mirror of
https://github.com/PX4/PX4-Autopilot.git
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nxp:Add support for rev E HW nxp_fmuk66-e
This commit is contained in:
David Sidrane
committed by
Daniel Agar
Daniel Agar
parent
f8b6de24c7
commit
e67486d603
@@ -0,0 +1,53 @@
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############################################################################
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#
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# Copyright (c) 2016, 2018 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
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||||
# 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.
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||||
#
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||||
# 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
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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add_library(drivers_board
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autoleds.c
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automount.c
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can.c
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i2c.cpp
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init.c
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led.c
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sdhc.c
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spi.cpp
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timer_config.cpp
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usb.c
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)
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target_link_libraries(drivers_board
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PRIVATE
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nuttx_arch # sdio
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nuttx_drivers # sdio
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drivers__led # drv_led_start
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px4_layer
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)
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@@ -0,0 +1,164 @@
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/****************************************************************************
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*
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* Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
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* Authors: Gregory Nutt <gnutt@nuttx.org>
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* David Sidrane <david_s5@nscdg.com>
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*
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* 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
|
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* This module shall be used during board bring up of Nuttx.
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*
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* The NXP FMUK66-E has a separate Red, Green and Blue LEDs driven by the K66
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* as follows:
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*
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* LED K66
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* ------ -------------------------------------------------------
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* RED FB_CS0_b/ UART2_CTS_b / ADC0_SE5b / SPI0_SCK / FTM3_CH1/ PTD1
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* GREEN FTM2_FLT0/ CMP0_IN3/ FB_AD6 / I2S0_RX_BCLK/ FTM3_CH5/ ADC1_SE5b/ PTC9
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* BLUE CMP0_IN2/ FB_AD7 / I2S0_MCLK/ FTM3_CH4/ ADC1_SE4b/ PTC8
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*
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* If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board
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* the NXP fmuk66-e. The following definitions describe how NuttX controls
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* the LEDs:
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*
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* SYMBOL Meaning LED state
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* RED GREEN BLUE
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* ------------------- ----------------------- -----------------
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* LED_STARTED NuttX has been started OFF OFF OFF
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* LED_HEAPALLOCATE Heap has been allocated OFF OFF ON
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* LED_IRQSENABLED Interrupts enabled OFF OFF ON
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* LED_STACKCREATED Idle stack created OFF ON OFF
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* LED_INIRQ In an interrupt (no change)
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* LED_SIGNAL In a signal handler (no change)
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* LED_ASSERTION An assertion failed (no change)
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* LED_PANIC The system has crashed FLASH OFF OFF
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* LED_IDLE K66 is in sleep mode (Optional, not used)
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <debug.h>
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#include <nuttx/board.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "kinetis.h"
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#include "board_config.h"
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#ifdef CONFIG_ARCH_LEDS
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Summary of all possible settings */
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#define LED_NOCHANGE 0 /* LED_IRQSENABLED, LED_INIRQ, LED_SIGNAL, LED_ASSERTION */
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#define LED_OFF_OFF_OFF 1 /* LED_STARTED */
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#define LED_OFF_OFF_ON 2 /* LED_HEAPALLOCATE */
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#define LED_OFF_ON_OFF 3 /* LED_STACKCREATED */
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#define LED_ON_OFF_OFF 4 /* LED_PANIC */
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_autoled_initialize
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*
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* Description:
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* Initialize the on-board LED
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*
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****************************************************************************/
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void board_autoled_initialize(void)
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{
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kinetis_pinconfig(GPIO_LED_R);
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kinetis_pinconfig(GPIO_LED_G);
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kinetis_pinconfig(GPIO_LED_B);
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}
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/****************************************************************************
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* Name: board_autoled_on
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****************************************************************************/
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void board_autoled_on(int led)
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{
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if (led != LED_NOCHANGE) {
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bool redoff = true;
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bool greenoff = true;
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bool blueoff = true;
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switch (led) {
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default:
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case LED_OFF_OFF_OFF:
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break;
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case LED_OFF_OFF_ON:
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blueoff = false;
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break;
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case LED_OFF_ON_OFF:
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greenoff = false;
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break;
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case LED_ON_OFF_OFF:
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redoff = false;
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break;
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}
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kinetis_gpiowrite(GPIO_LED_R, redoff);
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kinetis_gpiowrite(GPIO_LED_G, greenoff);
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kinetis_gpiowrite(GPIO_LED_B, blueoff);
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}
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}
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/****************************************************************************
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* Name: board_autoled_off
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****************************************************************************/
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void board_autoled_off(int led)
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{
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if (led == LED_ON_OFF_OFF) {
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kinetis_gpiowrite(GPIO_LED_R, true);
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kinetis_gpiowrite(GPIO_LED_G, true);
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kinetis_gpiowrite(GPIO_LED_B, true);
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}
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}
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#endif /* CONFIG_ARCH_LEDS */
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@@ -0,0 +1,304 @@
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/************************************************************************************
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*
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* Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
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* Authors: Gregory Nutt <gnutt@nuttx.org>
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* David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* 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
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#if defined(CONFIG_FS_AUTOMOUNTER_DEBUG) && !defined(CONFIG_DEBUG_FS)
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# define CONFIG_DEBUG_FS 1
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#endif
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#include <debug.h>
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#include <stddef.h>
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#include <nuttx/irq.h>
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#include <nuttx/clock.h>
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#include <nuttx/fs/automount.h>
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#include "board_config.h"
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#ifdef HAVE_AUTOMOUNTER
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/************************************************************************************
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* Private Types
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************************************************************************************/
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/* This structure represents the changeable state of the automounter */
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struct fmuk66_automount_state_s {
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volatile automount_handler_t handler; /* Upper half handler */
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FAR void *arg; /* Handler argument */
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bool enable; /* Fake interrupt enable */
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bool pending; /* Set if there an event while disabled */
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};
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/* This structure represents the static configuration of an automounter */
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struct fmuk66_automount_config_s {
