mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 16:56:25 +08:00
Scratch in a mostly-building board config for fmuv2
This commit is contained in:
px4dev
@@ -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.
|
||||
#
|
||||
# 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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||||
#
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||||
# Board-specific startup code for the PX4FMUv2
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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_px4fmuv2
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include $(APPDIR)/mk/app.mk
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@@ -0,0 +1,144 @@
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/****************************************************************************
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||||
*
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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.
|
||||
*
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||||
****************************************************************************/
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||||
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/**
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* @file px4fmu_can.c
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*
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* Board-specific CAN functions.
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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 <errno.h>
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#include <debug.h>
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#include <nuttx/can.h>
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#include <arch/board/board.h>
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#include "chip.h"
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#include "up_arch.h"
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#include "stm32.h"
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#include "stm32_can.h"
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#include "px4fmu_internal.h"
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#ifdef CONFIG_CAN
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/************************************************************************************
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* Pre-processor Definitions
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************************************************************************************/
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/* Configuration ********************************************************************/
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#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
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# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
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# undef CONFIG_STM32_CAN2
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#endif
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#ifdef CONFIG_STM32_CAN1
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# define CAN_PORT 1
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#else
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# define CAN_PORT 2
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#endif
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/* Debug ***************************************************************************/
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/* Non-standard debug that may be enabled just for testing CAN */
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#ifdef CONFIG_DEBUG_CAN
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# define candbg dbg
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# define canvdbg vdbg
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# define canlldbg lldbg
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# define canllvdbg llvdbg
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#else
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# define candbg(x...)
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# define canvdbg(x...)
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# define canlldbg(x...)
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# define canllvdbg(x...)
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#endif
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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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/************************************************************************************
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* Public Functions
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||||
************************************************************************************/
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||||
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||||
/************************************************************************************
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* Name: can_devinit
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*
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* Description:
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* All STM32 architectures must provide the following interface to work with
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* examples/can.
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*
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************************************************************************************/
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int can_devinit(void)
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{
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static bool initialized = false;
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struct can_dev_s *can;
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int ret;
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/* Check if we have already initialized */
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if (!initialized) {
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/* Call stm32_caninitialize() to get an instance of the CAN interface */
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can = stm32_caninitialize(CAN_PORT);
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if (can == NULL) {
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candbg("ERROR: Failed to get CAN interface\n");
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return -ENODEV;
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}
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/* Register the CAN driver at "/dev/can0" */
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ret = can_register("/dev/can0", can);
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if (ret < 0) {
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candbg("ERROR: can_register failed: %d\n", ret);
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return ret;
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}
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/* Now we are initialized */
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initialized = true;
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}
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return OK;
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}
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#endif
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@@ -0,0 +1,224 @@
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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.
|
||||
*
|
||||
****************************************************************************/
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||||
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/**
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* @file px4fmu_init.c
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*
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* PX4FMU-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 <nuttx/spi.h>
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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 "stm32_internal.h"
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#include "px4fmu_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 <systemlib/cpuload.h>
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/****************************************************************************
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||||
* Pre-Processor Definitions
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||||
****************************************************************************/
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||||
|
||||
/* Configuration ************************************************************/
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||||
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||||
/* Debug ********************************************************************/
|
||||
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||||
#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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||||
# define message(...) lowsyslog(__VA_ARGS__)
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||||
# else
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# define message(...) printf(__VA_ARGS__)
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||||
# endif
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||||
#else
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||||
# ifdef CONFIG_DEBUG
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# define message lowsyslog
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# else
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# define message printf
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||||
# endif
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||||
#endif
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||||
|
||||
/****************************************************************************
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||||
* Protected Functions
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||||
****************************************************************************/
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||||
|
||||
/****************************************************************************
|
||||
* Public Functions
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||||
****************************************************************************/
|
||||
|
||||
/************************************************************************************
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||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* 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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||||
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||||
__EXPORT void stm32_boardinitialize(void)
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{
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/* configure SPI interfaces */
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stm32_spiinitialize();
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/* configure LEDs */
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up_ledinit();
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}
|
||||
|
||||
/****************************************************************************
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||||
* Name: nsh_archinitialize
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||||
*
|
||||
* Description:
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||||
* Perform architecture specific initialization
|
||||
*
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||||
****************************************************************************/
|
||||
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static struct spi_dev_s *spi1;
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static struct spi_dev_s *spi2;
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||||
|
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#include <math.h>
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|
||||
#ifdef __cplusplus
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||||
__EXPORT int matherr(struct __exception *e)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
#else
|
||||
__EXPORT int matherr(struct exception *e)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
#endif
|
||||
|
||||
__EXPORT int nsh_archinitialize(void)
|
||||
{
|
||||
int result;
|
||||
|
||||
/* configure the high-resolution time/callout interface */
|
||||
hrt_init();
|
||||
|
||||
/* configure CPU load estimation */
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
cpuload_initialize_once();
|
||||
#endif
|
||||
|
||||
/* set up the serial DMA polling */
|
||||
static struct hrt_call serial_dma_call;
|
||||
struct timespec ts;
|
||||
|
||||
/*
|
||||
* Poll at 1ms intervals for received bytes that have not triggered
|
||||
* a DMA event.
|
||||
*/
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = 1000000;
|
||||
|
||||
hrt_call_every(&serial_dma_call,
|
||||
ts_to_abstime(&ts),
|
||||
ts_to_abstime(&ts),
|
||||
(hrt_callout)stm32_serial_dma_poll,
|
||||
NULL);
|
||||
|
||||
// initial LED state
|
||||
// XXX need to make this work again
|
||||
// drv_led_start();
|
||||
up_ledoff(LED_AMBER);
|
||||
|
||||
/* Configure SPI-based devices */
|
||||
|
||||
spi1 = up_spiinitialize(1);
|
||||
|
||||
if (!spi1) {
|
||||
message("[boot] FAILED to initialize SPI port 1\r\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
// Default SPI1 to 1MHz and de-assert the known chip selects.
