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This commit is contained in:
Daniel Agar
2018-11-16 12:52:37 -05:00
committed by David Sidrane
parent c1f851a600
commit f692ad04d0
507 changed files with 9976 additions and 10990 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/nuttx/CMakeLists.txt
+11 -19
View File
@@ -35,9 +35,7 @@ include(cygwin_cygpath)
add_subdirectory(src)
if (NOT FW_NAME)
set(FW_NAME ${CONFIG}.elf)
endif()
set(FW_NAME ${PX4_BOARD_VENDOR}${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
add_executable(${FW_NAME} ${PX4_SOURCE_DIR}/src/platforms/empty.c)
add_dependencies(${FW_NAME} git_nuttx nuttx_build)
@@ -66,10 +64,6 @@ if (CONFIG_NET)
target_link_libraries(nuttx_fs INTERFACE nuttx_net)
endif()
if (NOT LD_SCRIPT)
set(LD_SCRIPT ld.script)
endif()
file(RELATIVE_PATH PX4_BINARY_DIR_REL ${CMAKE_CURRENT_BINARY_DIR} ${PX4_BINARY_DIR})
# only in the cygwin environment: convert absolute linker script path to mixed windows (C:/...)
@@ -95,7 +89,7 @@ target_link_libraries(${FW_NAME} PRIVATE
-fno-exceptions
-fno-rtti
-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx/configs/${BOARD}/scripts/${LD_SCRIPT}
-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx/configs/${PX4_BOARD}/scripts/ld.script
-Wl,-Map=${CONFIG}.map
-Wl,--warn-common
-Wl,--gc-sections
@@ -123,31 +117,29 @@ string(REPLACE "nuttx_" "" fw_name_short ${FW_NAME})
set(fw_file ${PX4_BINARY_DIR}/${fw_name_short})
string(REPLACE ".elf" ".px4" fw_file ${fw_file})
add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${BOARD}.bin
COMMAND ${OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${BOARD}.bin
add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
DEPENDS ${FW_NAME}
)
if (NOT FW_PROTOTYPE)
set(FW_PROTOTYPE ${BOARD})
endif()
set(FW_PROTOTYPE ${PX4_BOARD_VENDOR}${PX4_BOARD_MODEL})
if (TARGET parameters_xml AND TARGET airframes_xml)
add_custom_command(OUTPUT ${fw_file}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
--prototype ${PX4_SOURCE_DIR}/platforms/nuttx/Images/${FW_PROTOTYPE}.prototype
--prototype ${PX4_SOURCE_DIR}/boards/${PX4_BOARD_VENDOR}/${PX4_BOARD_MODEL}/firmware.prototype
--git_identity ${PX4_SOURCE_DIR}
--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
--image ${PX4_BINARY_DIR}/${BOARD}.bin > ${fw_file}
DEPENDS ${PX4_BINARY_DIR}/${BOARD}.bin parameters_xml airframes_xml
--image ${PX4_BINARY_DIR}/${PX4_BOARD}.bin > ${fw_file}
DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD}.bin parameters_xml airframes_xml
COMMENT "Creating ${fw_file}"
)
add_custom_target(px4 ALL DEPENDS ${fw_file})
# upload helper
if (${BOARD} STREQUAL "aerofc-v1")
if (${PX4_BOARD} STREQUAL "aerofc-v1")
# TODO: should be set only in aero config
add_custom_target(upload
@@ -289,7 +281,7 @@ if (BLOATY_PROGRAM)
# bloaty compare with last master build
add_custom_target(bloaty_compare_master
COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${FW_NAME} -O master_${FW_NAME}
COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/nuttx_${FW_NAME} -O master_${FW_NAME}
COMMAND ${BLOATY_PROGRAM} -d symbols -n 50 -C full -s vm $<TARGET_FILE:${FW_NAME}> -- master_${FW_NAME}
DEPENDS ${FW_NAME}
WORKING_DIRECTORY ${PX4_BINARY_DIR}
@@ -353,7 +345,7 @@ if(black_magic_probe_path)
)
add_custom_target(blackmagic_console
COMMAND screen -t "${BOARD} console" ${black_magic_probe_console_path} 57600 8N1
COMMAND screen -t "${PX4_BOARD} console" ${black_magic_probe_console_path} 57600 8N1
USES_TERMINAL
)
platforms/nuttx/Debug/poor-mans-profiler.sh
+1 -1
View File
@@ -77,7 +77,7 @@ do
shift
done
[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/nuttx_px4fmu-v4_default/nuttx_px4fmu-v4_default.elf"
[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/px4fmu-v4_default.elf"
#
# Temporary files
platforms/nuttx/Images/aerocore2.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 98,
"magic": "AeroCore2",
"description": "Firmware for the Gumstix AeroCore2 board",
"image": "",
"build_time": 0,
"summary": "AEROCORE2",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1032192,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/aerofc-v1.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 65,
"magic": "PX4FWv1",
"description": "Firmware for the Intel Aero FC board",
"image": "",
"build_time": 0,