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/* This must be first thing in structure so that we can simply cast from struct
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* automount_lower_s to struct fmuk66_automount_config_s
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*/
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struct automount_lower_s lower; /* Publicly visible part */
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FAR struct fmuk66_automount_state_s *state; /* Changeable state */
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};
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/************************************************************************************
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* Private Function Prototypes
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************************************************************************************/
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static int fmuk66_attach(FAR const struct automount_lower_s *lower, automount_handler_t isr, FAR void *arg);
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static void fmuk66_enable(FAR const struct automount_lower_s *lower, bool enable);
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static bool fmuk66_inserted(FAR const struct automount_lower_s *lower);
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/************************************************************************************
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* Private Data
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************************************************************************************/
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static struct fmuk66_automount_state_s g_sdhc_state;
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static const struct fmuk66_automount_config_s g_sdhc_config = {
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.lower =
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{
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.fstype = CONFIG_FMUK66_SDHC_AUTOMOUNT_FSTYPE,
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.blockdev = CONFIG_FMUK66_SDHC_AUTOMOUNT_BLKDEV,
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.mountpoint = CONFIG_FMUK66_SDHC_AUTOMOUNT_MOUNTPOINT,
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.ddelay = MSEC2TICK(CONFIG_FMUK66_SDHC_AUTOMOUNT_DDELAY),
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.udelay = MSEC2TICK(CONFIG_FMUK66_SDHC_AUTOMOUNT_UDELAY),
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.attach = fmuk66_attach,
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.enable = fmuk66_enable,
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.inserted = fmuk66_inserted
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},
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.state = &g_sdhc_state
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};
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Name: fmuk66_attach
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*
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* Description:
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* Attach a new SDHC event handler
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*
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* Input Parameters:
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* lower - An instance of the auto-mounter lower half state structure
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* isr - The new event handler to be attach
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* arg - Client data to be provided when the event handler is invoked.
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*
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* Returned Value:
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* Always returns OK
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*
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************************************************************************************/
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static int fmuk66_attach(FAR const struct automount_lower_s *lower, automount_handler_t isr, FAR void *arg)
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{
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FAR const struct fmuk66_automount_config_s *config;
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FAR struct fmuk66_automount_state_s *state;
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/* Recover references to our structure */
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config = (FAR struct fmuk66_automount_config_s *)lower;
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DEBUGASSERT(config != NULL && config->state != NULL);
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state = config->state;
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/* Save the new handler info (clearing the handler first to eliminate race
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* conditions).
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*/
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state->handler = NULL;
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state->pending = false;
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state->arg = arg;
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state->handler = isr;
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return OK;
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}
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/************************************************************************************
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* Name: fmuk66_enable
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*
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* Description:
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* Enable card insertion/removal event detection
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*
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* Input Parameters:
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* lower - An instance of the auto-mounter lower half state structure
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* enable - True: enable event detection; False: disable
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*
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* Returned Value:
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* None
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*
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************************************************************************************/
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static void fmuk66_enable(FAR const struct automount_lower_s *lower, bool enable)
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{
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FAR const struct fmuk66_automount_config_s *config;
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FAR struct fmuk66_automount_state_s *state;
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irqstate_t flags;
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/* Recover references to our structure */
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config = (FAR struct fmuk66_automount_config_s *)lower;
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DEBUGASSERT(config != NULL && config->state != NULL);
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state = config->state;
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/* Save the fake enable setting */
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flags = enter_critical_section();
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state->enable = enable;
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/* Did an interrupt occur while interrupts were disabled? */
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if (enable && state->pending) {
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/* Yes.. perform the fake interrupt if the interrutp is attached */
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if (state->handler) {
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bool inserted = fmuk66_cardinserted();
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(void)state->handler(&config->lower, state->arg, inserted);
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}
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state->pending = false;
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}
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leave_critical_section(flags);
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}
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/************************************************************************************
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* Name: fmuk66_inserted
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*
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* Description:
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* Check if a card is inserted into the slot.
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*
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* Input Parameters:
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* lower - An instance of the auto-mounter lower half state structure
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*
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* Returned Value:
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* True if the card is inserted; False otherwise
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*
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************************************************************************************/
|
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static bool fmuk66_inserted(FAR const struct automount_lower_s *lower)
|
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{
|
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return fmuk66_cardinserted();
|
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}
|
||||
|
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/************************************************************************************
|
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* Public Functions
|
||||
************************************************************************************/
|
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|
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/************************************************************************************
|
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* Name: fmuk66_automount_initialize
|
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*
|
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* Description:
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* Configure auto-mounters for each enable and so configured SDHC
|
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*
|
||||
* Input Parameters:
|
||||
* None
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*
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* Returned Value:
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* None
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*
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************************************************************************************/
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void fmuk66_automount_initialize(void)
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{
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FAR void *handle;
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finfo("Initializing automounter(s)\n");
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/* Initialize the SDHC0 auto-mounter */
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handle = automount_initialize(&g_sdhc_config.lower);
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if (!handle) {
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ferr("ERROR: Failed to initialize auto-mounter for SDHC0\n");
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}
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}
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/************************************************************************************
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* Name: fmuk66_automount_event
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*
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* Description:
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* The SDHC card detection logic has detected an insertion or removal event. It
|
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* has already scheduled the MMC/SD block driver operations. Now we need to
|
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* schedule the auto-mount event which will occur with a substantial delay to make
|
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* sure that everything has settle down.
