mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-07 09:13:32 +08:00
Cleanup and refactor of the PX4IO firmware and board support. Builds, not tested yet.
This commit is contained in:
px4dev
@@ -36,5 +36,6 @@
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#
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INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
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LIBNAME = brd_px4fmu
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include $(APPDIR)/mk/app.mk
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@@ -57,7 +57,6 @@
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#include <nuttx/i2c.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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#include <nuttx/arch.h>
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#include "stm32_internal.h"
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#include "px4fmu_internal.h"
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@@ -0,0 +1,41 @@
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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||||
# Redistribution and use in source and binary forms, with or without
|
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# modification, are permitted provided that the following conditions
|
||||
# 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.
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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
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||||
# 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.
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#
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############################################################################
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#
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# Board-specific startup code for the PX4IO
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#
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INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
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LIBNAME = brd_px4io
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include $(APPDIR)/mk/app.mk
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@@ -0,0 +1,100 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
|
||||
* 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
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
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* 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,
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||||
* 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
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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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* @file px4io_init.c
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*
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* PX4IO-specific early startup code. This file implements the
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* nsh_archinitialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialisation.
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <debug.h>
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#include <errno.h>
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#include <nuttx/arch.h>
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#include "stm32_internal.h"
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#include "px4io_internal.h"
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#include "stm32_uart.h"
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#include <arch/board/board.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_led.h>
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#include <drivers/drv_pwm_output.h>
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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* Description:
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* All STM32 architectures must provide the following entry point. This entry point
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* is called early in the intitialization -- after all memory has been configured
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* and mapped but before any devices have been initialized.
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*
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************************************************************************************/
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__EXPORT void stm32_boardinitialize(void)
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{
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/* configure the high-resolution time/callout interface */
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#ifdef CONFIG_HRT_TIMER
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hrt_init();
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#endif
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/* configure GPIOs */
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stm32_configgpio(GPIO_ACC1_PWR_EN);
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stm32_configgpio(GPIO_ACC2_PWR_EN);
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stm32_configgpio(GPIO_SERVO_PWR_EN);
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stm32_configgpio(GPIO_RELAY1_EN);
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stm32_configgpio(GPIO_RELAY2_EN);
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stm32_configgpio(GPIO_LED1);
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stm32_configgpio(GPIO_LED2);
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stm32_configgpio(GPIO_LED3);
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stm32_configgpio(GPIO_ACC_OC_DETECT);
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stm32_configgpio(GPIO_SERVO_OC_DETECT);
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stm32_configgpio(GPIO_BTN_SAFETY);
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}
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@@ -0,0 +1,100 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
||||
* 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.
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||||
*
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****************************************************************************/
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/**
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* @file PX4IO hardware definitions.
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*/
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#pragma once
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32_internal.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/* PX4IO GPIOs **********************************************************************/
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/* LEDs */
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#define GPIO_LED1 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
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#define GPIO_LED2 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
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#define GPIO_LED3 (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|\
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GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
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/* R/C in/out channels **************************************************************/
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/* XXX just GPIOs for now - eventually timer pins */
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#define GPIO_CH1_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN0)
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#define GPIO_CH2_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN1)
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#define GPIO_CH3_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN8)
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#define GPIO_CH4_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN9)
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#define GPIO_CH5_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN6)
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#define GPIO_CH6_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTA|GPIO_PIN7)
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#define GPIO_CH7_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_CH8_IN (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN1)
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#define GPIO_CH1_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
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#define GPIO_CH2_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
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#define GPIO_CH3_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
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#define GPIO_CH4_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
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#define GPIO_CH5_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN6)
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#define GPIO_CH6_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
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#define GPIO_CH7_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
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#define GPIO_CH8_OUT (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
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/* Safety switch button *************************************************************/
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#define GPIO_BTN_SAFETY (GPIO_INPUT|GPIO_CNF_INFLOAT|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN5)
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/* Power switch controls ************************************************************/
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#define GPIO_ACC1_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
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#define GPIO_ACC2_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
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#define GPIO_SERVO_PWR_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
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#define GPIO_ACC_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN12)
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#define GPIO_SERVO_OC_DETECT (GPIO_INPUT|GPIO_CNF_INPULLUP|GPIO_MODE_INPUT|GPIO_PORTB|GPIO_PIN13)
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#define GPIO_RELAY1_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
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#define GPIO_RELAY2_EN (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN12)
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@@ -0,0 +1,123 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file px4fmu_pwm_servo.c
|
||||
*
|
||||
* Configuration data for the stm32 pwm_servo driver.