"summary": "AEROFCv1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 999424,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/auav-x21.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 33,
"magic": "PX4FWv1",
"description": "Firmware for the AUAV X2.1 board",
"image": "",
"build_time": 0,
"summary": "AUAV X2.1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2080768,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/av-x-v1.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 50,
"magic": "AV-Xv1",
"description": "Firmware for the AV-Xv1 board",
"image": "",
"build_time": 0,
"summary": "AV-Xv1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2064384,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/crazyflie.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 12,
"magic": "Crazyflie",
"description": "Firmware for the Crazyflie 2.0",
"image": "",
"build_time": 0,
"summary": "CRAZYFLIE",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1032192,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/esc35-v1.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 27,
"magic": "ESC35v1",
"description": "Firmware for the ESC35V1 board",
"image": "",
"build_time": 0,
"summary": "ESC35v1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 229376,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/mindpx-v2.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 88,
"magic": "MindPX",
"description": "Firmware for the MindPXFMUv2 board",
"image": "",
"build_time": 0,
"summary": "MindPXFMUv2",
"version": "2.1",
"image_size": 0,
"image_maxsize": 2080768,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/nxphlite-v3.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 28,
"magic": "PX4FWv1",
"description": "Firmware for the NXPHLITEv3 board",
"image": "",
"build_time": 0,
"summary": "NXPHLITEv3",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2096112,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/omnibus-f4sd.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 42,
"magic": "OMNIBUSF4SD",
"description": "Firmware for the OmnibusF4SD board",
"image": "",
"build_time": 0,
"summary": "PX4/OmnibusF4",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1032192,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4-same70xplained-v1.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 110,
"magic": "PX4FWv1",
"description": "Firmware for the SAME70xplained board",
"image": "",
"build_time": 0,
"summary": "PX4/SAME70xplained",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2097152,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4-stm32f4discovery.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 99,
"magic": "PX4FWv1",
"description": "Firmware for the STM32F4Discovery board",
"image": "",
"build_time": 0,
"summary": "PX4/STM32F4Discovery",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1032192,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4cannode-v1.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 22,
"magic": "CANNODEFWv1",
"description": "Firmware for the PX4CANNODE board",
"image": "",
"build_time": 0,
"summary": "PX4CANNODEv1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 122880,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4esc-v1.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 25,
"magic": "ESCv1",
"description": "Firmware for the PX4ESCV1 board",
"image": "",
"build_time": 0,
"summary": "PX4ESCv1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 475136,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4flow-v2.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 24,
"magic": "FLOWv1",
"description": "Firmware for the PX4FlowV2 board",
"image": "",
"build_time": 0,
"summary": "PX4FLOWv2",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2080768,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4fmu-v2.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 9,
"magic": "PX4FWv1",
"description": "Firmware for the PX4FMUv2 board",
"image": "",
"build_time": 0,
"summary": "PX4FMUv2",
"version": "0.1",
"image_size": 0,
"image_maxsize": 1032192,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4fmu-v3.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 9,
"magic": "PX4FWv1",
"description": "Firmware for the PX4FMUv3 board",
"image": "",
"build_time": 0,
