ARCH_CHIP)
if (${CONFIG_ARCH_CHIP} MATCHES "kinetis") if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
set(UAVCAN_DRIVER "kinetis") set(UAVCAN_DRIVER "kinetis")
set(UAVCAN_TIMER 1) set(UAVCAN_TIMER 1)
elseif (${CONFIG_ARCH_CHIP} MATCHES "stm32") elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
set(UAVCAN_DRIVER "stm32") set(UAVCAN_DRIVER "stm32")
set(UAVCAN_TIMER 5) # The default timer the 5 set(UAVCAN_TIMER 5) # The default timer the 5
endif() endif()
@@ -57,31 +60,31 @@ endif()
string(TOUPPER "${PX4_PLATFORM}" OS_UPPER) string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER) string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER)
add_definitions( add_definitions(
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1 -DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces} -DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
-DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER} -DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER} -DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
-DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1 -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 -DUAVCAN_MEM_POOL_BLOCK_SIZE=48
-DUAVCAN_NO_ASSERTIONS -DUAVCAN_NO_ASSERTIONS
-DUAVCAN_PLATFORM=${UAVCAN_PLATFORM} -DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
) )
add_compile_options(-Wno-cast-align) # TODO: fix and enable add_compile_options(-Wno-cast-align) # TODO: fix and enable
add_subdirectory(libuavcan EXCLUDE_FROM_ALL) add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
add_dependencies(uavcan prebuild_targets) add_dependencies(uavcan prebuild_targets)
# driver # driver
add_subdirectory(uavcan_drivers/${UAVCAN_DRIVER}/driver EXCLUDE_FROM_ALL) add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
./libuavcan/libuavcan/include ${LIBUAVCAN_DIR}/libuavcan/include
./libuavcan/libuavcan/include/dsdlc_generated ${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
) )
# generated DSDL # generated DSDL
set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${CMAKE_CURRENT_SOURCE_DIR}/libuavcan/dsdl/uavcan") set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${LIBUAVCAN_DIR}/dsdl/uavcan")
set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated") set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
set(DSDLC_INPUT_FILES) set(DSDLC_INPUT_FILES)
@@ -90,22 +93,22 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES}) list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
endforeach(DSDLC_INPUT) endforeach(DSDLC_INPUT)
add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
COMMAND ${PYTHON} ${CMAKE_CURRENT_SOURCE_DIR}/libuavcan/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT} COMMAND ${PYTHON} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
DEPENDS ${DSDLC_INPUT_FILES} DEPENDS ${DSDLC_INPUT_FILES}
COMMENT "PX4 UAVCAN dsdl compiler" COMMENT "PX4 UAVCAN dsdl compiler"
) )
add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp) add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)
px4_add_module( px4_add_module(
MODULE modules__uavcan MODULE drivers__uavcan
MAIN uavcan MAIN uavcan
INCLUDES INCLUDES
${DSDLC_OUTPUT} ${DSDLC_OUTPUT}
libuavcan/libuavcan/include ${LIBUAVCAN_DIR}/libuavcan/include
libuavcan/libuavcan/include/dsdlc_generated ${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
libuavcan/libuavcan_drivers/posix/include ${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
uavcan_drivers/${UAVCAN_DRIVER}/driver/include ${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
SRCS SRCS
# Main # Main
uavcan_main.cpp uavcan_main.cpp
src/drivers/uavcannode/.gitignore
-1
View File
@@ -1 +0,0 @@
./dsdlc_generated/
src/drivers/uavcannode/CMakeLists.txt
+68 -40
View File
@@ -1,6 +1,6 @@
############################################################################ ############################################################################
# #
# Copyright (c) 2015 PX4 Development Team. All rights reserved. # Copyright (c) 2015-2020 PX4 Development Team. All rights reserved.