|
||||
*
|
||||
* Note that these arrays must always be fully-sized.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
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#include <drivers/stm32/drv_pwm_servo.h>
|
||||
|
||||
#include <arch/board/board.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include <stm32_internal.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_tim.h>
|
||||
|
||||
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
|
||||
{
|
||||
.base = STM32_TIM2_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM2EN,
|
||||
.clock_freq = STM32_APB1_TIM2_CLKIN
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM3_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM3EN,
|
||||
.clock_freq = STM32_APB1_TIM3_CLKIN
|
||||
},
|
||||
{
|
||||
.base = STM32_TIM4_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB1ENR_TIM4EN,
|
||||
.clock_freq = STM32_APB1_TIM4_CLKIN
|
||||
}
|
||||
};
|
||||
|
||||
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH1OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM2_CH2OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM4_CH3OUT,
|
||||
.timer_index = 2,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM4_CH4OUT,
|
||||
.timer_index = 2,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH1OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH2OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH3OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM3_CH4OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1000,
|
||||
}
|
||||
};
|
||||
@@ -67,6 +67,38 @@
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4IO
|
||||
/*
|
||||
* PX4IO GPIO numbers.
|
||||
*
|
||||
* XXX note that these are here for reference/future use; currently
|
||||
* there is no good way to wire these up without a common STM32 GPIO
|
||||
* driver, which isn't implemented yet.
|
||||
*/
|
||||
/* outputs */
|
||||
# define GPIO_ACC1_POWER (1<<0) /**< accessory power 1 */
|
||||
# define GPIO_ACC2_POWER (1<<1) /**< accessory power 2 */
|
||||
# define GPIO_SERVO_POWER (1<<2) /**< servo power */
|
||||
# define GPIO_RELAY1 (1<<3) /**< relay 1 */
|
||||
# define GPIO_RELAY2 (1<<4) /**< relay 2 */
|
||||
# define GPIO_LED_BLUE (1<<5) /**< blue LED */
|
||||
# define GPIO_LED_AMBER (1<<6) /**< amber/red LED */
|
||||
# define GPIO_LED_SAFETY (1<<7) /**< safety LED */
|
||||
|
||||
/* inputs */
|
||||
# define GPIO_ACC_OVERCURRENT (1<<8) /**< accessory 1/2 overcurrent detect */
|
||||
# define GPIO_SERVO_OVERCURRENT (1<<9) /**< servo overcurrent detect */
|
||||
# define GPIO_SAFETY_BUTTON (1<<10) /**< safety button pressed */
|
||||
|
||||
/**
|
||||
* Default GPIO device - other devices may also support this protocol if
|
||||
* they also export GPIO-like things. This is always the GPIOs on the
|
||||
* main board.
|
||||
*/
|
||||
# define GPIO_DEVICE_PATH "/dev/px4io"
|
||||
|
||||
#endif
|
||||
|
||||
#ifndef GPIO_DEVICE_PATH
|
||||
# error No GPIO support for this board.
|
||||
#endif
|
||||
|
||||
@@ -50,6 +50,7 @@
|
||||
#define LED_AMBER 0
|
||||
#define LED_RED 0 /* some boards have red rather than amber */
|
||||
#define LED_BLUE 1
|
||||
#define LED_SAFETY 2
|
||||
|
||||
#define LED_ON _IOC(_LED_BASE, 0)
|
||||
#define LED_OFF _IOC(_LED_BASE, 1)
|
||||
@@ -59,6 +60,6 @@ __BEGIN_DECLS
|
||||
/*
|
||||
* Initialise the LED driver.