"summary": "PX4FMUv3",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2080768,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4fmu-v4.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 11,
"magic": "PX4FWv1",
"description": "Firmware for the PX4FMUv4 board",
"image": "",
"build_time": 0,
"summary": "PX4FMUv4",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2080768,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4fmu-v4pro.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 13,
"magic": "PX4FWv1",
"description": "Firmware for the PX4FMUv4PRO board, based on STM32F469",
"image": "",
"build_time": 0,
"summary": "PX4FMUv4PRO",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2080768,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4fmu-v5.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 50,
"magic": "PX4FWv1",
"description": "Firmware for the PX4FMUv5 board",
"image": "",
"build_time": 0,
"summary": "PX4FMUv5",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2064384,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4io-v2.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 10,
"magic": "PX4FWv2",
"description": "Firmware for the PX4IOv2 board",
"image": "",
"build_time": 0,
"summary": "PX4IOv2",
"version": "2.0",
"image_size": 0,
"image_maxsize": 61440,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/px4nucleoF767ZI-v1.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 90,
"magic": "PX4FWv1",
"description": "Firmware for the ST nucleo-144 with STM32FF767ZI-v1 board",
"image": "",
"build_time": 0,
"summary": "PX4NUCLEOF767ZIv1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 2097152,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/s2740vc-v1.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 23,
"magic": "S2740VCblv1",
"description": "Firmware for the S2740VC board",
"image": "",
"build_time": 0,
"summary": "S2740VCv1",
"version": "0.1",
"image_size": 0,
"image_maxsize": 65536,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/Images/zubaxgnss-v1.prototype
-13
View File
@@ -1,13 +0,0 @@
{
"board_id": 26,
"magic": "ZUBAXGNSSFWv1",
"description": "Firmware for the ZUBAXGNSS board",
"image": "",
"build_time": 0,
"summary": "ZUBAXGNSSv1",
"version": "0.0",
"image_size": 0,
"image_maxsize": 253952,
"git_identity": "",
"board_revision": 0
}
platforms/nuttx/NuttX/CMakeLists.txt
+40 -44
View File
@@ -3,17 +3,11 @@ cmake_minimum_required(VERSION 3.2)
px4_add_git_submodule(TARGET git_nuttx PATH "nuttx")
px4_add_git_submodule(TARGET git_nuttx_apps PATH "apps")
if(NOT BOARD)
message(FATAL_ERROR "BOARD must be set (eg px4fmu-v2)")
if(NOT PX4_BOARD)
message(FATAL_ERROR "PX4_BOARD must be set (eg px4fmu-v2)")
endif()
if(NOT nuttx_config_type)
# default to nsh if not specified
set(nuttx_config_type "nsh")
endif()
project(NuttX_${BOARD} LANGUAGES ASM C CXX)
message(STATUS "NuttX: " ${BOARD} " " ${nuttx_config_type} " " ${CMAKE_SYSTEM_PROCESSOR})
project(NuttX_${PX4_BOARD} LANGUAGES ASM C CXX)
if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
# copy with rsync and create file dependencies
@@ -39,8 +33,10 @@ file(GLOB_RECURSE copy_apps_files
${CMAKE_CURRENT_SOURCE_DIR}/apps/*)
set(NUTTX_DIR ${CMAKE_CURRENT_BINARY_DIR}/nuttx)
set(NUTTX_CONFIG_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs)
configure_file(${NUTTX_CONFIG_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
set(NUTTX_CONFIGS_DIR ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
# copy nuttx to build directory
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/nuttx)
@@ -66,24 +62,23 @@ add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
# copy PX4 board config into nuttx
file(GLOB_RECURSE board_config_files ${NUTTX_CONFIG_DIR}/${BOARD})
file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_CONFIG_DIR}/${BOARD})
file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${NUTTX_DIR}/configs)
add_custom_command(
OUTPUT ${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig ${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR}/configs/${BOARD}/src
COMMAND cd ${CMAKE_SOURCE_DIR} && ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${NUTTX_DIR}/configs/${PX4_BOARD}/
COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR}/configs/${PX4_BOARD}/src