|
||||
SPI_SETFREQUENCY(spi1, 10000000);
|
||||
SPI_SETBITS(spi1, 8);
|
||||
SPI_SETMODE(spi1, SPIDEV_MODE3);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
|
||||
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
|
||||
up_udelay(20);
|
||||
|
||||
message("[boot] Successfully initialized SPI port 1\r\n");
|
||||
|
||||
/* Get the SPI port for the FRAM */
|
||||
|
||||
message("[boot] Initializing SPI port 2\n");
|
||||
spi2 = up_spiinitialize(3);
|
||||
|
||||
if (!spi2) {
|
||||
message("[boot] FAILED to initialize SPI port 2\n");
|
||||
up_ledon(LED_AMBER);
|
||||
return -ENODEV;
|
||||
}
|
||||
|
||||
message("[boot] Successfully initialized SPI port 2\n");
|
||||
|
||||
/* XXX need a driver to bind the FRAM to */
|
||||
|
||||
//message("[boot] Successfully bound SPI port 2 to the FRAM driver\n");
|
||||
|
||||
/* configure ADC pins */
|
||||
stm32_configgpio(GPIO_ADC1_IN10);
|
||||
stm32_configgpio(GPIO_ADC1_IN11);
|
||||
stm32_configgpio(GPIO_ADC1_IN12);
|
||||
|
||||
return OK;
|
||||
}
|
||||
@@ -0,0 +1,106 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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_internal.h
|
||||
*
|
||||
* PX4FMU internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdint.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/* these headers are not C++ safe */
|
||||
#include <stm32_internal.h>
|
||||
|
||||
|
||||
/****************************************************************************************************
|
||||
* Definitions
|
||||
****************************************************************************************************/
|
||||
/* Configuration ************************************************************************************/
|
||||
|
||||
/* PX4FMU GPIOs ***********************************************************************************/
|
||||
/* LEDs */
|
||||
|
||||
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN12)
|
||||
|
||||
/* External interrupts */
|
||||
|
||||
/* SPI chip selects */
|
||||
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||
#define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
|
||||
#define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
|
||||
#define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
|
||||
|
||||
/* USB OTG FS
|
||||
*
|
||||
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
|
||||
*/
|
||||
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public data
|
||||
****************************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************************************/
|
||||
|
||||
/****************************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
****************************************************************************************************/
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,105 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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>
|
||||
|
||||
#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_TIM1_BASE,
|
||||
.clock_register = STM32_RCC_APB1ENR,
|
||||
.clock_bit = RCC_APB2ENR_TIM1EN,
|
||||
.clock_freq = STM32_APB2_TIM1_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_TIM1_CH4OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 4,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH3OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH2OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM1_CH1OUT,
|
||||
.timer_index = 0,
|
||||
.timer_channel = 1,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM4_CH2OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 2,
|
||||
.default_value = 1000,
|
||||
},
|
||||
{
|
||||
.gpio = GPIO_TIM4_CH3OUT,
|
||||
.timer_index = 1,
|
||||
.timer_channel = 3,
|
||||
.default_value = 1000,
|
||||
}
|
||||
};
|
||||
@@ -0,0 +1,141 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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_spi.c
|
||||
*
|
||||
* Board-specific SPI functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/spi.h>
|
||||
#include <arch/board/board.h>
|
||||
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "stm32_internal.h"
|
||||
#include "px4fmu_internal.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_spiinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void weak_function stm32_spiinitialize(void)
|
||||
{
|
||||
#ifdef CONFIG_STM32_SPI1
|
||||
stm32_configgpio(GPIO_SPI_CS_GYRO);
|
||||
stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG);
|
||||
stm32_configgpio(GPIO_SPI_CS_BARO);
|
||||
|
||||
/* De-activate all peripherals,
|
||||
* required for some peripheral
|
||||
* state machines
|
||||
*/
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
stm32_configgpio(GPIO_SPI_CS_FRAM);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_FRAM, 1);
|
||||
#endif
|
||||
}
|
||||
|
||||
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* SPI select is active low, so write !selected to select the device */
|
||||
|
||||
switch (devid) {
|
||||
case PX4_SPIDEV_GYRO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_ACCEL_MAG:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, 1);
|
||||
break;
|
||||
|
||||
case PX4_SPIDEV_BARO:
|
||||
/* Making sure the other peripherals are not selected */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1);
|
||||
stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
|
||||
|
||||
#ifdef CONFIG_STM32_SPI2
|
||||
__EXPORT void stm32_spi2select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
|
||||
{
|
||||
/* there can only be one device on this bus, so always select it */
|
||||
stm32_gpiowrite(GPIO_SPI_CS_FRAM, !selected);
|
||||
}
|
||||
|
||||
__EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
|
||||
{
|
||||
/* FRAM is always present */
|
||||
return SPI_STATUS_PRESENT;
|
||||
}
|
||||
#endif
|
||||
@@ -0,0 +1,108 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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_usb.c
|
||||
*
|
||||
* Board-specific USB functions.
|
||||
*/
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/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 "stm32_internal.h"
|
||||
#include "px4fmu_internal.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the PX4FMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
/* XXX We only support device mode
|
||||
stm32_configgpio(GPIO_OTGFS_PWRON);
|
||||
stm32_configgpio(GPIO_OTGFS_OVER);
|
||||
*/
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
* Description:
|
||||
* Board logic must provide the stm32_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 stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
|
||||
{
|
||||
ulldbg("resume: %d\n", resume);
|
||||
}
|
||||
|
||||
@@ -42,6 +42,11 @@
|
||||
|
||||
#include <sys/ioctl.h>
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMUV2
|
||||
#warning No GPIOs on this board.
|
||||
#define GPIO_DEVICE_PATH "/dev/null"
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_ARCH_BOARD_PX4FMU
|
||||
/*
|
||||
* PX4FMU GPIO numbers.