# #
# Redistribution and use in source and binary forms, with or without # Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions # modification, are permitted provided that the following conditions
@@ -37,60 +37,88 @@ set(LIBUAVCAN_DIR_DRIVERS ${PX4_SOURCE_DIR}/src/drivers/uavcan/uavcan_drivers)
px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR}) px4_add_git_submodule(TARGET git_uavcan PATH ${LIBUAVCAN_DIR})
set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03") set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
set(UAVCAN_PLATFORM generic CACHE STRING "uavcan platform") set(UAVCAN_PLATFORM "generic")
if(CONFIG_ARCH_CHIP)
if(${CONFIG_ARCH_CHIP} MATCHES "kinetis")
set(UAVCAN_DRIVER "kinetis")
set(UAVCAN_TIMER 1)
elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
set(UAVCAN_DRIVER "stm32")
set(UAVCAN_TIMER 5) # The default timer the 5
endif()
endif()
if(NOT DEFINED UAVCAN_DRIVER)
message(FATAL_ERROR "UAVCAN_DRIVER not set")
endif()
if(NOT config_uavcan_num_ifaces)
message(FATAL_ERROR "config_uavcan_num_ifaces not set")
endif()
string(TOUPPER "${PX4_PLATFORM}" OS_UPPER) string(TOUPPER "${PX4_PLATFORM}" OS_UPPER)
string(TOUPPER "${UAVCAN_DRIVER}" UAVCAN_DRIVER_UPPER)
add_definitions( add_definitions(
-DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1
-DUAVCAN_MAX_NETWORK_SIZE_HINT=16 -DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces}
-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 -DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER}
-DUAVCAN_NO_ASSERTIONS -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-DUAVCAN_PLATFORM=generic -DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER}
-DUAVCAN_STM32_${OS_UPPER}=1 -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
-DUAVCAN_STM32_NUM_IFACES=1 -DUAVCAN_MEM_POOL_BLOCK_SIZE=48
-DUAVCAN_STM32_TIMER_NUMBER=2 -DUAVCAN_NO_ASSERTIONS
-DUAVCAN_USE_CPP03=ON -DUAVCAN_PLATFORM=${UAVCAN_PLATFORM}
-DUAVCAN_USE_EXTERNAL_SNPRINT )
)
add_compile_options(-Wno-cast-align) # TODO: fix and enable add_compile_options(-Wno-cast-align) # TODO: fix and enable
add_subdirectory(${LIBUAVCAN_DIR} uavcannode_libuavcan) add_subdirectory(${LIBUAVCAN_DIR} libuavcan EXCLUDE_FROM_ALL)
add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/stm32/driver uavcanesc_uavcan_drivers)
target_include_directories(uavcan_stm32_driver PUBLIC
${LIBUAVCAN_DIR}/libuavcan/include
${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
)
add_dependencies(uavcan prebuild_targets) add_dependencies(uavcan prebuild_targets)
# driver
add_subdirectory(${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver libuavcan_drivers EXCLUDE_FROM_ALL)
target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
${LIBUAVCAN_DIR}/libuavcan/include
${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
)
# generated DSDL
set(DSDLC_INPUTS "${CMAKE_CURRENT_SOURCE_DIR}/dsdl/com" "${LIBUAVCAN_DIR}/dsdl/uavcan")
set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
set(DSDLC_INPUT_FILES)
foreach(DSDLC_INPUT ${DSDLC_INPUTS})
file(GLOB_RECURSE DSDLC_NEW_INPUT_FILES ${CMAKE_CURRENT_SOURCE_DIR} "${DSDLC_INPUT}/*.uavcan")
list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
endforeach(DSDLC_INPUT)
add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
COMMAND ${PYTHON} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
DEPENDS ${DSDLC_INPUT_FILES}
COMMENT "PX4 UAVCAN dsdl compiler"
)
add_custom_target(px4_uavcan_dsdlc DEPENDS px4_uavcan_dsdlc_run.stamp)
px4_add_module( px4_add_module(
MODULE modules__uavcannode MODULE drivers__uavcannode
MAIN uavcannode MAIN uavcannode
STACK_MAIN 1048
INCLUDES INCLUDES
${DSDLC_OUTPUT}
${LIBUAVCAN_DIR}/libuavcan/include ${LIBUAVCAN_DIR}/libuavcan/include
${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated ${LIBUAVCAN_DIR}/libuavcan/include/dsdlc_generated
${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include ${LIBUAVCAN_DIR}/libuavcan_drivers/posix/include