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${NUTTX_DIR}/configs/${PX4_BOARD}/include
DEPENDS
${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
${board_config_files}
${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
${NUTTX_CONFIG_DIR}/include/board.h
${NUTTX_CONFIG_DIR}/scripts/ld.script
${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
WORKING_DIRECTORY ${NUTTX_DIR}/tools
COMMENT "Copying NuttX config ${BOARD} and configuring"
COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
)
add_custom_target(nuttx_configure DEPENDS ${NUTTX_DIR}/.config)
# verbose build settings (V=1 or VERBOSE=1)
option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
@@ -106,11 +101,11 @@ endif()
# context
add_custom_command(OUTPUT ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
COMMAND make ${nuttx_build_options} --no-print-directory context ${nuttx_build_output}
DEPENDS nuttx_configure ${NUTTX_DIR}/.config
DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/version.h)
add_custom_target(nuttx_context DEPENDS ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h)
# library of NuttX libraries
add_library(nuttx_build INTERFACE)
@@ -126,9 +121,10 @@ if (CONFIG_NSH_LIBRARY)
COMMAND rm -f ${APPS_DIR}/builtin/builtin_list.h
COMMAND ${CMAKE_COMMAND} -E touch builtins_clean.stamp
DEPENDS
nuttx_configure
nuttx_context
${PX4_SOURCE_DIR}/cmake/configs/${CONFIG}.cmake
${NUTTX_DIR}/.config
${NUTTX_DIR}/include/nuttx/version.h
${NUTTX_DIR}/include/nuttx/config.h
${PX4_CONFIG_FILE}
)
foreach(module ${module_libraries})
@@ -140,7 +136,7 @@ if (CONFIG_NSH_LIBRARY)
add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
COMMAND echo "{ \"${MAIN}\", ${PRIORITY}, ${STACK_MAIN}, ${MAIN}_main }," > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
DEPENDS nuttx_context builtins_clean.stamp
DEPENDS builtins_clean.stamp ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
VERBATIM
)
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.bdat)
@@ -148,7 +144,7 @@ if (CONFIG_NSH_LIBRARY)
add_custom_command(OUTPUT ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
COMMAND echo "int ${MAIN}_main(int argc, char *argv[]);" > ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat
COMMAND ${CMAKE_COMMAND} -E touch ${APPS_DIR}/builtin/registry/.updated
DEPENDS nuttx_context builtins_clean.stamp
DEPENDS builtins_clean.stamp ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
VERBATIM
)
list(APPEND nuttx_builtin_list ${APPS_DIR}/builtin/registry/px4_${MAIN}_main.pdat)
@@ -163,7 +159,7 @@ endif()
add_custom_command(OUTPUT ${APPS_DIR}/libapps.a ${APPS_DIR}/platform/.built
COMMAND find ${APPS_DIR} -name \*.o -delete
COMMAND make ${nuttx_build_options} --no-print-directory -C ../apps TOPDIR="${NUTTX_DIR}" libapps.a ${nuttx_build_output}
DEPENDS nuttx_context ${nuttx_builtin_list}
DEPENDS ${nuttx_builtin_list} ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
@@ -182,7 +178,7 @@ function(add_nuttx_dir nuttx_lib nuttx_lib_dir kernel extra)
add_custom_command(OUTPUT ${NUTTX_DIR}/${nuttx_lib_dir}/lib${nuttx_lib}.a
COMMAND find ${nuttx_lib_dir} -type f -name *.o -delete
COMMAND make -C ${nuttx_lib_dir} ${nuttx_build_options} --no-print-directory all TOPDIR=${NUTTX_DIR} KERNEL=${kernel} EXTRADEFINES=${extra} ${nuttx_build_output}
DEPENDS ${nuttx_lib_files} nuttx_context
DEPENDS ${nuttx_lib_files} ${NUTTX_DIR}/include/nuttx/version.h ${NUTTX_DIR}/include/nuttx/config.h
WORKING_DIRECTORY ${NUTTX_DIR}
${nuttx_build_uses_terminal}
)
@@ -210,32 +206,32 @@ endif()
# oldconfig helper
add_custom_target(oldconfig
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} oldconfig
COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
COMMAND ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
DEPENDS nuttx_configure
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} oldconfig
COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
COMMAND ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running NuttX make oldconfig for ${BOARD} with ${nuttx_config_type}"
COMMENT "Running NuttX make oldconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
# menuconfig helper
add_custom_target(menuconfig
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} menuconfig
COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