|
||||
|
||||
@@ -125,7 +125,7 @@
|
||||
# define HRT_TIMER_VECTOR STM32_IRQ_TIM8CC
|
||||
# define HRT_TIMER_CLOCK STM32_APB2_TIM8_CLKIN
|
||||
# if CONFIG_STM32_TIM8
|
||||
# error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=6
|
||||
# error must not set CONFIG_STM32_TIM8=y and HRT_TIMER=8
|
||||
# endif
|
||||
#elif HRT_TIMER == 9
|
||||
# define HRT_TIMER_BASE STM32_TIM9_BASE
|
||||
|
||||
@@ -372,7 +372,9 @@ Sensors *g_sensors;
|
||||
}
|
||||
|
||||
Sensors::Sensors() :
|
||||
#ifdef CONFIG_HRT_PPM
|
||||
_ppm_last_valid(0),
|
||||
#endif
|
||||
|
||||
_fd_adc(-1),
|
||||
_last_adc(0),
|
||||
|
||||
@@ -0,0 +1,62 @@
|
||||
#
|
||||
# Makefile for the px4fmu_default configuration
|
||||
#
|
||||
|
||||
#
|
||||
# Use the configuration's ROMFS.
|
||||
#
|
||||
ROMFS_ROOT = $(PX4_BASE)/ROMFS/$(CONFIG)
|
||||
|
||||
#
|
||||
# Transitional support - add commands from the NuttX export archive.
|
||||
#
|
||||
# In general, these should move to modules over time.
|
||||
#
|
||||
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
|
||||
# to make the table a bit more readable.
|
||||
#
|
||||
define _B
|
||||
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
|
||||
endef
|
||||
|
||||
# command priority stack entrypoint
|
||||
BUILTIN_COMMANDS := \
|
||||
$(call _B, adc, , 2048, adc_main ) \
|
||||
$(call _B, ardrone_interface, SCHED_PRIORITY_MAX-15, 2048, ardrone_interface_main ) \
|
||||
$(call _B, attitude_estimator_ekf, , 2048, attitude_estimator_ekf_main) \
|
||||
$(call _B, bl_update, , 4096, bl_update_main ) \
|
||||
$(call _B, blinkm, , 2048, blinkm_main ) \
|
||||
$(call _B, boardinfo, , 2048, boardinfo_main ) \
|
||||
$(call _B, commander, SCHED_PRIORITY_MAX-30, 2048, commander_main ) \
|
||||
$(call _B, control_demo, , 2048, control_demo_main ) \
|
||||
$(call _B, delay_test, , 2048, delay_test_main ) \
|
||||
$(call _B, eeprom, , 4096, eeprom_main ) \
|
||||
$(call _B, fixedwing_att_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_att_control_main ) \
|
||||
$(call _B, fixedwing_pos_control, SCHED_PRIORITY_MAX-30, 2048, fixedwing_pos_control_main ) \
|
||||
$(call _B, fmu, , 2048, fmu_main ) \
|
||||
$(call _B, gps, , 2048, gps_main ) \
|
||||
$(call _B, hil, , 2048, hil_main ) \
|
||||
$(call _B, hott_telemetry, , 2048, hott_telemetry_main ) \
|
||||
$(call _B, kalman_demo, SCHED_PRIORITY_MAX-30, 2048, kalman_demo_main ) \
|
||||
$(call _B, l3gd20, , 2048, l3gd20_main ) \
|
||||
$(call _B, math_demo, , 8192, math_demo_main ) \
|
||||
$(call _B, mavlink, , 2048, mavlink_main ) \
|
||||
$(call _B, mavlink_onboard, , 2048, mavlink_onboard_main ) \
|
||||
$(call _B, mixer, , 4096, mixer_main ) \
|
||||
$(call _B, ms5611, , 2048, ms5611_main ) \
|
||||
$(call _B, multirotor_att_control, SCHED_PRIORITY_MAX-15, 2048, multirotor_att_control_main) \
|
||||
$(call _B, multirotor_pos_control, SCHED_PRIORITY_MAX-25, 2048, multirotor_pos_control_main) \
|
||||
$(call _B, param, , 4096, param_main ) \
|
||||
$(call _B, perf, , 2048, perf_main ) \
|
||||
$(call _B, position_estimator, , 4096, position_estimator_main ) \
|
||||
$(call _B, preflight_check, , 2048, preflight_check_main ) \
|
||||
$(call _B, px4io, , 2048, px4io_main ) \
|
||||
$(call _B, reboot, , 2048, reboot_main ) \
|
||||
$(call _B, sdlog, SCHED_PRIORITY_MAX-30, 2048, sdlog_main ) \
|
||||
$(call _B, sensors, SCHED_PRIORITY_MAX-5, 4096, sensors_main ) \
|
||||
$(call _B, sercon, , 2048, sercon_main ) \
|
||||
$(call _B, serdis, , 2048, serdis_main ) \
|
||||
$(call _B, tests, , 12000, tests_main ) \
|
||||
$(call _B, tone_alarm, , 2048, tone_alarm_main ) \
|
||||
$(call _B, top, SCHED_PRIORITY_DEFAULT-10, 3000, top_main ) \
|
||||
$(call _B, uorb, , 4096, uorb_main )
|
||||
@@ -89,11 +89,11 @@
|
||||
/* SYSCFG peripheral mode configuration register */
|
||||
|
||||
#define SYSCFG_PMC_MII_RMII_SEL (1 << 23) /* Bit 23: Ethernet PHY interface selection */