|
||||
*/
|
||||
__EXPORT extern void drv_led_start();
|
||||
__EXPORT extern void drv_led_start(void);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
@@ -73,7 +73,7 @@
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
#include <uORB/topics/rc_channels.h>
|
||||
|
||||
#include "px4io/protocol.h"
|
||||
#include <px4io/protocol.h>
|
||||
#include "uploader.h"
|
||||
|
||||
|
||||
|
||||
@@ -276,6 +276,17 @@ static void hrt_call_invoke(void);
|
||||
* Specific registers and bits used by PPM sub-functions
|
||||
*/
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
/*
|
||||
* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
|
||||
*/
|
||||
# ifndef GTIM_CCER_CC1NP
|
||||
# define GTIM_CCER_CC1NP 0
|
||||
# define GTIM_CCER_CC2NP 0
|
||||
# define GTIM_CCER_CC3NP 0
|
||||
# define GTIM_CCER_CC4NP 0
|
||||
# define PPM_EDGE_FLIP
|
||||
# endif
|
||||
|
||||
# if HRT_PPM_CHANNEL == 1
|
||||
# define rCCR_PPM rCCR1 /* capture register for PPM */
|
||||
# define DIER_PPM GTIM_DIER_CC1IE /* capture interrupt (non-DMA mode) */
|
||||
@@ -284,6 +295,7 @@ static void hrt_call_invoke(void);
|
||||
# define CCMR1_PPM 1 /* not on TI1/TI2 */
|
||||
# define CCMR2_PPM 0 /* on TI3, not on TI4 */
|
||||
# define CCER_PPM (GTIM_CCER_CC1E | GTIM_CCER_CC1P | GTIM_CCER_CC1NP) /* CC1, both edges */
|
||||
# define CCER_PPM_FLIP GTIM_CCER_CC1P
|
||||
# elif HRT_PPM_CHANNEL == 2
|
||||
# define rCCR_PPM rCCR2 /* capture register for PPM */
|
||||
# define DIER_PPM GTIM_DIER_CC2IE /* capture interrupt (non-DMA mode) */
|
||||
@@ -292,6 +304,7 @@ static void hrt_call_invoke(void);
|
||||
# define CCMR1_PPM 2 /* not on TI1/TI2 */
|
||||
# define CCMR2_PPM 0 /* on TI3, not on TI4 */
|
||||
# define CCER_PPM (GTIM_CCER_CC2E | GTIM_CCER_CC2P | GTIM_CCER_CC2NP) /* CC2, both edges */
|
||||
# define CCER_PPM_FLIP GTIM_CCER_CC2P
|
||||
# elif HRT_PPM_CHANNEL == 3
|
||||
# define rCCR_PPM rCCR3 /* capture register for PPM */
|
||||
# define DIER_PPM GTIM_DIER_CC3IE /* capture interrupt (non-DMA mode) */
|
||||
@@ -300,6 +313,7 @@ static void hrt_call_invoke(void);
|
||||
# define CCMR1_PPM 0 /* not on TI1/TI2 */
|
||||
# define CCMR2_PPM 1 /* on TI3, not on TI4 */
|
||||
# define CCER_PPM (GTIM_CCER_CC3E | GTIM_CCER_CC3P | GTIM_CCER_CC3NP) /* CC3, both edges */
|
||||
# define CCER_PPM_FLIP GTIM_CCER_CC3P
|
||||
# elif HRT_PPM_CHANNEL == 4
|
||||
# define rCCR_PPM rCCR4 /* capture register for PPM */
|
||||
# define DIER_PPM GTIM_DIER_CC4IE /* capture interrupt (non-DMA mode) */
|
||||
@@ -308,6 +322,7 @@ static void hrt_call_invoke(void);
|
||||
# define CCMR1_PPM 0 /* not on TI1/TI2 */
|
||||
# define CCMR2_PPM 2 /* on TI3, not on TI4 */
|
||||
# define CCER_PPM (GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
|
||||
# define CCER_PPM_FLIP GTIM_CCER_CC4P
|
||||
# else
|
||||
# error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set
|
||||
# endif
|
||||
@@ -532,9 +547,14 @@ hrt_tim_isr(int irq, void *context)
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
|
||||
/* was this a PPM edge? */
|
||||