COMMAND cd ${PX4_SOURCE_DIR} && platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
DEPENDS nuttx_configure
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} menuconfig
COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
COMMAND cd ${PX4_SOURCE_DIR} && platforms/nuttx/NuttX/tools/nuttx_defconf_tool.sh ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running NuttX make menuconfig for ${BOARD} with ${nuttx_config_type}"
COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
# qconfig helper
add_custom_target(qconfig
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${BOARD} qconfig
COMMAND cp .config ${NUTTX_CONFIG_DIR}/${BOARD}/${nuttx_config_type}/defconfig
DEPENDS nuttx_configure
COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} qconfig
COMMAND cp .config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
DEPENDS ${NUTTX_DIR}/.config
WORKING_DIRECTORY ${NUTTX_DIR}
COMMENT "Running NuttX make qconfig for ${BOARD} with ${nuttx_config_type}"
COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}"
USES_TERMINAL
)
platforms/nuttx/nuttx-configs/Make.defs.in → platforms/nuttx/NuttX/Make.defs.in
+38 -15
View File
@@ -36,10 +36,10 @@
include $(TOPDIR)/.config
include $(TOPDIR)/tools/Config.mk
CC = ${C_COMPILER}
CXX = ${CXX_COMPILER}
CPP = ${C_COMPILER} -E
LD = ${LD}
CC = ${CMAKE_C_COMPILER}
CXX = ${CMAKE_CXX_COMPILER}
CPP = ${CMAKE_C_COMPILER} -E
LD = ${CMAKE_LD}
AR = ${CMAKE_AR} rcs
NM = ${CMAKE_NM}
OBJCOPY = ${CMAKE_OBJCOPY}
@@ -48,12 +48,10 @@ OBJDUMP = ${CMAKE_OBJDUMP}
# Include paths with Cygwin path conversion
ifneq (, $(findstring CYGWIN, $(shell uname)))
WINTOOL = y
PX4INCLUDES = -I"$(shell cygpath -w ${PX4_SOURCE_DIR}/src/include)"
ARCHINCLUDES = $(PX4INCLUDES) -I. -isystem "$(shell cygpath -w $(TOPDIR)/include)"
ARCHINCLUDES = -I. -isystem "$(shell cygpath -w $(TOPDIR)/include)"
ARCHXXINCLUDES = $(ARCHINCLUDES) -isystem "$(shell cygpath -w $(TOPDIR)/include/cxx)"
else
PX4INCLUDES = -I${PX4_SOURCE_DIR}/src/include
ARCHINCLUDES = $(PX4INCLUDES) -I. -isystem $(TOPDIR)/include
ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
ARCHXXINCLUDES = $(ARCHINCLUDES) -isystem $(TOPDIR)/include/cxx
endif
@@ -64,20 +62,41 @@ ifeq ($(WINTOOL),y)
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
endif
FLAGS = -Os -g2 \
-fdata-sections \
-ffunction-sections \
-fno-builtin-printf \
-fno-common \
-fno-strength-reduce \
-fno-strict-aliasing \
-fomit-frame-pointer \
-Wall \
-Werror \
-Wextra \
-Wlogical-op \
-Wno-cpp \
-Wno-format-truncation \
-Wno-maybe-uninitialized \
-Wno-missing-field-initializers \
-Wno-sign-compare \
-Wno-type-limits \
-Wno-unused-parameter \
-Wpointer-arith
# enable precise stack overflow tracking
ifeq ($(CONFIG_ARMV7M_STACKCHECK),y)
INSTRUMENTATIONDEFINES = -finstrument-functions -ffixed-r10
FLAGS += -finstrument-functions -ffixed-r10
endif
CFLAGS = -Os -g2 ${CMAKE_C_FLAGS} $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) \
CFLAGS = $(ARCHINCLUDES) \
-std=gnu99 \
${CMAKE_C_FLAGS} \
$(FLAGS) \
-Wno-bad-function-cast \
-Wno-cpp \
-Wno-float-equal \
-Wno-format-truncation \
-Wno-implicit-fallthrough \
-Wno-implicit-function-declaration \
-Wno-logical-op \
-Wno-maybe-uninitialized \
-Wno-missing-declarations \
-Wno-missing-field-initializers \
-Wno-missing-prototypes \
@@ -87,11 +106,15 @@ CFLAGS = -Os -g2 ${CMAKE_C_FLAGS} $(ARCHINCLUDES) $(INSTRUMENTATIONDEFINES) \
-Wno-sign-compare \
-Wno-type-limits
CXXFLAGS = -Os -g2 ${CMAKE_CXX_FLAGS} $(ARCHXXINCLUDES) $(INSTRUMENTATIONDEFINES) \
CXXFLAGS = $(ARCHXXINCLUDES) \
-std=gnu++11 \
${CMAKE_CXX_FLAGS} \
$(FLAGS) \
-fcheck-new \
-fno-builtin \
-fno-exceptions \
-fno-rtti \
-Wno-double-promotion \
-Wno-maybe-uninitialized \
-Wno-missing-declarations
AFLAGS = $(CFLAGS) -D__ASSEMBLY__
platforms/nuttx/nuttx-configs/aerocore2/include/nsh_romfsimg.h → platforms/nuttx/NuttX/nsh_romfsimg.h
View File
platforms/nuttx/NuttX/tools/new_nuttx_px_config.sh
-173
View File
@@ -1,173 +0,0 @@
#! /bin/bash
function fatal
{
echo "$0: ERROR: $*"
exit 1
}
# Find out what the base directory is.
BASEDIR="$(dirname $(dirname $(readlink -en "$0")))"
echo "BASEDIR=\"$BASEDIR\""
striplen=$((${#BASEDIR} + 2))
# BASEDIR may not contain a space, that's just too hard to get to work.
expr index "$BASEDIR" " " >/dev/null && fatal "it is not supported that BASEDIR contains a space."