|
||||
+#ifdef CONFIG_STM32_STM32F427
|
||||
+# define SYSCFG_PMC_ADC3DC2 (1 << 18) /* Bit 18: See AN4073 */
|
||||
+# define SYSCFG_PMC_ADC2DC2 (1 << 17) /* Bit 17: See AN4073 */
|
||||
+# define SYSCFG_PMC_ADC1DC2 (1 << 16) /* Bit 16: See AN4073 */
|
||||
+#endif
|
||||
#ifdef CONFIG_STM32_STM32F427
|
||||
# define SYSCFG_PMC_ADC3DC2 (1 << 18) /* Bit 18: See AN4073 */
|
||||
# define SYSCFG_PMC_ADC2DC2 (1 << 17) /* Bit 17: See AN4073 */
|
||||
# define SYSCFG_PMC_ADC1DC2 (1 << 16) /* Bit 16: See AN4073 */
|
||||
#endif
|
||||
|
||||
/* SYSCFG external interrupt configuration register 1-4 */
|
||||
|
||||
|
||||
@@ -0,0 +1,7 @@
|
||||
#
|
||||
# For a description of the syntax of this configuration file,
|
||||
# see misc/tools/kconfig-language.txt.
|
||||
#
|
||||
|
||||
if ARCH_BOARD_PX4FMUV2
|
||||
endif
|
||||
@@ -0,0 +1,184 @@
|
||||
############################################################################
|
||||
# configs/px4fmu/common/Make.defs
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Generic Make.defs for the PX4FMUV2
|
||||
# Do not specify/use this file directly - it is included by config-specific
|
||||
# Make.defs in the per-config directories.
|
||||
#
|
||||
|
||||
include ${TOPDIR}/tools/Config.mk
|
||||
|
||||
#
|
||||
# We only support building with the ARM bare-metal toolchain from
|
||||
# https://launchpad.net/gcc-arm-embedded on Windows, Linux or Mac OS.
|
||||
#
|
||||
CONFIG_ARMV7M_TOOLCHAIN := GNU_EABI
|
||||
|
||||
include ${TOPDIR}/arch/arm/src/armv7-m/Toolchain.defs
|
||||
|
||||
CC = $(CROSSDEV)gcc
|
||||
CXX = $(CROSSDEV)g++
|
||||
CPP = $(CROSSDEV)gcc -E
|
||||
LD = $(CROSSDEV)ld
|
||||
AR = $(CROSSDEV)ar rcs
|
||||
NM = $(CROSSDEV)nm
|
||||
OBJCOPY = $(CROSSDEV)objcopy
|
||||
OBJDUMP = $(CROSSDEV)objdump
|
||||
|
||||
MAXOPTIMIZATION = -O3
|
||||
ARCHCPUFLAGS = -mcpu=cortex-m4 \
|
||||
-mthumb \
|
||||
-march=armv7e-m \
|
||||
-mfpu=fpv4-sp-d16 \
|
||||
-mfloat-abi=hard
|
||||
|
||||
|
||||
# enable precise stack overflow tracking
|
||||
INSTRUMENTATIONDEFINES = -finstrument-functions \
|
||||
-ffixed-r10
|
||||
|
||||
# pull in *just* libm from the toolchain ... this is grody
|
||||
LIBM = "${shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a}"
|
||||
EXTRA_LIBS += $(LIBM)
|
||||
|
||||
# use our linker script
|
||||
LDSCRIPT = ld.script
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
# Windows-native toolchains
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}"
|
||||
ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)/include}" -isystem "${shell cygpath -w $(TOPDIR)/include/cxx}"
|
||||
ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)}"
|
||||
else
|
||||
ifeq ($(PX4_WINTOOL),y)
|
||||
# Windows-native toolchains (MSYS)
|
||||
DIRLINK = $(TOPDIR)/tools/copydir.sh
|
||||
DIRUNLINK = $(TOPDIR)/tools/unlink.sh
|
||||
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
|
||||
else
|
||||
# Linux/Cygwin-native toolchain
|
||||
MKDEP = $(TOPDIR)/tools/mkdeps.sh
|
||||
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
|
||||
ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
|
||||
ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/common/$(LDSCRIPT)
|
||||
endif
|
||||
endif
|
||||
|
||||
# tool versions
|
||||
ARCHCCVERSION = ${shell $(CC) -v 2>&1 | sed -n '/^gcc version/p' | sed -e 's/^gcc version \([0-9\.]\)/\1/g' -e 's/[-\ ].*//g' -e '1q'}
|
||||
ARCHCCMAJOR = ${shell echo $(ARCHCCVERSION) | cut -d'.' -f1}
|
||||
|
||||
# optimisation flags
|
||||
ARCHOPTIMIZATION = $(MAXOPTIMIZATION) \
|
||||
-fno-strict-aliasing \
|
||||
-fno-strength-reduce \
|
||||
-fomit-frame-pointer \
|
||||
-funsafe-math-optimizations \
|
||||
-fno-builtin-printf \
|
||||
-ffunction-sections \
|
||||
-fdata-sections
|
||||
|
||||
ifeq ("${CONFIG_DEBUG_SYMBOLS}","y")
|
||||
ARCHOPTIMIZATION += -g
|
||||
endif
|
||||
|
||||
ARCHCFLAGS = -std=gnu99
|
||||
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x
|
||||
ARCHWARNINGS = -Wall \
|
||||
-Wextra \
|
||||
-Wdouble-promotion \
|
||||
-Wshadow \
|
||||
-Wfloat-equal \
|
||||
-Wframe-larger-than=1024 \
|
||||
-Wpointer-arith \
|
||||
-Wlogical-op \
|
||||
-Wmissing-declarations \
|
||||
-Wpacked \
|
||||
-Wno-unused-parameter
|
||||
# -Wcast-qual - generates spurious noreturn attribute warnings, try again later
|
||||
# -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
|
||||
# -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
|
||||
|
||||
ARCHCWARNINGS = $(ARCHWARNINGS) \
|
||||
-Wbad-function-cast \
|
||||
-Wstrict-prototypes \
|
||||
-Wold-style-declaration \
|
||||
-Wmissing-parameter-type \
|
||||
-Wmissing-prototypes \
|
||||
-Wnested-externs \
|
||||
-Wunsuffixed-float-constants
|
||||
ARCHWARNINGSXX = $(ARCHWARNINGS) \
|
||||
-Wno-psabi
|
||||
ARCHDEFINES =
|
||||
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||
|
||||
# this seems to be the only way to add linker flags
|
||||
EXTRA_LIBS += --warn-common \
|
||||
--gc-sections
|
||||
|
||||
CFLAGS = $(ARCHCFLAGS) $(ARCHCWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe -fno-common
|
||||
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||
CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
|
||||
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||
CPPFLAGS = $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) $(ARCHDEFINES) $(EXTRADEFINES)
|
||||
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
|
||||
|
||||
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat.ld -no-check-sections
|
||||
LDNXFLATFLAGS = -e main -s 2048
|
||||
|
||||
OBJEXT = .o
|
||||
LIBEXT = .a
|
||||
EXEEXT =
|
||||
|
||||
|
||||
# produce partially-linked $1 from files in $2
|
||||
define PRELINK
|
||||
@echo "PRELINK: $1"
|
||||
$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
|
||||
endef
|
||||
|
||||
HOSTCC = gcc
|
||||
HOSTINCLUDES = -I.