if (status & (SR_INT_PPM | SR_OVF_PPM))
|
||||
hrt_ppm_decode(status);
|
||||
if (status & (SR_INT_PPM | SR_OVF_PPM)) {
|
||||
/* if required, flip edge sensitivity */
|
||||
# ifdef PPM_EDGE_FLIP
|
||||
rCCER ^= CCER_PPM_FLIP;
|
||||
# endif
|
||||
|
||||
hrt_ppm_decode(status);
|
||||
}
|
||||
#endif
|
||||
|
||||
/* was this a timer tick? */
|
||||
|
||||
@@ -42,7 +42,7 @@
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
/* configuration limits */
|
||||
#define PWM_SERVO_MAX_TIMERS 2
|
||||
#define PWM_SERVO_MAX_TIMERS 4
|
||||
#define PWM_SERVO_MAX_CHANNELS 8
|
||||
|
||||
/* array of timers dedicated to PWM servo use */
|
||||
@@ -53,9 +53,6 @@ struct pwm_servo_timer {
|
||||
uint32_t clock_freq;
|
||||
};
|
||||
|
||||
/* supplied by board-specific code */
|
||||
__EXPORT extern const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS];
|
||||
|
||||
/* array of channels in logical order */
|
||||
struct pwm_servo_channel {
|
||||
uint32_t gpio;
|
||||
@@ -64,4 +61,6 @@ struct pwm_servo_channel {
|
||||
servo_position_t default_value;
|
||||
};
|
||||
|
||||
/* supplied by board-specific code */
|
||||
__EXPORT extern const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS];
|
||||
__EXPORT extern const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS];
|
||||
|
||||
@@ -121,7 +121,6 @@ int test_ppm(int argc, char *argv[])
|
||||
|
||||
int test_tone(int argc, char *argv[])
|
||||
{
|
||||
#ifdef CONFIG_TONE_ALARM
|
||||
int fd, result;
|
||||
unsigned long tone;
|
||||
|
||||
@@ -171,7 +170,6 @@ out:
|
||||
if (fd >= 0)
|
||||
close(fd);
|
||||
|
||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
+5
-6
@@ -39,11 +39,10 @@
|
||||
# Note that we pull a couple of specific files from the systemlib, since
|
||||
# we can't support it all.
|
||||
#
|
||||
CSRCS = comms.c \
|
||||
mixer.c \
|
||||
px4io.c \
|
||||
safety.c \
|
||||
../systemlib/hx_stream.c \
|
||||
../systemlib/perf_counter.c
|
||||
CSRCS = $(wildcard *.c) \
|
||||
../systemlib/hx_stream.c \
|
||||
../systemlib/perf_counter.c
|
||||
|
||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
||||
+1
-1
@@ -93,7 +93,7 @@ comms_check(void)
|
||||
last_report_time = now;
|
||||
|
||||
/* populate the report */
|
||||
for (unsigned i = 0; i < system_state.rc_channels; i++)
|
||||
for (int i = 0; i < system_state.rc_channels; i++)
|
||||
report.rc_channel[i] = system_state.rc_channel_data[i];
|
||||
report.channel_count = system_state.rc_channels;
|
||||
report.armed = system_state.armed;
|
||||
|
||||
+16
-35
@@ -45,18 +45,13 @@
|
||||
#include <errno.h>
|
||||
#include <fcntl.h>
|
||||
|
||||
#include <arch/board/drv_ppm_input.h>
|
||||
#include <arch/board/drv_pwm_servo.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <systemlib/ppm_decode.h>
|
||||
|
||||
#include "px4io.h"
|
||||
|
||||
#ifdef CONFIG_DISABLE_MQUEUE
|
||||
# error Mixer requires message queues - set CONFIG_DISABLE_MQUEUE=n and try again
|
||||
#endif
|
||||
|
||||
static mqd_t input_queue;
|
||||
|
||||
/*
|
||||
* Count of periodic calls in which we have no data.