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*
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* Input Parameters:
|
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* slotno - Identifies the SDHC0 slot: SDHC0_SLOTNO or SDHC1_SLOTNO. There is a
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* terminology problem here: Each SDHC supports two slots, slot A and slot B.
|
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* Only slot A is used. So this is not a really a slot, but an HSCMI peripheral
|
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* number.
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* inserted - True if the card is inserted in the slot. False otherwise.
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*
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* Returned Value:
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* None
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*
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* Assumptions:
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* Interrupts are disabled.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void fmuk66_automount_event(bool inserted)
|
||||
{
|
||||
FAR const struct fmuk66_automount_config_s *config = &g_sdhc_config;
|
||||
FAR struct fmuk66_automount_state_s *state = &g_sdhc_state;
|
||||
|
||||
/* Is the auto-mounter interrupt attached? */
|
||||
|
||||
if (state->handler) {
|
||||
/* Yes.. Have we been asked to hold off interrupts? */
|
||||
|
||||
if (!state->enable) {
|
||||
/* Yes.. just remember the there is a pending interrupt. We will
|
||||
* deliver the interrupt when interrupts are "re-enabled."
|
||||
*/
|
||||
|
||||
state->pending = true;
|
||||
|
||||
} else {
|
||||
/* No.. forward the event to the handler */
|
||||
|
||||
(void)state->handler(&config->lower, state->arg, inserted);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif /* HAVE_AUTOMOUNTER */
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,129 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016, 2018 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 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 <kinetis.h>
|
||||
#include "up_arch.h"
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#ifdef CONFIG_CAN
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
/* Configuration ********************************************************************/
|
||||
|
||||
#if defined(KINETIS_FLEXCAN0) && defined(KINETIS_FLEXCAN1)
|
||||
# warning "Both CAN0 and CAN1 are enabled. Assuming only CAN0."
|
||||
# undef KINETIS_FLEXCAN0
|
||||
#endif
|
||||
|
||||
#ifdef KINETIS_FLEXCAN0
|
||||
# define CAN_PORT 1
|
||||
#else
|
||||
# define CAN_PORT 2
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
int can_devinit(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Name: can_devinit
|
||||
*
|
||||
* Description:
|
||||
* All architectures must provide the following interface to work with
|
||||
* examples/can.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int can_devinit(void)
|
||||
{
|
||||
static bool initialized = false;
|
||||
struct can_dev_s *can;
|
||||
int ret;
|
||||
|
||||
/* Check if we have already initialized */
|
||||
|
||||
if (!initialized) {
|
||||
/* Call kinetis_caninitialize() to get an instance of the CAN interface */
|
||||
|
||||
can = kinetis_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
|
||||
@@ -0,0 +1,39 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_arch/i2c_hw_description.h>
|
||||
|
||||
constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
|
||||
initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
|
||||
initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
|
||||
};
|
||||
@@ -0,0 +1,307 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016, 2018 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 init.c
|
||||
*
|
||||
* NXP fmuk66-e 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 <px4_platform/gpio.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include <kinetis.h>
|
||||
#include <kinetis_uart.h>
|
||||
#include <hardware/kinetis_uart.h>
|
||||
#include <hardware/kinetis_sim.h>
|
||||
#include "board_config.h"
|
||||
|
||||
#include "up_arch.h"
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-Processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* 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);
|
||||
__END_DECLS
|
||||
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < 6; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(6);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_read_VBUS_state
|
||||
*
|
||||
* Description:
|
||||
* All boards must provide a way to read the state of VBUS, this my be simple
|
||||
* digital input on a GPIO. Or something more complicated like a Analong input
|
||||
* or reading a bit from a USB controller register.