|
||||
HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
|
||||
HOSTLDFLAGS =
|
||||
|
||||
@@ -0,0 +1,150 @@
|
||||
/****************************************************************************
|
||||
* configs/px4fmu/common/ld.script
|
||||
*
|
||||
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The STM32F427 has 2048Kb of FLASH beginning at address 0x0800:0000 and
|
||||
* 256Kb of SRAM. SRAM is split up into three blocks:
|
||||
*
|
||||
* 1) 112Kb of SRAM beginning at address 0x2000:0000
|
||||
* 2) 16Kb of SRAM beginning at address 0x2001:c000
|
||||
* 3) 64Kb of SRAM beginning at address 0x2002:0000
|
||||
* 4) 64Kb of TCM SRAM beginning at address 0x1000:0000
|
||||
*
|
||||
* When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
|
||||
* where the code expects to begin execution by jumping to the entry point in
|
||||
* the 0x0800:0000 address range.
|
||||
*
|
||||
* The first 0x4000 of flash is reserved for the bootloader.
|
||||
*/
|
||||
|
||||
MEMORY
|
||||
{
|
||||
flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K
|
||||
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 192K
|
||||
ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
OUTPUT_ARCH(arm)
|
||||
|
||||
ENTRY(__start) /* treat __start as the anchor for dead code stripping */
|
||||
EXTERN(_vectors) /* force the vectors to be included in the output */
|
||||
|
||||
/*
|
||||
* Ensure that abort() is present in the final object. The exception handling
|
||||
* code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
|
||||
*/
|
||||
EXTERN(abort)
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.text : {
|
||||
_stext = ABSOLUTE(.);
|
||||
*(.vectors)
|
||||
*(.text .text.*)
|
||||
*(.fixup)
|
||||
*(.gnu.warning)
|
||||
*(.rodata .rodata.*)
|
||||
*(.gnu.linkonce.t.*)
|
||||
*(.got)
|
||||
*(.gcc_except_table)
|
||||
*(.gnu.linkonce.r.*)
|
||||
_etext = ABSOLUTE(.);
|
||||
|
||||
/*
|
||||
* This is a hack to make the newlib libm __errno() call
|
||||
* use the NuttX get_errno_ptr() function.
|
||||
*/
|
||||
__errno = get_errno_ptr;
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Init functions (static constructors and the like)
|
||||
*/
|
||||
.init_section : {
|
||||
_sinit = ABSOLUTE(.);
|
||||
KEEP(*(.init_array .init_array.*))
|
||||
_einit = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
/*
|
||||
* Construction data for parameters.
|
||||
*/
|
||||
__param ALIGN(4): {
|
||||
__param_start = ABSOLUTE(.);
|
||||
KEEP(*(__param*))
|
||||
__param_end = ABSOLUTE(.);
|
||||
} > flash
|
||||
|
||||
.ARM.extab : {
|
||||
*(.ARM.extab*)
|
||||
} > flash
|
||||
|
||||
__exidx_start = ABSOLUTE(.);
|
||||
.ARM.exidx : {
|
||||
*(.ARM.exidx*)
|
||||
} > flash
|
||||
__exidx_end = ABSOLUTE(.);
|
||||
|
||||
_eronly = ABSOLUTE(.);
|
||||
|
||||
.data : {
|
||||
_sdata = ABSOLUTE(.);
|
||||
*(.data .data.*)
|
||||
*(.gnu.linkonce.d.*)
|
||||
CONSTRUCTORS
|
||||
_edata = ABSOLUTE(.);
|
||||
} > sram AT > flash
|
||||
|
||||
.bss : {
|
||||
_sbss = ABSOLUTE(.);
|
||||
*(.bss .bss.*)
|
||||
*(.gnu.linkonce.b.*)
|
||||
*(COMMON)
|
||||
_ebss = ABSOLUTE(.);
|
||||
} > sram
|
||||
|
||||
/* Stabs debugging sections. */
|
||||
.stab 0 : { *(.stab) }
|
||||
.stabstr 0 : { *(.stabstr) }
|
||||
.stab.excl 0 : { *(.stab.excl) }
|
||||
.stab.exclstr 0 : { *(.stab.exclstr) }
|
||||
.stab.index 0 : { *(.stab.index) }
|
||||
.stab.indexstr 0 : { *(.stab.indexstr) }
|
||||
.comment 0 : { *(.comment) }
|
||||
.debug_abbrev 0 : { *(.debug_abbrev) }
|
||||
.debug_info 0 : { *(.debug_info) }
|
||||
.debug_line 0 : { *(.debug_line) }
|
||||
.debug_pubnames 0 : { *(.debug_pubnames) }
|
||||
.debug_aranges 0 : { *(.debug_aranges) }
|
||||
}
|
||||
Executable
+351
@@ -0,0 +1,351 @@
|
||||
/************************************************************************************
|
||||
* configs/px4fmu/include/board.h
|
||||
* include/arch/board/board.h
|
||||
*
|
||||
* Copyright (C) 2009 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ARCH_BOARD_BOARD_H
|
||||
#define __ARCH_BOARD_BOARD_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#ifndef __ASSEMBLY__
|
||||
# include <stdint.h>
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Clocking *************************************************************************/
|
||||
/* The PX4FMUV2 uses a 24MHz crystal connected to the HSE.