${LIBUAVCAN_DIR_DRIVERS}/stm32/driver/include ${LIBUAVCAN_DIR_DRIVERS}/${UAVCAN_DRIVER}/driver/include
COMPILE_FLAGS
-Wframe-larger-than=1500
-Wno-deprecated-declarations
-O3
SRCS SRCS
uavcannode_main.cpp allocator.hpp
indication_controller.cpp uavcan_driver.hpp
sim_controller.cpp UavcanNode.cpp
led.cpp UavcanNode.hpp
resources.cpp
DEPENDS DEPENDS
px4_uavcan_dsdlc
drivers_bootloaders drivers_bootloaders
git_uavcan
version version
git_uavcan
uavcan_stm32_driver uavcan_${UAVCAN_DRIVER}_driver
uavcan # within libuavcan
# within libuavcan
libuavcan_dsdlc
uavcan
) )
set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES uavcan_stm32_driver)
src/drivers/uavcannode/UavcanNode.cpp
+520
View File
File diff suppressed because it is too large Load Diff
src/drivers/uavcannode/uavcannode_main.hpp → src/drivers/uavcannode/UavcanNode.hpp
+86 -48
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2015 PX4 Development Team. All rights reserved. * Copyright (c) 2015-2020 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -31,14 +31,6 @@
* *
****************************************************************************/ ****************************************************************************/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <uavcan_stm32/uavcan_stm32.hpp>
#include <drivers/device/device.h>
#include <uavcan/protocol/global_time_sync_slave.hpp>
#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
#include <uavcan/node/timer.hpp>
/** /**
* @file uavcan_main.hpp * @file uavcan_main.hpp
* *
@@ -48,16 +40,44 @@
* David Sidrane <david_s5@nscdg.com> * David Sidrane <david_s5@nscdg.com>
*/ */
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 1 #pragma once
#define UAVCAN_DEVICE_PATH "/dev/uavcan/node"
// we add 1 to allow for busevent #include <px4_platform_common/px4_config.h>
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+1) #include <px4_platform_common/atomic.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include "uavcan_driver.hpp"
#include "allocator.hpp"
#include <uavcan/helpers/heap_based_pool_allocator.hpp>
#include <uavcan/protocol/global_time_sync_slave.hpp>
#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
#include <uavcan/node/timer.hpp>
#include <uavcan/protocol/node_status_monitor.hpp>
#include <uavcan/protocol/param/GetSet.hpp>
#include <uavcan/protocol/param/ExecuteOpcode.hpp>
#include <uavcan/protocol/RestartNode.hpp>
#include <uavcan/equipment/ahrs/MagneticFieldStrength2.hpp>
#include <uavcan/equipment/air_data/StaticPressure.hpp>
#include <uavcan/equipment/air_data/StaticTemperature.hpp>
#include <uavcan/equipment/gnss/Fix2.hpp>
#include <uavcan/equipment/power/BatteryInfo.hpp>
#include <lib/parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/vehicle_gps_position.h>
/** /**
* A UAVCAN node. * A UAVCAN node.
*/ */
class UavcanNode : public cdev::CDev class UavcanNode : public px4::ScheduledWorkItem
{ {
/* /*
* This memory is reserved for uavcan to use as over flow for message * This memory is reserved for uavcan to use as over flow for message
@@ -68,69 +88,70 @@ class UavcanNode : public cdev::CDev
* free -and multiply it times getBlockSize to get the number of bytes * free -and multiply it times getBlockSize to get the number of bytes
* *
*/ */
static constexpr unsigned MemPoolSize = 2048; static constexpr unsigned MemPoolSize = 2048;
static constexpr unsigned MaxBitRatePerSec = 1000000;
static constexpr unsigned bitPerFrame = 148;
static constexpr unsigned FramePerSecond = MaxBitRatePerSec / bitPerFrame;
static constexpr unsigned FramePerMSecond = ((FramePerSecond / 1000) + 1);
static constexpr unsigned ScheduleIntervalMs = 10;
/* /*
* This memory is reserved for uavcan to use for queuing CAN frames. * This memory is reserved for uavcan to use for queuing CAN frames.
* At 1Mbit there is approximately one CAN frame every 200 uS. * At 1Mbit there is approximately one CAN frame every 145 uS.