|
||||
*
|
||||
* Returns - 0 if connected.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
int board_read_VBUS_state(void)
|
||||
{
|
||||
return BOARD_ADC_USB_CONNECTED ? 0 : 1;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
/* set the peripheral rails off */
|
||||
|
||||
/* wait for the peripheral rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the peripheral rail back on */
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: kinetis_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All Kinetis architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void
|
||||
kinetis_boardinitialize(void)
|
||||
{
|
||||
board_on_reset(-1); /* Reset PWM first thing */
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
fmuk66_timer_initialize();
|
||||
|
||||
/* Power on Spektrum */
|
||||
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(true);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* 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)
|
||||
{
|
||||
|
||||
VDD_3V3_SD_CARD_EN(true);
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
|
||||
/* configure SPI interfaces */
|
||||
|
||||
fmuk66_spidev_initialize();
|
||||
|
||||
VDD_ETH_EN(true);
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
#ifdef SERIAL_HAVE_DMA
|
||||
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)kinetis_serial_dma_poll,
|
||||
NULL);
|
||||
#endif
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_off(LED_GREEN);
|
||||
led_off(LED_BLUE);
|
||||
|
||||
int ret = fmuk66_sdhc_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
board_autoled_on(LED_RED);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
/* Initialize the auto-mounter */
|
||||
|
||||
fmuk66_automount_initialize();
|
||||
#endif
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
#ifdef CONFIG_SPI
|
||||
ret = fmuk66_spi_bus_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
board_autoled_on(LED_RED);
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_NETDEV_LATEINIT
|
||||
|
||||
# ifdef CONFIG_KINETIS_ENET
|
||||
kinetis_netinitialize(0);
|
||||
# endif
|
||||
|
||||
# ifdef CONFIG_KINETIS_FLEXCAN0
|
||||
kinetis_caninitialize(0);
|
||||
# endif
|
||||
|
||||
# ifdef CONFIG_KINETIS_FLEXCAN1
|
||||
kinetis_caninitialize(1);
|
||||
# endif
|
||||
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,115 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2016, 2018 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 led.c
|
||||
*
|
||||
* NXP fmuk66-e LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "kinetis.h"
|
||||
#include "chip.h"
|
||||
#include "board_config.h"
|
||||
|
||||
#include <arch/board/board.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 uint32_t g_ledmap[] = {
|
||||
0, // Indexed by LED_BLUE
|
||||
GPIO_LED_1, // Indexed by LED_RED, LED_AMBER
|
||||
GPIO_LED_SAFETY, // Indexed by LED_SAFETY
|
||||
GPIO_LED_2, // Indexed by LED_GREEN
|
||||
};
|
||||
|
||||
__EXPORT void led_init(void)
|
||||
{
|
||||
/* Configure LED GPIOs for output */
|
||||
for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
|
||||
if (g_ledmap[l] != 0) {
|
||||
kinetis_pinconfig(g_ledmap[l]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void phy_set_led(int led, bool state)
|
||||
{
|
||||
/* Drive High to switch on */
|
||||
|
||||
if (g_ledmap[led] != 0) {
|
||||
kinetis_gpiowrite(g_ledmap[led], state);
|
||||
}
|
||||
}
|
||||
|
||||
static bool phy_get_led(int led)
|
||||
{
|
||||
|
||||
if (g_ledmap[led] != 0) {
|
||||
return kinetis_gpioread(g_ledmap[led]);
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
__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));
|
||||
}
|
||||
@@ -0,0 +1,270 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
|
||||
* Authors: 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/* A micro Secure Digital (SD) card slot is available on the board connected to
|
||||
* the SD Host Controller (SDHC) signals of the MCU. This slot will accept micro
|
||||
* format SD memory cards. The SD card detect pin (PTE6) is an open switch that
|
||||
* shorts with VDD when card is inserted.
|
||||
*
|
||||
* ------------ ------------- --------
|
||||
* SD Card Slot Board Signal K66 Pin
|
||||
* ------------ ------------- --------
|
||||
* DAT0 SDHC0_D0 PTE1
|
||||
* DAT1 SDHC0_D1 PTE0
|
||||
* DAT2 SDHC0_D2 PTE5
|
||||
* CD/DAT3 SDHC0_D3 PTE4
|
||||
* CMD SDHC0_CMD PTE3
|
||||
* CLK SDHC0_DCLK PTE2
|
||||
* SWITCH D_CARD_DETECT PTE6
|
||||
* ------------ ------------- --------
|
||||
*
|
||||
* There is no Write Protect pin available to the K66.
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdio.h>
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
|
||||
#include "kinetis.h"
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#ifdef CONFIG_KINETIS_SDHC
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
/* This structure holds static information unique to one SDHC peripheral */
|
||||
|
||||
struct fmuk66_sdhc_state_s {
|
||||
struct sdio_dev_s *sdhc; /* R/W device handle */
|
||||
bool inserted; /* TRUE: card is inserted */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/* HSCMI device state */
|
||||
|
||||
static struct fmuk66_sdhc_state_s g_sdhc;
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
#if defined(GPIO_SD_CARDDETECT)
|
||||
/****************************************************************************
|
||||
* Name: fmuk66_mediachange
|
||||
****************************************************************************/
|
||||
|
||||
static void fmuk66_mediachange(struct fmuk66_sdhc_state_s *sdhc)
|
||||
{
|
||||
bool inserted;
|
||||
|
||||
/* Get the current value of the card detect pin. This pin is pulled up on
|
||||
* board. So low means that a card is present.