# Make sure that worked.
test -f $BASEDIR/cmake/posix/px4_impl_posix.cmake || fatal "Failed to determine BASEDIR: '\$BASEDIR/cmake/posix/px4_impl_posix.cmake' is not a regular file."
# Did we get two arguments?
if [[ $# -lt 2 ]]; then
echo "Usage:"
echo " $0 PROTOTYPE NEWNAME"
echo
echo "For example: $0 px4fmu-v4 awesome_new_board-v2"
exit 1
fi
# Parse command line parameters.
oldname=
newname=
while [[ $# -gt 0 ]]
do
case $1 in
-*)
fatal "Unknown option $1"
;;
*)
if [ -z "$oldname" ]; then
oldname="$1"
elif [ -z "$newname" ]; then
newname="$1"
else
fatal "Too many arguments."
fi
;;
esac
shift
done
echo "PROTOTYPE = \"$oldname\""
# Does that look like an existing old name?
if [ ! -f $BASEDIR/platforms/nuttx/Images/$oldname.prototype ]; then
fatal "\"$oldname\" doesn't look like an existing board name (there is no $BASEDIR/platforms/nuttx/Images/$oldname.prototype)"
fi
if [ ! -d $BASEDIR/src/drivers/boards/$oldname ]; then
fatal "\"$oldname\" doesn't look like an existing board name (no such directory $BASEDIR/src/drivers/boards/$oldname)"
fi
if [ ! -f $BASEDIR/cmake/configs/nuttx_"$oldname"_default.cmake -a ! -f $BASEDIR/cmake/configs/nuttx_"$oldname"_bootloader.cmake ]; then
fatal "\"$oldname\" doesn't look like an existing board name (there is neither a $BASEDIR/cmake/configs/nuttx_"$oldname"_default.cmake nor a $BASEDIR/cmake/configs/nuttx_"$oldname"_bootloader.cmake)"
fi
if [ ! -d $BASEDIR/platforms/nuttx/nuttx-configs/$oldname ]; then
fatal "\"$oldname\" doesn't look like an existing board name (no such directory $BASEDIR/platforms/nuttx/nuttx-configs/$oldname)"
fi
# Does the new name look like a new name?
if [[ $newname =~ ^[[:alnum:]_-]+$ ]]; then
echo "NEWNAME = \"$newname\""
else
fatal "NEWNAME may only contain alpha numeric characters, a dash or an underscore."
fi
# Change directory to BASEDIR.
cd "$BASEDIR" || fatal "Could not change directory to $BASEDIR"
# Make sure we don't accidently overwrite stuff.
if [ -f platforms/nuttx/Images/$newname.prototype -o \
-f cmake/configs/nuttx_"$newname"_default.cmake -o \
-f cmake/configs/nuttx_"$newname"_bootloader.cmake -o \
-d src/drivers/boards/$newname -o \
-d nuttx-configs/$newname ]; then
echo "\"$newname\" already exists! Please first delete it with the following command (in $BASEDIR):"
echo "rm -rf platforms/nuttx/Images/$newname.prototype cmake/configs/nuttx_"$newname"_default.cmake cmake/configs/nuttx_"$newname"_bootloader.cmake src/drivers/boards/$newname nuttx-configs/$newname"
exit 1
fi
# Capitalize names.
oldboard=$(echo "$oldname" | tr '[:lower:]-' '[:upper:]_')
newboard=$(echo "$newname" | tr '[:lower:]-' '[:upper:]_')
# Do we have a default and/or bootloader?
[ ! -e cmake/configs/nuttx_"$oldname"_default.cmake ]; have_default=$?