* The number of buffers sets how long you can go without calling * The number of buffers sets how long you can go without calling
* node_spin_xxxx. Since our task is the only one running and the * node_spin_xxxx. Since our task is the only one running and the
* driver will light the fd when there is a CAN frame we can nun with * driver will light the callback when there is a CAN frame we can nun with
* a minimum number of buffers to conserver memory. Each buffer is * a minimum number of buffers to conserver memory. Each buffer is
* 32 bytes. So 5 buffers costs 160 bytes and gives us a maximum required * 32 bytes. So 5 buffers costs 160 bytes and gives us a poll rate
* poll rate of ~1 mS * of ~1 mS
* * 1000000/200
*/
static constexpr unsigned RxQueueLenPerIface = 5;
/*
* This memory is uses for the tasks stack size
*/ */
static constexpr unsigned StackSize = 2500; static constexpr unsigned RxQueueLenPerIface = FramePerMSecond * ScheduleIntervalMs;
public: public:
typedef uavcan::Node<MemPoolSize> Node; typedef UAVCAN_DRIVER::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
typedef uavcan::protocol::file::BeginFirmwareUpdate BeginFirmwareUpdate; typedef uavcan::protocol::file::BeginFirmwareUpdate BeginFirmwareUpdate;
UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock); UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
virtual ~UavcanNode(); virtual ~UavcanNode();
virtual int ioctl(file *filp, int cmd, unsigned long arg);
static int start(uavcan::NodeID node_id, uint32_t bitrate); static int start(uavcan::NodeID node_id, uint32_t bitrate);
Node &get_node() { return _node; } uavcan::Node<> &get_node() { return _node; }
int teardown();
void print_info(); void print_info();
static UavcanNode *instance() { return _instance; } void shrink();
static UavcanNode *instance() { return _instance; }
static int getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
static void busevent_signal_trampoline();
/* The bit rate that can be passed back to the bootloader */ /* The bit rate that can be passed back to the bootloader */
int32_t active_bitrate{0};
int32_t active_bitrate; protected:
void Run() override;
private: private:
void fill_node_info(); void fill_node_info();
int init(uavcan::NodeID node_id, uavcan_stm32::BusEvent &bus_events); int init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events);
void node_spin_once();
int run();
static void busevent_signal_trampoline();
px4::atomic_bool _task_should_exit{false}; ///< flag to indicate to tear down the CAN driver
px4_sem_t _sem; ///< semaphore for scheduling the task bool _initialized{false}; ///< number of actuators currently available
int _task = -1; ///< handle to the OS task
bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver
static UavcanNode *_instance; ///< singleton pointer static UavcanNode *_instance; ///< singleton pointer
Node _node; ///< library instance
pthread_mutex_t _node_mutex; uavcan_node::Allocator _pool_allocator;
uavcan::Node<> _node; ///< library instance
pthread_mutex_t _node_mutex;
uavcan::GlobalTimeSyncSlave _time_sync_slave; uavcan::GlobalTimeSyncSlave _time_sync_slave;
typedef uavcan::MethodBinder<UavcanNode *, typedef uavcan::MethodBinder<UavcanNode *,
@@ -142,10 +163,27 @@ private:
void cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request> &req, void cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request> &req,
uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &rsp); uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &rsp);
uavcan::Publisher<uavcan::equipment::ahrs::MagneticFieldStrength2> _ahrs_magnetic_field_strength2_publisher;
uavcan::Publisher<uavcan::equipment::gnss::Fix2> _gnss_fix2_publisher;
uavcan::Publisher<uavcan::equipment::power::BatteryInfo> _power_battery_info_publisher;
uavcan::Publisher<uavcan::equipment::air_data::StaticPressure> _air_data_static_pressure_publisher;
uavcan::Publisher<uavcan::equipment::air_data::StaticTemperature> _air_data_static_temperature_publisher;
hrt_abstime _last_static_temperature_publish{0};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
public: public:
/* A timer used to reboot after the response is sent */ /* A timer used to reboot after the response is sent */
uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> _reset_timer; uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> _reset_timer;
}; };
src/drivers/uavcannode/resources.hpp → src/drivers/uavcannode/allocator.hpp
+37 -10
View File
@@ -1,7 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2015 PX4 Development Team. All rights reserved. * Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: David Sidrane<david_s5@nscdg.com>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -32,12 +31,40 @@
* *
****************************************************************************/ ****************************************************************************/
__BEGIN_DECLS /**
#if defined(CONFIG_NSH_LIBRARY) * @author Pavel Kirienko <pavel.kirienko@gmail.com>
#define stack_check() */
#define free_check() free_main(0,0)
#else #pragma once
void stack_check(void);
void free_check(void); #include <systemlib/err.h>
#endif #include <uavcan/uavcan.hpp>
__END_DECLS #include <uavcan/helpers/heap_based_pool_allocator.hpp>
// TODO: Entire UAVCAN application should be moved into a namespace later; this is the first step.
namespace uavcan_node
{
struct AllocatorSynchronizer {
const ::irqstate_t state = ::enter_critical_section();
~AllocatorSynchronizer() { ::leave_critical_section(state); }
};
struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer> {
static constexpr unsigned CapacitySoftLimit = 250;
static constexpr unsigned CapacityHardLimit = 500;
Allocator() :
uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>(CapacitySoftLimit, CapacityHardLimit)
{ }
~Allocator()
{
if (getNumAllocatedBlocks() > 0) {
PX4_ERR("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
}
}
};
}
src/drivers/uavcannode/dsdl/com/README
View File
src/drivers/uavcannode/indication_controller.cpp
-96
View File
@@ -1,96 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.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.