|
||||
*/
|
||||
@@ -89,9 +84,6 @@ static void mixer_get_rc_input(void);
|
||||
*/
|
||||
static void mixer_update(int mixer, uint16_t *inputs, int input_count);
|
||||
|
||||
/* servo driver handle */
|
||||
int mixer_servo_fd;
|
||||
|
||||
/* current servo arm/disarm state */
|
||||
bool mixer_servos_armed;
|
||||
|
||||
@@ -106,14 +98,6 @@ struct mixer {
|
||||
int
|
||||
mixer_init(const char *mq_name)
|
||||
{
|
||||
/* open the control input queue; this should always exist */
|
||||
input_queue = mq_open(mq_name, O_RDONLY | O_NONBLOCK);
|
||||
ASSERTCODE((input_queue >= 0), A_INPUTQ_OPEN_FAIL);
|
||||
|
||||
/* open the servo driver */
|
||||
mixer_servo_fd = open("/dev/pwm_servo", O_WRONLY);
|
||||
ASSERTCODE((mixer_servo_fd >= 0), A_SERVO_OPEN_FAIL);
|
||||
|
||||
/* look for control data at 50Hz */
|
||||
hrt_call_every(&mixer_input_call, 1000, 20000, mixer_tick, NULL);
|
||||
|
||||
@@ -176,9 +160,8 @@ mixer_tick(void *arg)
|
||||
* If we are armed, update the servo output.
|
||||
*/
|
||||
if (system_state.armed)
|
||||
ioctl(mixer_servo_fd, PWM_SERVO_SET(i), mixers[i].current_value);
|
||||
up_pwm_servo_set(i, mixers[i].current_value);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
@@ -187,12 +170,12 @@ mixer_tick(void *arg)
|
||||
should_arm = system_state.armed && (control_count > 0);
|
||||
if (should_arm && !mixer_servos_armed) {
|
||||
/* need to arm, but not armed */
|
||||
ioctl(mixer_servo_fd, PWM_SERVO_ARM, 0);
|
||||
up_pwm_servo_arm(true);
|
||||
mixer_servos_armed = true;
|
||||
|
||||
} else if (!should_arm && mixer_servos_armed) {
|
||||
/* armed but need to disarm*/
|
||||
ioctl(mixer_servo_fd, PWM_SERVO_DISARM, 0);
|
||||
/* armed but need to disarm */
|
||||
up_pwm_servo_arm(false);
|
||||
mixer_servos_armed = false;
|
||||
}
|
||||
}
|
||||
@@ -200,22 +183,20 @@ mixer_tick(void *arg)
|
||||
static void
|
||||
mixer_get_rc_input(void)
|
||||
{
|
||||
ssize_t len;
|
||||
|
||||
/*
|
||||
* Pull channel data from the message queue into the system state structure.
|
||||
* XXX currently only supporting PPM
|
||||
*
|
||||
* XXX check timestamp to ensure current
|
||||
*/
|
||||
len = mq_receive(input_queue, &system_state.rc_channel_data, sizeof(system_state.rc_channel_data), NULL);
|
||||
|
||||
/*
|
||||
* If we have data, update the count and status.