[ ! -e cmake/configs/nuttx_"$oldname"_bootloader.cmake ]; have_bootloader=$?
function insertAfter # file line newText
{
local file="$1" line="$2" newText="$3"
sed -i -e "/$line/a"$'\\\n'"$newText" "$file"
}
for k in default bootloader; do
eval needit=\$have_$k;
if [[ $needit -eq 1 ]]; then
# Copy cmake/configs/file(s).
cp "cmake/configs/nuttx_${oldname}_${k}.cmake" "cmake/configs/nuttx_${newname}_${k}.cmake"
git add "cmake/configs/nuttx_${newname}_${k}.cmake"
sed -i -e "s%drivers/boards/${oldname}%drivers/boards/${newname}%" "cmake/configs/nuttx_${newname}_${k}.cmake"
# If Makefile does not already have it, add 'check_$newname_[default|bootloader]'
# to targets checks_[default|bootloader]s respectivily.
if ! grep '^'$'\t'"check_${newname}_${k}"' \\$' Makefile >/dev/null; then
insertAfter Makefile "^checks_${k}s:" $'\t'"check_${newname}_${k}"' \\'
fi
fi
done
# Copy remaining files.
cp platforms/nuttx/Images/${oldname}.prototype platforms/nuttx/Images/${newname}.prototype
git add platforms/nuttx/Images/${newname}.prototype
cp -r nuttx-configs/${oldname} nuttx-configs/${newname}
git add nuttx-configs/${newname}
cp -r src/drivers/boards/${oldname} src/drivers/boards/${newname}
git add src/drivers/boards/${newname}
if [[ $have_bootloader -eq 1 ]]; then
cp cmake/configs/uavcan_board_ident/${oldname}.cmake cmake/configs/uavcan_board_ident/${newname}.cmake
git add cmake/configs/uavcan_board_ident/${newname}.cmake
sed -i -r -e 's%\\"([^\\]*)\\"%\\"FIXME (was: \1)\\"%' cmake/configs/uavcan_board_ident/${newname}.cmake
fi
# Rename certain files.
TYPE_RE='(buttons|can|timer_config|i2c|init|led|pwr|sdio|spi|usb)'
oldstem=$(find "src/drivers/boards/$oldname" -type f -name '*.c' -o -name '*.cpp' | grep -E "_$TYPE_RE.[cp]*$" | sed -r -e 's%.*/%%;s%_'"$TYPE_RE"'\.[cp]*$%%' | sort -u | head -n 1)
newstem=$(echo "$newname" | sed -e 's/-v[0-9]*$//' | tr '[:upper:]-' '[:lower:]_')
echo "oldstem=\"$oldstem\""
echo "newstem=\"$newstem\""
FILES=$(find src/drivers/boards/${newname} -regextype egrep -regex ".*/$oldstem[0-9]*_$TYPE_RE\.[cp]*")
for f in $FILES; do
nf=$(echo $f | sed -r -e 's%^(.*/)'"$oldstem"'([0-9]*_'"$TYPE_RE"'\.[cp]*)$%\1'"$newstem"'\2%')
if [[ "$f" != "$nf" ]]; then
git mv "$f" "$nf"
fi
git add "$nf"
bf=$(basename "$f")
bnf=$(basename "$nf")
sed -i -e "s%$bf%$bnf%" "$nf"
done
oldconfig=CONFIG_ARCH_BOARD_$oldboard
newconfig=CONFIG_ARCH_BOARD_$newboard
# Fixup copied files.
sed -i -r -e 's%(MODULE[[:space:]]+.*)'"$oldname"'%\1'"$newname"'%;s%^([[:space:]]+)'"$oldstem"'([0-9]*_'"$TYPE_RE"'\.)%\1'"$newstem"'\2%' "src/drivers/boards/${newname}/CMakeLists.txt"
sed -i -r -e 's%"'"$oldboard"'"%"'"$newboard"'"%' "src/drivers/boards/${newname}/board_config.h"
sed -i -r -e 's%'"$oldname"'%'"$newname"'%' "nuttx-configs/${newname}/nsh/Make.defs"
sed -i -r -e 's%'"$oldname"'%'"$newname"'%;s%'"$oldconfig"'%'"$newconfig"'%;s%(CONFIG_CDCACM_PRODUCTSTR=)"([^"]*)"%\1"FIXME (was: \2)"%' "nuttx-configs/${newname}/nsh/defconfig"
# If src/modules/gpio_led/gpio_led.c does not already contain it,
# add defined($newconfig) where defined($oldconfig) exists.
if ! grep 'defined('"${newconfig}"')' 'src/modules/gpio_led/gpio_led.c' >/dev/null; then
insertAfter src/modules/gpio_led/gpio_led.c "defined(${oldconfig})"' || \\$' $'\t'"defined(${newconfig})"' || \\'
sed -i -e 's/\(defined('"${oldconfig}"')$\)/\1 || \\'$'\\n\\t'"defined(${newconfig})/" 'src/modules/gpio_led/gpio_led.c'
fi
# Make some changes to platforms/nuttx/Images/$(newname).prototype
sed -i -r -e 's%("(magic|description|summary)": ")([^"]*)(",).*%\1FIXME (was: \3)\4%' "platforms/nuttx/Images/${newname}.prototype"
echo "*** The following files contain a reference to $oldconfig (this might take a while):"
find . -path './build/*' -o -path './.git' -o -name 'defconfig' -prune -o -type f -exec grep -l -- "$oldconfig" {} \;
echo "*** Run 'git diff' to check the changes that this script already made relative to the copied prototype files."