|
||||
*/
|
||||
|
||||
inserted = !kinetis_gpioread(GPIO_SD_CARDDETECT);
|
||||
mcinfo("inserted: %s\n", inserted ? "Yes" : "No");
|
||||
|
||||
/* Has the pin changed state? */
|
||||
|
||||
if (inserted != sdhc->inserted) {
|
||||
mcinfo("Media change: %d->%d\n", sdhc->inserted, inserted);
|
||||
|
||||
/* Yes.. perform the appropriate action (this might need some debounce). */
|
||||
|
||||
sdhc->inserted = inserted;
|
||||
sdhc_mediachange(sdhc->sdhc, inserted);
|
||||
|
||||
#ifdef CONFIG_FMUK66_SDHC_AUTOMOUNT
|
||||
/* Let the automounter know about the insertion event */
|
||||
|
||||
fmuk66_automount_event(fmuk66_cardinserted());
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: fmuk66_cdinterrupt
|
||||
****************************************************************************/
|
||||
|
||||
static int fmuk66_cdinterrupt(int irq, FAR void *context, FAR void *args)
|
||||
{
|
||||
/* All of the work is done by fmuk66_mediachange() */
|
||||
|
||||
fmuk66_mediachange((struct fmuk66_sdhc_state_s *) args);
|
||||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: fmuk66_sdhc_initialize
|
||||
*
|
||||
* Description:
|
||||
* Inititialize the SDHC SD card slot
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int fmuk66_sdhc_initialize(void)
|
||||
{
|
||||
int ret;
|
||||
struct fmuk66_sdhc_state_s *sdhc = &g_sdhc;
|
||||
/* Configure GPIO pins */
|
||||
|
||||
VDD_3V3_SD_CARD_EN(true);
|
||||
|
||||
#if defined(GPIO_SD_CARDDETECT)
|
||||
kinetis_pinconfig(GPIO_SD_CARDDETECT);
|
||||
|
||||
/* Attached the card detect interrupt (but don't enable it yet) */
|
||||
|
||||
kinetis_pinirqattach(GPIO_SD_CARDDETECT, fmuk66_cdinterrupt, sdhc);
|
||||
#endif
|
||||
/* Configure the write protect GPIO -- None */
|
||||
|
||||
/* Mount the SDHC-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDHC interface */
|
||||
|
||||
mcinfo("Initializing SDHC slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
sdhc->sdhc = sdhc_initialize(CONFIG_NSH_MMCSDSLOTNO);
|
||||
|
||||
if (!sdhc->sdhc) {
|
||||
mcerr("ERROR: Failed to initialize SDHC slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
// Testing done on SanDISK HC all failed sd_bench with Drive/Slew other than default and _PIN_OUTPUT_FAST|_PIN_OUTPUT_HIGHDRIVE
|
||||
// _PIN_OUTPUT_FAST|_PIN_OUTPUT_HIGHDRIVE Square noisy, pass SanDISK HC
|
||||
// _PIN_OUTPUT_FAST|_PIN_OUTPUT_LOWDRIVE Square noisy, pass SanDISK HC
|
||||
// _PIN_OUTPUT_HIGHDRIVE|_PIN_OUTPUT_SLOW sinusoidal fail SanDISK HC pass SanDISK HC1
|
||||
// _PIN_OUTPUT_LOWDRIVE|_PIN_OUTPUT_SLOW sinusoidal fail SanDISK HC pass SanDISK HC1
|
||||
// _PIN_OUTPUT_SLOW sinusoidal fail SanDISK HC pass SanDISK HC1
|
||||
|
||||
// This up dating of the driver setting is for EMI issue with GPS and FCC
|
||||
// With this setting the clock is sinusoidal N.B. sd_bench fails on SanDISK HC, but
|
||||
// Passes SanDISK **HC1** - use HC1 or Kingston cards!
|
||||
|
||||
kinetis_pinconfig(PIN_SDHC0_DCLK | _PIN_OUTPUT_HIGHDRIVE | _PIN_OUTPUT_SLOW);
|
||||
|
||||
/* Now bind the SDHC interface to the MMC/SD driver */
|
||||
|
||||
mcinfo("Bind SDHC to the MMC/SD driver, minor=%d\n", CONFIG_NSH_MMCSDMINOR);
|
||||
|
||||
ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdhc->sdhc);
|
||||
|
||||
if (ret != OK) {
|
||||
syslog(LOG_ERR, "ERROR: Failed to bind SDHC to the MMC/SD driver: %d\n", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
syslog(LOG_ERR, "Successfully bound SDHC to the MMC/SD driver\n");
|
||||
|
||||
#if defined(GPIO_SD_CARDDETECT)
|
||||
/* Handle the initial card state */
|
||||
|
||||
fmuk66_mediachange(sdhc);
|
||||
|
||||
/* Enable CD interrupts to handle subsequent media changes */
|
||||
|
||||
kinetis_pinirqenable(GPIO_SD_CARDDETECT);
|
||||
#else
|
||||
sdhc_mediachange(sdhc->sdhc, true);
|
||||
#endif
|
||||
return OK;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: fmuk66_cardinserted
|
||||
*
|
||||
* Description:
|
||||
* Check if a card is inserted into the SDHC slot
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
bool fmuk66_cardinserted(void)
|
||||
{
|
||||
bool inserted;
|
||||
|
||||
/* Get the current value of the card detect pin. This pin is pulled up on
|
||||
* board. So low means that a card is present.
|
||||
*/
|
||||
|
||||
inserted = !kinetis_gpioread(GPIO_SD_CARDDETECT);
|
||||
mcinfo("inserted: %s\n", inserted ? "Yes" : "No");
|
||||
return inserted;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: fmuk66_writeprotected
|
||||
*
|
||||
* Description:
|
||||
* Check if a card is inserted into the SDHC slot
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef HAVE_AUTOMOUNTER
|
||||
bool fmuk66_writeprotected(void)
|
||||
{
|
||||
/* There are no write protect pins */
|
||||
|
||||
return false;
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* HAVE_MMCSD */
|
||||
@@ -0,0 +1,313 @@
|
||||
/************************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016, 2018 Gregory Nutt. All rights reserved.