|
||||
*
|
||||
* This is the "standard" configuration as set up by arch/arm/src/stm32f40xx_rcc.c:
|
||||
* System Clock source : PLL (HSE)
|
||||
* SYSCLK(Hz) : 168000000 Determined by PLL configuration
|
||||
* HCLK(Hz) : 168000000 (STM32_RCC_CFGR_HPRE)
|
||||
* AHB Prescaler : 1 (STM32_RCC_CFGR_HPRE)
|
||||
* APB1 Prescaler : 4 (STM32_RCC_CFGR_PPRE1)
|
||||
* APB2 Prescaler : 2 (STM32_RCC_CFGR_PPRE2)
|
||||
* HSE Frequency(Hz) : 24000000 (STM32_BOARD_XTAL)
|
||||
* PLLM : 24 (STM32_PLLCFG_PLLM)
|
||||
* PLLN : 336 (STM32_PLLCFG_PLLN)
|
||||
* PLLP : 2 (STM32_PLLCFG_PLLP)
|
||||
* PLLQ : 7 (STM32_PLLCFG_PPQ)
|
||||
* Main regulator output voltage : Scale1 mode Needed for high speed SYSCLK
|
||||
* Flash Latency(WS) : 5
|
||||
* Prefetch Buffer : OFF
|
||||
* Instruction cache : ON
|
||||
* Data cache : ON
|
||||
* Require 48MHz for USB OTG FS, : Enabled
|
||||
* SDIO and RNG clock
|
||||
*/
|
||||
|
||||
/* HSI - 16 MHz RC factory-trimmed
|
||||
* LSI - 32 KHz RC
|
||||
* HSE - On-board crystal frequency is 24MHz
|
||||
* LSE - not installed
|
||||
*/
|
||||
|
||||
#define STM32_BOARD_XTAL 24000000ul
|
||||
|
||||
#define STM32_HSI_FREQUENCY 16000000ul
|
||||
#define STM32_LSI_FREQUENCY 32000
|
||||
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
|
||||
//#define STM32_LSE_FREQUENCY 32768
|
||||
|
||||
/* Main PLL Configuration.
|
||||
*
|
||||
* PLL source is HSE
|
||||
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
|
||||
* = (25,000,000 / 25) * 336
|
||||
* = 336,000,000
|
||||
* SYSCLK = PLL_VCO / PLLP
|
||||
* = 336,000,000 / 2 = 168,000,000
|
||||
* USB OTG FS, SDIO and RNG Clock
|
||||
* = PLL_VCO / PLLQ
|
||||
* = 48,000,000
|
||||
*/
|
||||
|
||||
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(24)
|
||||
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(336)
|
||||
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
|
||||
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(7)
|
||||
|
||||
#define STM32_SYSCLK_FREQUENCY 168000000ul
|
||||
|
||||
/* AHB clock (HCLK) is SYSCLK (168MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_HPRE RCC_CFGR_HPRE_SYSCLK /* HCLK = SYSCLK / 1 */
|
||||
#define STM32_HCLK_FREQUENCY STM32_SYSCLK_FREQUENCY
|
||||
#define STM32_BOARD_HCLK STM32_HCLK_FREQUENCY /* same as above, to satisfy compiler */
|
||||
|
||||
/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE1 RCC_CFGR_PPRE1_HCLKd4 /* PCLK1 = HCLK / 4 */
|
||||
#define STM32_PCLK1_FREQUENCY (STM32_HCLK_FREQUENCY/4)
|
||||
|
||||
/* Timers driven from APB1 will be twice PCLK1 */
|
||||
|
||||
#define STM32_APB1_TIM2_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM3_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM4_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM5_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM6_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM7_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM12_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM13_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB1_TIM14_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
|
||||
|
||||
#define STM32_RCC_CFGR_PPRE2 RCC_CFGR_PPRE2_HCLKd2 /* PCLK2 = HCLK / 2 */
|
||||
#define STM32_PCLK2_FREQUENCY (STM32_HCLK_FREQUENCY/2)
|
||||
|
||||
/* Timers driven from APB2 will be twice PCLK2 */
|
||||
|
||||
#define STM32_APB2_TIM1_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM8_CLKIN (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_APB2_TIM9_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
|
||||
* otherwise frequency is 2xAPBx.
|
||||
* Note: TIM1,8 are on APB2, others on APB1
|
||||
*/
|
||||
|
||||
#define STM32_TIM18_FREQUENCY (2*STM32_PCLK2_FREQUENCY)
|
||||
#define STM32_TIM27_FREQUENCY (2*STM32_PCLK1_FREQUENCY)
|
||||
|
||||
/* SDIO dividers. Note that slower clocking is required when DMA is disabled
|
||||
* in order to avoid RX overrun/TX underrun errors due to delayed responses
|
||||
* to service FIFOs in interrupt driven mode. These values have not been
|
||||
* tuned!!!
|
||||
*
|
||||
* HCLK=72MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(178+2)=400 KHz
|
||||
*/
|
||||
|
||||
#define SDIO_INIT_CLKDIV (178 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
|
||||
/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(2+2)=18 MHz
|
||||
* DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_SDIO_DMA
|
||||
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define SDIO_MMCXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
|
||||
/* DMA ON: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(1+2)=24 MHz
|
||||
* DMA OFF: HCLK=72 MHz, SDIOCLK=72MHz, SDIO_CK=HCLK/(3+2)=14.4 MHz
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_SDIO_DMA
|
||||
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
#else
|
||||
# define SDIO_SDXFR_CLKDIV (3 << SDIO_CLKCR_CLKDIV_SHIFT)
|
||||
#endif
|
||||
|
||||
/* High-resolution timer
|
||||
*/
|
||||
#ifdef CONFIG_HRT_TIMER
|
||||
# define HRT_TIMER 8 /* use timer8 for the HRT */
|
||||
# define HRT_TIMER_CHANNEL 1 /* use capture/compare channel */
|
||||
#endif
|
||||
|
||||
/* Alternate function pin selections ************************************************/
|
||||
|
||||
/*
|
||||
* UARTs.
|
||||
*/
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_1 /* console in from IO */
|
||||
#define GPIO_USART1_TX 0 /* USART1 is RX-only */
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_2
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2
|
||||
#define GPIO_USART2_RTS GPIO_USART2_RTS_2
|
||||
#define GPIO_USART2_CTS GPIO_USART2_CTS_2
|
||||
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3
|
||||
#define GPIO_USART2_RTS GPIO_USART2_RTS_2
|
||||
#define GPIO_USART2_CTS GPIO_USART2_CTS_2
|
||||
|
||||
#define GPIO_UART4_RX GPIO_UART4_RX_1
|
||||
#define GPIO_UART4_TX GPIO_UART4_TX_1
|
||||
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_1
|
||||
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_1
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_1
|
||||
|
||||
/* UART8 has no alternate pin config */
|
||||
|
||||
/* UART RX DMA configurations */
|
||||
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
|
||||
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
|
||||
|
||||
/*
|
||||
* PWM
|
||||
*
|
||||
* Six PWM outputs are configured.