*
****************************************************************************/
#include "indication_controller.hpp"
#include <uavcan/equipment/indication/LightsCommand.hpp>
#include "led.hpp"
namespace
{
unsigned self_light_index = 0;
void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
{
uavcan::uint32_t red = 0;
uavcan::uint32_t green = 0;
uavcan::uint32_t blue = 0;
for (auto &cmd : msg.commands) {
if (cmd.light_id == self_light_index) {
using uavcan::equipment::indication::RGB565;
red = uavcan::uint32_t(float(cmd.color.red) *
(255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
green = uavcan::uint32_t(float(cmd.color.green) *
(255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
blue = uavcan::uint32_t(float(cmd.color.blue) *
(255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
red = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
blue = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
}
if (cmd.light_id == self_light_index + 1) {
static int c = 0;
if (c++ % 100 == 0) {
::syslog(LOG_INFO, "rgb:%d %d %d hz %d\n", red, green, blue, int(cmd.color.red));
}
rgb_led(red, green, blue, int(cmd.color.red));
break;
}
}
}
}
int init_indication_controller(uavcan::INode &node)
{
static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
self_light_index = 0;
int res = 0;
res = sub_light.start(cb_light_command);
if (res != 0) {
return res;
}
return 0;
}
src/drivers/uavcannode/indication_controller.hpp
-40
View File
@@ -1,40 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.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.
*
****************************************************************************/
#pragma once
#include <uavcan_stm32/uavcan_stm32.hpp>
int init_indication_controller(uavcan::INode &node);
src/drivers/uavcannode/led.cpp
-75
View File
@@ -1,75 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* 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.
*
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include "hardware/stm32_tim.h"
#include "led.hpp"
void rgb_led(int r, int g, int b, int freqs)
{
long fosc = 72000000;
long prescale = 2048;
long p1s = fosc / prescale;
long p0p5s = p1s / 2;
stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
static struct stm32_tim_dev_s *tim = 0;
if (tim == 0) {
tim = stm32_tim_init(3);
STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
STM32_TIM_SETCLOCK(tim, p1s - 8);
STM32_TIM_SETPERIOD(tim, p1s);
STM32_TIM_SETCOMPARE(tim, 1, 0);
STM32_TIM_SETCOMPARE(tim, 2, 0);
STM32_TIM_SETCOMPARE(tim, 3, 0);
STM32_TIM_SETCHANNEL(tim, 1, mode);
STM32_TIM_SETCHANNEL(tim, 2, mode);
STM32_TIM_SETCHANNEL(tim, 3, mode);
}
long p = freqs == 0 ? p1s : p1s / freqs;
STM32_TIM_SETPERIOD(tim, p);
p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
}
src/drivers/uavcannode/led.hpp
-37
View File
@@ -1,37 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* 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.
*
****************************************************************************/
__BEGIN_DECLS
void rgb_led(int r, int g, int b, int freqs);
__END_DECLS
src/drivers/uavcannode/resources.cpp
-189
View File
@@ -1,189 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* 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.