|
||||
*/
|
||||
if (len > 0) {
|
||||
system_state.rc_channels = len / sizeof(system_state.rc_channel_data[0]);
|
||||
if (ppm_decoded_channels > 0) {
|
||||
mixer_input_drops = 0;
|
||||
|
||||
system_state.fmu_report_due = true;
|
||||
|
||||
/* copy channel data */
|
||||
system_state.rc_channels = ppm_decoded_channels;
|
||||
for (unsigned i = 0; i < ppm_decoded_channels; i++)
|
||||
system_state.rc_channel_data[i] = ppm_buffer[i];
|
||||
|
||||
} else {
|
||||
/*
|
||||
* No data; count the 'frame drops' and once we hit the limit
|
||||
|
||||
+9
-18
@@ -47,9 +47,7 @@
|
||||
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <arch/board/up_boardinitialize.h>
|
||||
#include <arch/board/drv_gpio.h>
|
||||
#include <arch/board/drv_ppm_input.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include "px4io.h"
|
||||
@@ -73,8 +71,8 @@ int user_start(int argc, char *argv[])
|
||||
bool heartbeat = false;
|
||||
bool failsafe = false;
|
||||
|
||||
/* Do board init */
|
||||
(void)up_boardinitialize();
|
||||
/* configure the PWM outputs */
|
||||
up_pwm_servo_init(0xff);
|
||||
|
||||
/* print some startup info */
|
||||
lib_lowprintf("\nPX4IO: starting\n");
|
||||
@@ -84,21 +82,14 @@ int user_start(int argc, char *argv[])
|
||||
/* start the software timer service */
|
||||
hrt_call_every(&timer_tick_call, 1000, 1000, timer_tick, NULL);
|
||||
|
||||
/* Open the GPIO driver so we can do LEDs and the like. */
|
||||
gpio_fd = open("/dev/gpio", 0);
|
||||
ASSERTCODE((gpio_fd >= 0), A_GPIO_OPEN_FAIL);
|
||||
|
||||
/* default all the LEDs to off while we start */
|
||||
LED_AMBER(heartbeat);
|
||||
LED_BLUE(failsafe);
|
||||
LED_AMBER(false);
|
||||
LED_BLUE(false);
|
||||
LED_SAFETY(false);
|
||||
|
||||
/* turn on servo power */
|
||||
POWER_SERVO(true);
|
||||
|
||||
/* configure the PPM input driver */
|
||||
ppm_input_init(rc_input_mq_name);
|
||||
|
||||
/* start the mixer */
|
||||
mixer_init(rc_input_mq_name);
|
||||
|
||||
@@ -123,18 +114,19 @@ int user_start(int argc, char *argv[])
|
||||
/* blink the heartbeat LED */
|
||||
if (timers[TIMER_BLINK_AMBER] == 0) {
|
||||
timers[TIMER_BLINK_AMBER] = 250;
|
||||
LED_AMBER((heartbeat = !heartbeat));
|
||||
LED_AMBER(heartbeat = !heartbeat);
|
||||
}
|
||||
|
||||
/* blink the failsafe LED if we don't have FMU input */
|
||||
if (!system_state.mixer_use_fmu) {
|
||||
if (timers[TIMER_BLINK_BLUE] == 0) {
|
||||
timers[TIMER_BLINK_BLUE] = 125;
|
||||
LED_BLUE((failsafe = !failsafe));
|
||||
failsafe = !failsafe;
|
||||
}
|
||||
} else {
|
||||
LED_BLUE((failsafe = false));
|
||||
failsafe = false;
|
||||
}
|
||||
LED_BLUE(failsafe);
|
||||
|
||||
/* print some simple status */
|
||||
if (timers[TIMER_STATUS_PRINT] == 0) {
|
||||
@@ -147,7 +139,6 @@ int user_start(int argc, char *argv[])
|
||||
system_state.rc_channels
|
||||
);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* Should never reach here */
|
||||
|
||||
+21
-15
@@ -32,10 +32,18 @@
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file General defines and structures for the PX4IO module firmware.
|
||||
* @file px4io.h
|
||||
*
|
||||
* General defines and structures for the PX4IO module firmware.
|
||||
*/
|
||||
|
||||
#include <arch/board/drv_gpio.h>
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <drivers/boards/px4io/px4io_internal.h>
|
||||
|
||||
#include "protocol.h"
|
||||
|
||||
/*
|
||||
@@ -102,21 +110,19 @@ extern volatile int timers[TIMER_NUM_TIMERS];
|
||||
/*
|
||||
* GPIO handling.