|
||||
*
|
||||
* Pins:
|
||||
*
|
||||
* CH1 : PE14 : TIM1_CH4
|
||||
* CH2 : PE13 : TIM1_CH3
|
||||
* CH3 : PE11 : TIM1_CH2
|
||||
* CH4 : PE9 : TIM1_CH1
|
||||
* CH5 : PD13 : TIM4_CH2
|
||||
* CH6 : PD14 : TIM4_CH3
|
||||
*
|
||||
*/
|
||||
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2
|
||||
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2
|
||||
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2
|
||||
#define GPIO_TIM1_CH4OUT GPIO_TIM1_CH4OUT_2
|
||||
#define GPIO_TIM4_CH2OUT GPIO_TIM4_CH2OUT_2
|
||||
#define GPIO_TIM4_CH3OUT GPIO_TIM4_CH3OUT_2
|
||||
|
||||
/*
|
||||
* CAN
|
||||
*
|
||||
* CAN1 is routed to the onboard transceiver.
|
||||
* CAN2 is routed to the expansion connector.
|
||||
*/
|
||||
|
||||
#define GPIO_CAN1_RX GPIO_CAN1_RX_3
|
||||
#define GPIO_CAN1_TX GPIO_CAN1_TX_3
|
||||
#define GPIO_CAN2_RX GPIO_CAN2_RX_1
|
||||
#define GPIO_CAN2_TX GPIO_CAN2_TX_2
|
||||
|
||||
/*
|
||||
* I2C
|
||||
*
|
||||
* The optional _GPIO configurations allow the I2C driver to manually
|
||||
* reset the bus to clear stuck slaves. They match the pin configuration,
|
||||
* but are normally-high GPIOs.
|
||||
*/
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
|
||||
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN10)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
|
||||
|
||||
/*
|
||||
* I2C busses
|
||||
*/
|
||||
#define PX4_I2C_BUS_EXPANSION 1
|
||||
#define PX4_I2C_BUS_LED 2
|
||||
|
||||
/*
|
||||
* Devices on the onboard bus.
|
||||
*
|
||||
* Note that these are unshifted addresses.
|
||||
*/
|
||||
#define PX4_I2C_OBDEV_LED 0x5a
|
||||
|
||||
/*
|
||||
* SPI
|
||||
*
|
||||
* There are sensors on SPI1, and SPI2 is connected to the FRAM.
|
||||
*/
|
||||
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
|
||||
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
|
||||
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1
|
||||
|
||||
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_1
|
||||
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_1
|
||||
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_2
|
||||
|
||||
/*
|
||||
* Use these in place of the spi_dev_e enumeration to
|
||||
* select a specific SPI device on SPI1
|
||||
*/
|
||||
#define PX4_SPIDEV_GYRO 1
|
||||
#define PX4_SPIDEV_ACCEL_MAG 2
|
||||
#define PX4_SPIDEV_BARO 3
|
||||
|
||||
/*
|
||||
* Tone alarm output
|
||||
*/
|
||||
#define TONE_ALARM_TIMER 2 /* timer 3 */
|
||||
#define TONE_ALARM_CHANNEL 1 /* channel 3 */
|
||||
#define GPIO_TONE_ALARM (GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_FLOAT|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ASSEMBLY__
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
#define EXTERN extern "C"
|
||||
extern "C" {
|
||||
#else
|
||||
#define EXTERN extern
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Public Function Prototypes
|
||||
************************************************************************************/
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the intitialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
EXTERN void stm32_boardinitialize(void);
|
||||
|
||||
#undef EXTERN
|
||||
#if defined(__cplusplus)
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
#endif /* __ARCH_BOARD_BOARD_H */
|
||||
@@ -0,0 +1,42 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* nsh_romfsetc.h
|
||||
*
|
||||
* This file is a stub for 'make export' purposes; the actual ROMFS
|
||||
* must be supplied by the library client.
|
||||
*/
|
||||
|
||||
extern unsigned char romfs_img[];
|
||||
extern unsigned int romfs_img_len;
|
||||
@@ -0,0 +1,3 @@
|
||||
include ${TOPDIR}/.config
|
||||
|
||||
include $(TOPDIR)/configs/px4fmu/common/Make.defs
|
||||
@@ -0,0 +1,143 @@
|
||||
############################################################################
|
||||
# configs/px4fmu/nsh/appconfig
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
# Path to example in apps/examples containing the user_start entry point
|
||||
|
||||
CONFIGURED_APPS += examples/nsh
|
||||
|
||||
# The NSH application library
|
||||
CONFIGURED_APPS += nshlib
|
||||
CONFIGURED_APPS += system/readline
|
||||
|
||||
# System library - utility functions
|
||||
CONFIGURED_APPS += systemlib
|
||||
CONFIGURED_APPS += systemlib/mixer
|
||||
|
||||
# Math library
|
||||
ifneq ($(CONFIG_APM),y)
|
||||
CONFIGURED_APPS += mathlib
|
||||
CONFIGURED_APPS += mathlib/CMSIS
|
||||
CONFIGURED_APPS += examples/math_demo
|
||||
endif
|
||||
|
||||
# Control library
|
||||
ifneq ($(CONFIG_APM),y)