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <nuttx/progmem.h>
#include <nuttx/compiler.h>
#include <stdlib.h>
#include <syslog.h>
#include <nuttx/arch.h>
#include <systemlib/cpuload.h>
#include "resources.hpp"
#if !defined(CONFIG_NSH_LIBRARY)
static const char *
tstate_name(const tstate_t s)
{
switch (s) {
case TSTATE_TASK_INVALID: return "init";
case TSTATE_TASK_PENDING: return "PEND";
case TSTATE_TASK_READYTORUN: return "READY";
case TSTATE_TASK_RUNNING: return "RUN";
case TSTATE_TASK_INACTIVE: return "inact";
case TSTATE_WAIT_SEM: return "w:sem";
#ifndef CONFIG_DISABLE_SIGNALS
case TSTATE_WAIT_SIG: return "w:sig";
#endif
#ifndef CONFIG_DISABLE_MQUEUE
case TSTATE_WAIT_MQNOTEMPTY: return "w:mqe";
case TSTATE_WAIT_MQNOTFULL: return "w:mqf";
#endif
#ifdef CONFIG_PAGING
case TSTATE_WAIT_PAGEFILL: return "w:pgf";
#endif
default:
return "ERROR";
}
}
void stack_check(void)
{
for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
if (system_load.tasks[i].tcb) {
size_t stack_size = system_load.tasks[i].tcb->adj_stack_size;
ssize_t stack_free = 0;
#if CONFIG_ARCH_INTERRUPTSTACK > 3
if (system_load.tasks[i].tcb->pid == 0) {
stack_size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
stack_free = up_check_intstack_remain();
} else {
#endif
stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
#if CONFIG_ARCH_INTERRUPTSTACK > 3
}
#endif
::syslog(LOG_INFO, "%4d %*-s %8lld %5u/%5u %3u (%3u) ",
system_load.tasks[i].tcb->pid,
CONFIG_TASK_NAME_SIZE, system_load.tasks[i].tcb->name,
(system_load.tasks[i].total_runtime / 1000),
stack_size - stack_free,
stack_size,
system_load.tasks[i].tcb->sched_priority,
system_load.tasks[i].tcb->base_priority);
#if CONFIG_RR_INTERVAL > 0
/* print scheduling info with RR time slice */
::syslog(LOG_INFO, " %6d\n", system_load.tasks[i].tcb->timeslice);
#else
/* print task state instead */
::syslog(LOG_INFO, " %-6s\n", tstate_name((tstate_t)system_load.tasks[i].tcb->task_state));
#endif
}
}
}
static void free_getprogmeminfo(struct mallinfo *mem)
{
size_t page = 0, stpage = 0xFFFF;
size_t pagesize = 0;
ssize_t status;
mem->arena = 0;
mem->fordblks = 0;
mem->uordblks = 0;
mem->mxordblk = 0;
for (status = 0, page = 0; status >= 0; page++) {
status = up_progmem_ispageerased(page);
pagesize = up_progmem_pagesize(page);
mem->arena += pagesize;
/* Is this beginning of new free space section */
if (status == 0) {
if (stpage == 0xFFFF) { stpage = page; }
mem->fordblks += pagesize;
} else if (status != 0) {
mem->uordblks += pagesize;
if (stpage != 0xFFFF && up_progmem_isuniform()) {
stpage = page - stpage;
if (stpage > (size_t) mem->mxordblk) {
mem->mxordblk = stpage;
}
stpage = 0xFFFF;
}
}
}
mem->mxordblk *= pagesize;
}
void free_check(void)
{
struct mallinfo data;
struct mallinfo prog;
#ifdef CONFIG_CAN_PASS_STRUCTS
data = mallinfo();
#else
(void)mallinfo(&data);
#endif
free_getprogmeminfo(&prog);
::syslog(LOG_INFO, " total used free largest\n");
::syslog(LOG_INFO, "Data: %11d%11d%11d%11d\n",
data.arena, data.uordblks, data.fordblks, data.mxordblk);
::syslog(LOG_INFO, "Prog: %11d%11d%11d%11d\n",
prog.arena, prog.uordblks, prog.fordblks, prog.mxordblk);
}
#endif /* CONFIG_NSH_LIBRARY */
src/drivers/uavcannode/sim_controller.cpp
-156
View File
@@ -1,156 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
* 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.