|
||||
* Authors: 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_arch/spi_hw_description.h>
|
||||
#include <drivers/drv_sensor.h>
|
||||
#include <nuttx/spi/spi.h>
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
//#include <unistd.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include <kinetis.h>
|
||||
#include "board_config.h"
|
||||
#include <systemlib/px4_macros.h>
|
||||
|
||||
#if defined(CONFIG_KINETIS_SPI0) || defined(CONFIG_KINETIS_SPI1) || defined(CONFIG_KINETIS_SPI2)
|
||||
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI0, {
|
||||
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortC, GPIO::Pin2})
|
||||
}),
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin9}),
|
||||
initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortB, GPIO::Pin9}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
|
||||
initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortE, GPIO::Pin6}),
|
||||
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortA, GPIO::Pin19}), // CAL Memory
|
||||
}, {GPIO::PortB, GPIO::Pin8}),
|
||||
initSPIBusExternal(SPI::Bus::SPI2, {
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin20}),
|
||||
initSPIConfigExternal(SPI::CS{GPIO::PortD, GPIO::Pin15}),
|
||||
}),
|
||||
};
|
||||
|
||||
static constexpr bool unused = validateSPIConfig(px4_spi_buses);
|
||||
|
||||
|
||||
#define PX4_MK_GPIO(pin_ftmx, io) ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void board_spi_reset(int ms, int bus_mask)
|
||||
{
|
||||
/* Goal not to back feed the chips on the bus via IO lines */
|
||||
|
||||
/* Next Change CS to inputs with pull downs */
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
kinetis_pinconfig(PX4_MK_GPIO(px4_spi_buses[bus].devices[i].cs_gpio, GPIO_PULLDOWN));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Turn all the int inputs to inputs with pull down */
|
||||
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_nSPI1_DRDY1_BMI1088_ACCEL_INT1, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_nSPI1_DRDY2_BMI1088_GYRO_INT2, GPIO_PULLDOWN));
|
||||
kinetis_pinconfig(PX4_MK_GPIO(GPIO_nSPI1_DRDY3_ICM42688_INT1, GPIO_PULLDOWN));
|
||||
|
||||
/* Power Down The Sensors */
|
||||
|
||||
VDD_3V3_SENSORS_EN(false);
|
||||
up_mdelay(ms);
|
||||
|
||||
/* Power Up The Sensors */
|
||||
VDD_3V3_SENSORS_EN(true);
|
||||
up_mdelay(2);
|
||||
|
||||
/* Restore all the CS to ouputs inactive */
|
||||
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
kinetis_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Restore all the int inputs to inputs */
|
||||
|
||||
kinetis_pinconfig(GPIO_nSPI1_DRDY1_BMI1088_ACCEL_INT1);
|
||||
kinetis_pinconfig(GPIO_nSPI1_DRDY2_BMI1088_GYRO_INT2);
|
||||
kinetis_pinconfig(GPIO_nSPI1_DRDY3_ICM42688_INT1);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: fmuk66_spidev_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the NXP FMUK66-E board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
void fmuk66_spidev_initialize(void)
|
||||
{
|
||||
board_spi_reset(10, 0xffff);
|
||||
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
kinetis_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: kinetis_spi_bus_initialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the NXP FMUK66 v3 board.
|
||||
*
|
||||
************************************************************************************/
|
||||
static const px4_spi_bus_t *_spi_bus0;
|
||||
static const px4_spi_bus_t *_spi_bus1;
|
||||
static const px4_spi_bus_t *_spi_bus2;
|
||||
|
||||
__EXPORT int fmuk66_spi_bus_initialize(void)
|
||||
{
|
||||
for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
|
||||
switch (px4_spi_buses[i].bus) {
|
||||
case PX4_BUS_NUMBER_TO_PX4(0): _spi_bus0 = &px4_spi_buses[i]; break;
|
||||
|
||||
case PX4_BUS_NUMBER_TO_PX4(1): _spi_bus1 = &px4_spi_buses[i]; break;
|
||||
|
||||
case PX4_BUS_NUMBER_TO_PX4(2): _spi_bus2 = &px4_spi_buses[i]; break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
struct spi_dev_s *spi_sensors = px4_spibus_initialize(PX4_BUS_NUMBER_TO_PX4(1));
|
||||
|
||||
if (!spi_sensors) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default bus 1 to 1MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_sensors, 1 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_sensors, 8);
|
||||
SPI_SETMODE(spi_sensors, SPIDEV_MODE0);
|
||||
|
||||
/* Get the SPI port for the Memory */
|
||||
|
||||
struct spi_dev_s *spi_memory = px4_spibus_initialize(PX4_BUS_NUMBER_TO_PX4(0));
|
||||
|
||||
if (!spi_memory) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 0);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default bus 0 to 12MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_memory, 12 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_memory, 8);
|
||||
SPI_SETMODE(spi_memory, SPIDEV_MODE3);
|
||||
|
||||
/* Configure EXTERNAL SPI-based devices */
|
||||
|
||||
struct spi_dev_s *spi_ext = px4_spibus_initialize(PX4_BUS_NUMBER_TO_PX4(2));
|
||||
|
||||
if (!spi_ext) {
|
||||
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
/* Default external bus to 1MHz and de-assert the known chip selects.
|
||||
*/
|
||||
|
||||
SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
|
||||
SPI_SETBITS(spi_ext, 8);
|
||||
SPI_SETMODE(spi_ext, SPIDEV_MODE3);
|
||||
|
||||
/* deselect all */
|
||||
for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
|
||||
SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return OK;
|
||||
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: kinetis_spi[n]select, kinetis_spi[n]status, and kinetis_spi[n]cmddata
|
||||
*
|
||||
* Description:
|
||||
* These external functions must be provided by board-specific logic. They are
|
||||
* implementations of the select, status, and cmddata methods of the SPI interface
|
||||
* defined by struct spi_ops_s (see include/nuttx/spi/spi.h). All other methods
|
||||
* including kinetis_spibus_initialize()) are provided by common Kinetis logic.
|
||||
* To use this common SPI logic on your board:
|
||||
*
|
||||
* 1. Provide logic in kinetis_boardinitialize() to configure SPI chip select
|
||||
* pins.
|
||||
* 2. Provide kinetis_spi[n]select() and kinetis_spi[n]status() functions
|
||||
* in your board-specific logic. These functions will perform chip selection
|
||||
* and status operations using GPIOs in the way your board is configured.
|
||||
* 2. If CONFIG_SPI_CMDDATA is defined in the NuttX configuration, provide
|
||||
* kinetis_spi[n]cmddata() functions in your board-specific logic. These
|
||||
* functions will perform cmd/data selection operations using GPIOs in the way
|
||||
* your board is configured.
|
||||
* 3. Add a call to kinetis_spibus_initialize() in your low level application
|
||||
* initialization logic
|
||||
* 4. The handle returned by kinetis_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).