|
||||
CONFIGURED_APPS += controllib
|
||||
CONFIGURED_APPS += examples/control_demo
|
||||
CONFIGURED_APPS += examples/kalman_demo
|
||||
endif
|
||||
|
||||
# System utility commands
|
||||
CONFIGURED_APPS += systemcmds/reboot
|
||||
CONFIGURED_APPS += systemcmds/perf
|
||||
CONFIGURED_APPS += systemcmds/top
|
||||
CONFIGURED_APPS += systemcmds/boardinfo
|
||||
CONFIGURED_APPS += systemcmds/mixer
|
||||
# No I2C EEPROM - need new param interface
|
||||
#CONFIGURED_APPS += systemcmds/eeprom
|
||||
#CONFIGURED_APPS += systemcmds/param
|
||||
CONFIGURED_APPS += systemcmds/pwm
|
||||
CONFIGURED_APPS += systemcmds/bl_update
|
||||
CONFIGURED_APPS += systemcmds/preflight_check
|
||||
CONFIGURED_APPS += systemcmds/delay_test
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/hello_sky
|
||||
# CONFIGURED_APPS += examples/px4_simple_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/deamon
|
||||
# CONFIGURED_APPS += examples/px4_deamon_app
|
||||
|
||||
# Tutorial code from
|
||||
# https://pixhawk.ethz.ch/px4/dev/debug_values
|
||||
# CONFIGURED_APPS += examples/px4_mavlink_debug
|
||||
|
||||
# Shared object broker; required by many parts of the system.
|
||||
CONFIGURED_APPS += uORB
|
||||
|
||||
CONFIGURED_APPS += mavlink
|
||||
CONFIGURED_APPS += mavlink_onboard
|
||||
CONFIGURED_APPS += commander
|
||||
CONFIGURED_APPS += sdlog
|
||||
CONFIGURED_APPS += sensors
|
||||
|
||||
ifneq ($(CONFIG_APM),y)
|
||||
#CONFIGURED_APPS += ardrone_interface
|
||||
CONFIGURED_APPS += multirotor_att_control
|
||||
CONFIGURED_APPS += multirotor_pos_control
|
||||
#CONFIGURED_APPS += fixedwing_control
|
||||
CONFIGURED_APPS += fixedwing_att_control
|
||||
CONFIGURED_APPS += fixedwing_pos_control
|
||||
CONFIGURED_APPS += position_estimator
|
||||
CONFIGURED_APPS += attitude_estimator_ekf
|
||||
CONFIGURED_APPS += hott_telemetry
|
||||
endif
|
||||
|
||||
# Hacking tools
|
||||
# XXX needs updating for new i2c config
|
||||
#CONFIGURED_APPS += systemcmds/i2c
|
||||
|
||||
# Communication and Drivers
|
||||
CONFIGURED_APPS += drivers/boards/px4fmuv2
|
||||
CONFIGURED_APPS += drivers/device
|
||||
# XXX needs conversion to SPI
|
||||
#CONFIGURED_APPS += drivers/ms5611
|
||||
CONFIGURED_APPS += drivers/l3gd20
|
||||
# XXX needs conversion to serial
|
||||
#CONFIGURED_APPS += drivers/px4io
|
||||
CONFIGURED_APPS += drivers/stm32
|
||||
#CONFIGURED_APPS += drivers/led
|
||||
CONFIGURED_APPS += drivers/blinkm
|
||||
CONFIGURED_APPS += drivers/stm32/tone_alarm
|
||||
CONFIGURED_APPS += drivers/stm32/adc
|
||||
#CONFIGURED_APPS += drivers/px4fmu
|
||||
CONFIGURED_APPS += drivers/hil
|
||||
CONFIGURED_APPS += drivers/gps
|
||||
CONFIGURED_APPS += drivers/mb12xx
|
||||
|
||||
# Testing stuff
|
||||
CONFIGURED_APPS += px4/sensors_bringup
|
||||
CONFIGURED_APPS += px4/tests
|
||||
|
||||
ifeq ($(CONFIG_CAN),y)
|
||||
#CONFIGURED_APPS += examples/can
|
||||
endif
|
||||
|
||||
#ifeq ($(CONFIG_USBDEV),y)
|
||||
#ifeq ($(CONFIG_CDCACM),y)
|
||||
CONFIGURED_APPS += examples/cdcacm
|
||||
#endif
|
||||
#endif
|
||||
Executable
+1050
File diff suppressed because it is too large
Load Diff
Executable
+67
@@ -0,0 +1,67 @@
|
||||
#!/bin/bash
|
||||
# configs/stm3240g-eval/nsh/setenv.sh
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
|
||||
if [ "$_" = "$0" ] ; then
|
||||
echo "You must source this script, not run it!" 1>&2
|
||||
exit 1
|
||||
fi
|
||||
|
||||
WD=`pwd`
|
||||
if [ ! -x "setenv.sh" ]; then
|
||||
echo "This script must be executed from the top-level NuttX build directory"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
if [ -z "${PATH_ORIG}" ]; then
|
||||
export PATH_ORIG="${PATH}"
|
||||
fi
|
||||
|
||||
# This the Cygwin path to the location where I installed the RIDE
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the RIDE toolchain in any other location
|
||||
#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Raisonance/Ride/arm-gcc/bin"
|
||||
|
||||
# This the Cygwin path to the location where I installed the CodeSourcery
|
||||
# toolchain under windows. You will also have to edit this if you install
|
||||
# the CodeSourcery toolchain in any other location
|
||||
export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
|
||||
|
||||
# This the Cygwin path to the location where I build the buildroot
|
||||
# toolchain.
|
||||
#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
|
||||
|
||||
# Add the path to the toolchain to the PATH varialble
|
||||
export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
|
||||
|
||||
echo "PATH : ${PATH}"
|
||||
@@ -0,0 +1,84 @@
|
||||
############################################################################
|
||||
# configs/px4fmu/src/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name NuttX nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
-include $(TOPDIR)/Make.defs
|
||||
|
||||
CFLAGS += -I$(TOPDIR)/sched
|
||||
|
||||
ASRCS =
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
|
||||
CSRCS = empty.c
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ARCH_SRCDIR = $(TOPDIR)/arch/$(CONFIG_ARCH)/src
|
||||
ifeq ($(WINTOOL),y)
|
||||
CFLAGS += -I "${shell cygpath -w $(ARCH_SRCDIR)/chip}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/common}" \
|
||||
-I "${shell cygpath -w $(ARCH_SRCDIR)/armv7-m}"
|
||||
else
|
||||
CFLAGS += -I$(ARCH_SRCDIR)/chip -I$(ARCH_SRCDIR)/common -I$(ARCH_SRCDIR)/armv7-m
|
||||
endif
|
||||
|
||||
all: libboard$(LIBEXT)
|
||||
|
||||
$(AOBJS): %$(OBJEXT): %.S
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS) $(LINKOBJS): %$(OBJEXT): %.c
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
libboard$(LIBEXT): $(OBJS)
|
||||
$(call ARCHIVE, $@, $(OBJS))
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
$(Q) $(MKDEP) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
$(call DELFILE, libboard$(LIBEXT))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
@@ -0,0 +1,4 @@
|
||||
/*
|
||||
* There are no source files here, but libboard.a can't be empty, so
|
||||
* we have this empty source file to keep it company.
|
||||
*/
|
||||
Reference in New Issue
Block a user