|
||||
*/
|
||||
extern int gpio_fd;
|
||||
#define LED_AMBER(_s) stm32_gpiowrite(GPIO_LED1, !(_s))
|
||||
#define LED_BLUE(_s) stm32_gpiowrite(GPIO_LED2, !(_s))
|
||||
#define LED_SAFETY(_s) stm32_gpiowrite(GPIO_LED3, !(_s))
|
||||
|
||||
#define POWER_SERVO(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_POWER), (_s))
|
||||
#define POWER_ACC1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC1), (_s))
|
||||
#define POWER_ACC2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_SERVO_ACC2), (_s))
|
||||
#define POWER_RELAY1(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY1, (_s))
|
||||
#define POWER_RELAY2(_s) ioctl(gpio_fd, GPIO_SET(GPIO_RELAY2, (_s))
|
||||
#define POWER_SERVO(_s) stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
|
||||
#define POWER_ACC1(_s) stm32_gpiowrite(GPIO_SERVO_ACC1_EN, (_s))
|
||||
#define POWER_ACC2(_s) stm32_gpiowrite(GPIO_SERVO_ACC2_EN, (_s))
|
||||
#define POWER_RELAY1(_s) stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
|
||||
#define POWER_RELAY2(_s) stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
|
||||
|
||||
#define LED_AMBER(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_AMBER), !(_s))
|
||||
#define LED_BLUE(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_BLUE), !(_s))
|
||||
#define LED_SAFETY(_s) ioctl(gpio_fd, GPIO_SET(GPIO_LED_SAFETY), !(_s))
|
||||
|
||||
#define OVERCURRENT_ACC ioctl(gpio_fd, GPIO_GET(GPIO_ACC_OVERCURRENT), 0)
|
||||
#define OVERCURRENT_SERVO ioctl(gpio_fd, GPIO_GET(GPIO_SERVO_OVERCURRENT), 0)
|
||||
#define BUTTON_SAFETY ioctl(gpio_fd, GPIO_GET(GPIO_SAFETY_BUTTON), 0)
|
||||
#define OVERCURRENT_ACC stm32_gpioread(GPIO_ACC_OC_DETECT)
|
||||
#define OVERCURRENT_SERVO stm32_gpioread(GPIO_SERVO_OC_DETECT
|
||||
#define BUTTON_SAFETY stm32_gpioread(GPIO_BTN_SAFETY)
|
||||
|
||||
/*
|
||||
* Mixer
|
||||
|
||||
@@ -46,9 +46,6 @@
|
||||
|
||||
#include <nuttx/clock.h>
|
||||
|
||||
#include <arch/board/up_boardinitialize.h>
|
||||
#include <arch/board/drv_gpio.h>
|
||||
#include <arch/board/drv_ppm_input.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include "px4io.h"
|
||||
|
||||
@@ -63,6 +63,7 @@
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/ppm_decode.h>
|
||||
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
@@ -90,19 +91,6 @@
|
||||
#define BAT_VOL_LOWPASS_2 0.01f
|
||||
#define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f
|
||||
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
extern "C" {
|
||||
extern uint16_t ppm_buffer[];
|
||||
extern unsigned ppm_decoded_channels;
|
||||
extern uint64_t ppm_last_valid_decode;
|
||||
}
|
||||
|
||||
/* PPM Settings */
|
||||
# define PPM_MIN 1000
|
||||
# define PPM_MAX 2000
|
||||
# define PPM_MID (PPM_MIN+PPM_MAX)/2
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Sensor app start / stop handling function
|
||||
*
|
||||
|
||||
@@ -46,12 +46,17 @@
|
||||
*/
|
||||
#define PPM_MAX_CHANNELS 12
|
||||
|
||||
/* PPM input nominal min/max values */
|
||||
#define PPM_MIN 1000
|
||||
#define PPM_MAX 2000
|
||||
#define PPM_MID ((PPM_MIN + PPM_MAX) / 2)
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/*
|
||||
* PPM decoder state
|
||||
*/
|
||||
__EXPORT extern uint16_t ppm_buffer[]; /**< decoded PPM channel values */
|
||||
__EXPORT extern uint16_t ppm_buffer[PPM_MAX_CHANNELS]; /**< decoded PPM channel values */
|
||||
__EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */
|
||||
__EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */
|
||||
|
||||
|
||||
Reference in New Issue
Block a user