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <syslog.h>
#include "sim_controller.hpp"
#include <uavcan/equipment/esc/RawCommand.hpp>
#include <uavcan/equipment/esc/RPMCommand.hpp>
#include <uavcan/equipment/esc/Status.hpp>
#include "led.hpp"
uavcan::Publisher<uavcan::equipment::esc::Status> *pub_status;
namespace
{
unsigned self_index = 0;
int rpm = 0;
static void cb_raw_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand> &msg)
{
if (msg.cmd.size() <= self_index) {
rgb_led(0, 0, 0, 0);
return;
}
const float scaled = msg.cmd[self_index] / float(
uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max());
static int c = 0;
if (c++ % 100 == 0) {
::syslog(LOG_INFO, "scaled:%d\n", (int)scaled);
}
if (scaled > 0) {
} else {
}
}
static void cb_rpm_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RPMCommand> &msg)
{
if (msg.rpm.size() <= self_index) {
return;
}
rpm = msg.rpm[self_index];
static int c = 0;
if (c++ % 100 == 0) {
::syslog(LOG_INFO, "rpm:%d\n", rpm);
}
if (rpm > 0) {
rgb_led(255, 0, 0, rpm);
} else {
rgb_led(0, 0, 0, 0);
}
}
void cb_10Hz(const uavcan::TimerEvent &event)
{
uavcan::equipment::esc::Status msg;
msg.esc_index = self_index;
msg.rpm = rpm;
msg.voltage = 3.3F;
msg.current = 0.001F;
msg.temperature = 24.0F;
msg.power_rating_pct = static_cast<unsigned>(.5F * 100 + 0.5F);
msg.error_count = 0;
if (rpm != 0) {
// Lower the publish rate to 1Hz if the motor is not running
static uavcan::MonotonicTime prev_pub_ts;
if ((event.scheduled_time - prev_pub_ts).toMSec() >= 990) {
prev_pub_ts = event.scheduled_time;
pub_status->broadcast(msg);
}
} else {
pub_status->broadcast(msg);
}
}
}
int init_sim_controller(uavcan::INode &node)
{
typedef void (*cb)(const uavcan::TimerEvent &);
static uavcan::Subscriber<uavcan::equipment::esc::RawCommand> sub_raw_command(node);
static uavcan::Subscriber<uavcan::equipment::esc::RPMCommand> sub_rpm_command(node);
static uavcan::TimerEventForwarder<cb> timer_10hz(node);
self_index = 0;
int res = 0;
res = sub_raw_command.start(cb_raw_command);
if (res != 0) {
return res;
}
res = sub_rpm_command.start(cb_rpm_command);
if (res != 0) {
return res;
}
pub_status = new uavcan::Publisher<uavcan::equipment::esc::Status>(node);
res = pub_status->init();
if (res != 0) {
return res;
}
timer_10hz.setCallback(&cb_10Hz);
timer_10hz.startPeriodic(uavcan::MonotonicDuration::fromMSec(100));
return 0;
}
src/drivers/uavcannode/sim_controller.hpp → src/drivers/uavcannode/uavcan_driver.hpp
+12 -7
View File
@@ -1,8 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2015 PX4 Development Team. All rights reserved. * Copyright (C) 2018 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
* David Sidrane<david_s5@nscdg.com>
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -33,8 +31,15 @@
* *
****************************************************************************/ ****************************************************************************/
/**
* @author David Sidrane <david_s5@nscdg.com>
*/
#pragma once #pragma once
#if defined(UAVCAN_KINETIS_NUTTX)
#include <uavcan_stm32/uavcan_stm32.hpp> # include <uavcan_kinetis/uavcan_kinetis.hpp>
#elif defined(UAVCAN_STM32_NUTTX)
int init_sim_controller(uavcan::INode &node); # include <uavcan_stm32/uavcan_stm32.hpp>
#else
# error "Unsupported driver"
#endif
src/drivers/uavcannode/uavcannode_main.cpp
-590
View File
File diff suppressed because it is too large Load Diff
src/drivers/uavcannode/uavcannode_params.c
+1 -8
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2014 PX4 Development Team. All rights reserved. * Copyright (C) 2014-2020 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -31,13 +31,6 @@
* *
****************************************************************************/ ****************************************************************************/
/**
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <px4_platform_common/px4_config.h>
#include <parameters/param.h>
/** /**
* UAVCAN Node ID. * UAVCAN Node ID.
* *
src/lib/drivers/accelerometer/CMakeLists.txt
+2 -1
View File
@@ -37,6 +37,7 @@ px4_add_library(drivers_accelerometer
) )
target_link_libraries(drivers_accelerometer target_link_libraries(drivers_accelerometer
PRIVATE PRIVATE
conversion
drivers__device drivers__device
mathlib mathlib
) )
src/lib/drivers/gyroscope/CMakeLists.txt
+1 -1
View File
@@ -35,4 +35,4 @@ px4_add_library(drivers_gyroscope
PX4Gyroscope.cpp PX4Gyroscope.cpp
PX4Gyroscope.hpp PX4Gyroscope.hpp
) )
target_link_libraries(drivers_gyroscope PRIVATE drivers__device) target_link_libraries(drivers_gyroscope PRIVATE conversion drivers__device)

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