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
static inline void kinetis_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
|
||||
if (bus->devices[i].cs_gpio == 0) {
|
||||
break;
|
||||
}
|
||||
|
||||
if (devid == bus->devices[i].devid) {
|
||||
// SPI select is active low, so write !selected to select the device
|
||||
kinetis_gpiowrite(bus->devices[i].cs_gpio, !selected);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void kinetis_spi0select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
kinetis_spixselect(_spi_bus0, dev, devid, selected);
|
||||
}
|
||||
|
||||
uint8_t kinetis_spi0status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
void kinetis_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
kinetis_spixselect(_spi_bus1, dev, devid, selected);
|
||||
}
|
||||
|
||||
uint8_t kinetis_spi1status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
void kinetis_spi2select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||
{
|
||||
spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
|
||||
kinetis_spixselect(_spi_bus2, dev, devid, selected);
|
||||
}
|
||||
|
||||
uint8_t kinetis_spi2status(FAR struct spi_dev_s *dev, uint32_t devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
|
||||
#endif /* CONFIG_KINETIS_SPI0 || CONFIG_KINETIS_SPI1 || CONFIG_KINETIS_SPI2 */
|
||||
@@ -0,0 +1,188 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016, 2018 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 timer_config.c
|
||||
*
|
||||
* Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
// TODO:Stubbed out for now
|
||||
#include <stdint.h>
|
||||
|
||||
#include <kinetis.h>
|
||||
#include "hardware/kinetis_sim.h"
|
||||
#include "hardware/kinetis_ftm.h"
|
||||
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::FTM0),
|
||||
initIOTimer(Timer::FTM3),
|
||||
initIOTimer(Timer::FTM2),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel0}, {GPIO::PortC, GPIO::Pin1}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel3}, {GPIO::PortA, GPIO::Pin6}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel4}, {GPIO::PortD, GPIO::Pin4}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel5}, {GPIO::PortD, GPIO::Pin5}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel6}, {GPIO::PortD, GPIO::Pin6}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel7}, {GPIO::PortD, GPIO::Pin7}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
initIOTimerChannelMapping(io_timers, timer_io_channels);
|
||||
|
||||
const struct io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
|
||||
{
|
||||
.base = KINETIS_FTM3_BASE,
|
||||
.clock_register = KINETIS_SIM_SCGC3,
|
||||
.clock_bit = SIM_SCGC3_FTM3,
|
||||
.vectorno = 0,
|
||||
},
|
||||
};
|
||||
|
||||
const struct timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH1OUT, // RGB_R
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
},
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH5OUT, // RGB_G
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 6,
|
||||
},
|
||||
{
|
||||
.gpio_out = LED_TIM3_CH4OUT, // RGB_B
|
||||
.gpio_in = 0,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 5,
|
||||
},
|
||||
};
|
||||
|
||||
#define _REG(_addr) (*(volatile uint32_t *)(_addr))
|
||||
|
||||
/* Timer register accessors */
|
||||
|
||||
#define REG(t, _reg) _REG(KINETIS_FTM##t##_BASE + (_reg))
|
||||
|
||||
#define rSC(t) REG(t,KINETIS_FTM_SC_OFFSET)
|
||||
#define rCNT(t) REG(t,KINETIS_FTM_CNT_OFFSET)
|
||||
#define rMOD(t) REG(t,KINETIS_FTM_MOD_OFFSET)
|
||||
#define rC0SC(t) REG(t,KINETIS_FTM_C0SC_OFFSET)
|
||||
#define rC0V(t) REG(t,KINETIS_FTM_C0V_OFFSET)
|
||||
#define rC1SC(t) REG(t,KINETIS_FTM_C1SC_OFFSET)
|
||||
#define rC1V(t) REG(t,KINETIS_FTM_C1V_OFFSET)
|
||||
#define rC2SC(t) REG(t,KINETIS_FTM_C2SC_OFFSET)
|
||||
#define rC2V(t) REG(t,KINETIS_FTM_C2V_OFFSET)
|
||||
#define rC3SC(t) REG(t,KINETIS_FTM_C3SC_OFFSET)
|
||||
#define rC3V(t) REG(t,KINETIS_FTM_C3V_OFFSET)
|
||||
#define rC4SC(t) REG(t,KINETIS_FTM_C4SC_OFFSET)
|
||||
#define rC4V(t) REG(t,KINETIS_FTM_C4V_OFFSET)
|
||||
#define rC5SC(t) REG(t,KINETIS_FTM_C5SC_OFFSET)
|
||||
#define rC5V(t) REG(t,KINETIS_FTM_C5V_OFFSET)
|
||||
#define rC6SC(t) REG(t,KINETIS_FTM_C6SC_OFFSET)
|
||||
#define rC6V(t) REG(t,KINETIS_FTM_C6V_OFFSET)
|
||||
#define rC7SC(t) REG(t,KINETIS_FTM_C7SC_OFFSET)
|
||||
#define rC7V(t) REG(t,KINETIS_FTM_C7V_OFFSET)
|
||||
|
||||
#define rCNTIN(t) REG(t,KINETIS_FTM_CNTIN_OFFSET)
|
||||
#define rSTATUS(t) REG(t,KINETIS_FTM_STATUS_OFFSET)
|
||||
#define rMODE(t) REG(t,KINETIS_FTM_MODE_OFFSET)
|
||||
#define rSYNC(t) REG(t,KINETIS_FTM_SYNC_OFFSET)
|
||||
#define rOUTINIT(t) REG(t,KINETIS_FTM_OUTINIT_OFFSET)
|
||||
#define rOUTMASK(t) REG(t,KINETIS_FTM_OUTMASK_OFFSET)
|
||||
#define rCOMBINE(t) REG(t,KINETIS_FTM_COMBINE_OFFSET)
|
||||
#define rDEADTIME(t) REG(t,KINETIS_FTM_DEADTIME_OFFSET)
|
||||
#define rEXTTRIG(t) REG(t,KINETIS_FTM_EXTTRIG_OFFSET)
|
||||
#define rPOL(t) REG(t,KINETIS_FTM_POL_OFFSET)
|
||||
#define rFMS(t) REG(t,KINETIS_FTM_FMS_OFFSET)
|
||||
#define rFILTER(t) REG(t,KINETIS_FTM_FILTER_OFFSET)
|
||||
#define rFLTCTRL(t) REG(t,KINETIS_FTM_FLTCTRL_OFFSET)
|
||||
#define rQDCTRL(t) REG(t,KINETIS_FTM_QDCTRL_OFFSET)
|
||||
#define rCONF(t) REG(t,KINETIS_FTM_CONF_OFFSET)
|
||||
#define rFLTPOL(t) REG(t,KINETIS_FTM_FLTPOL_OFFSET)
|
||||
#define rSYNCONF(t) REG(t,KINETIS_FTM_SYNCONF_OFFSET)
|
||||
#define rINVCTRL(t) REG(t,KINETIS_FTM_INVCTRL_OFFSET)
|
||||
#define rSWOCTRL(t) REG(t,KINETIS_FTM_SWOCTRL_OFFSET)
|
||||
#define rPWMLOAD(t) REG(t,KINETIS_FTM_PWMLOAD_OFFSET)
|
||||
|
||||
#if !defined(BOARD_PWM_SRC_CLOCK_FREQ)
|
||||
#define BOARD_PWM_SRC_CLOCK_FREQ 16000000
|
||||
#endif
|
||||
|
||||
|
||||
void fmuk66_timer_initialize(void)
|
||||
{
|
||||
|
||||
|
||||
/* Y1 is 16 Mhz used to driver the FTM_CLKIN0 (PCT12) */
|
||||
|
||||
|
||||
/* Enable PCT12 as FTM_CLKIN0 */
|
||||
|
||||
kinetis_pinconfig(PIN_FTM_CLKIN0_3);
|
||||
|
||||
/* Select FTM_CLKIN0 as source for FTM0, FTM2, and FTM3 */
|
||||
|
||||
uint32_t regval = _REG(KINETIS_SIM_SOPT4);
|
||||
regval &= ~(SIM_SOPT4_FTM0CLKSEL | SIM_SOPT4_FTM2CLKSEL | SIM_SOPT4_FTM3CLKSEL);
|
||||
_REG(KINETIS_SIM_SOPT4) = regval;
|
||||
|
||||
|
||||
/* Enabled System Clock Gating Control for FTM 0 and 2*/
|
||||
|
||||
regval = _REG(KINETIS_SIM_SCGC6);
|
||||
regval |= SIM_SCGC6_FTM0 | SIM_SCGC6_FTM2;
|
||||
_REG(KINETIS_SIM_SCGC6) = regval;
|
||||
|
||||
/* Enabled System Clock Gating Control for FTM 2 and 3 */
|
||||
|
||||
regval = _REG(KINETIS_SIM_SCGC3);
|
||||
regval |= SIM_SCGC3_FTM2 | SIM_SCGC3_FTM3;
|
||||
_REG(KINETIS_SIM_SCGC3) = regval;
|
||||
|
||||
}
|
||||
@@ -0,0 +1,113 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016, 2018 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 usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include <up_arch.h>
|
||||
#include <kinetis.h>
|
||||
#include <kinetis_usbotg.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: kinetis_usbpullup
|
||||
*
|
||||
* Description:
|
||||
* If USB is supported and the board supports a pullup via GPIO (for USB software
|
||||
* connect and disconnect), then the board software must provide kinetis_usbpullup.
|
||||
* See include/nuttx/usb/usbdev.h for additional description of this method.
|
||||
* Alternatively, if no pull-up GPIO the following EXTERN can be redefined to be
|
||||
* NULL.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT
|
||||
int kinetis_usbpullup(FAR struct usbdev_s *dev, bool enable)
|
||||
{
|
||||
usbtrace(TRACE_DEVPULLUP, (uint16_t)enable);
|
||||
|
||||
if (enable) {
|
||||
putreg8(USB_CONTROL_DPPULLUPNONOTG, KINETIS_USB0_CONTROL);
|
||||
|
||||
} else {
|
||||
putreg8(0, KINETIS_USB0_CONTROL);
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: kinetis_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the kinetis_usbsuspend logic if the USBDEV driver is
|
||||
* used. This function is called whenever the USB enters or leaves suspend mode.
|
||||
* This is an opportunity for the board logic to shutdown clocks, power, etc.
|
||||
* while the USB is suspended.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT
|
||||
void kinetis_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
uinfo("resume: %d\n", resume);
|
||||
}
|
||||
Reference in New Issue
Block a user