echo "*** Use 'git status' to see other (added) files, that likely need fixing."
platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m3.cmake
+6
View File
@@ -0,0 +1,6 @@
set(cpu_flags "-mcpu=cortex-m3 -mthumb -march=armv7-m")
set(CMAKE_C_FLAGS "${cpu_flags}")
set(CMAKE_CXX_FLAGS "${cpu_flags}")
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m4.cmake
+6
View File
@@ -0,0 +1,6 @@
set(cpu_flags "-mcpu=cortex-m4 -mthumb -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard")
set(CMAKE_C_FLAGS "${cpu_flags}")
set(CMAKE_CXX_FLAGS "${cpu_flags}")
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
platforms/nuttx/cmake/Platform/Generic-arm-none-eabi-gcc-cortex-m7.cmake
+6
View File
@@ -0,0 +1,6 @@
set(cpu_flags "-mcpu=cortex-m7 -mthumb -mfpu=fpv5-sp-d16 -mfloat-abi=hard")
set(CMAKE_C_FLAGS "${cpu_flags}")
set(CMAKE_CXX_FLAGS "${cpu_flags}")
set(CMAKE_ASM_FLAGS "${cpu_flags} -D__ASSEMBLY__")
platforms/nuttx/cmake/Toolchain-arm-none-eabi.cmake
+48
View File
@@ -0,0 +1,48 @@
# arm-none-eabi-gcc toolchain
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
set(triple arm-none-eabi)
set(CMAKE_LIBRARY_ARCHITECTURE ${triple})
set(TOOLCHAIN_PREFIX ${triple})
set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
set(CMAKE_C_COMPILER_TARGET ${triple})
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
set(CMAKE_CXX_COMPILER_TARGET ${triple})
set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
# needed for test compilation
set(CMAKE_EXE_LINKER_FLAGS_INIT "--specs=nosys.specs")
# compiler tools
foreach(tool nm ld objcopy ranlib strip)
string(TOUPPER ${tool} TOOL)
find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
if(CMAKE-${TOOL} MATCHES "NOTFOUND")
message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
endif()
endforeach()
set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
# os tools
foreach(tool grep genromfs make)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} ${tool})
if(NOT ${TOOL})
message(FATAL_ERROR "could not find ${tool}")
endif()
endforeach()
# optional compiler tools
foreach(tool gdb gdbtui)
string(TOUPPER ${tool} TOOL)
find_program(${TOOL} arm-none-eabi-${tool})
endforeach()
platforms/nuttx/cmake/px4_add_board_os.cmake
+130
View File
@@ -0,0 +1,130 @@
############################################################################
#
# Copyright (c) 2018 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#=============================================================================
#
# Defined functions in this file
#
# utility functions
#
# * px4_add_board_os
#
include(px4_base)
#=============================================================================
#
# px4_add_board_os
#
# This function creates a PX4 board.
#
# Usage:
# px4_add_board_os(
# BOARD <string>
# OS <string>
# [ TOOLCHAIN ] <string>
# )
#
# Input:
# BOARD : name of board
# OS : posix, nuttx, qurt
#
#
# Example:
# px4_add_board_os(
# BOARD px4fmu-v2_default
# OS nuttx
# )
#
function(px4_add_board_os)
px4_parse_function_args(
NAME px4_add_board_os
ONE_VALUE
VENDOR
MODEL
LABEL
BOARD_OVERRIDE
PLATFORM
TOOLCHAIN
ARCH
ROMFSROOT
IO
BOOTLOADER
UAVCAN_INTERFACES
MULTI_VALUE
DRIVERS
MODULES
SYSTEMCMDS
EXAMPLES
SERIAL_PORTS
DF_DRIVERS # DriverFramework drivers
OPTIONS
CONSTRAINED_FLASH
ROMFS
TESTING
ARGN ${ARGN})
if(NOT CMAKE_TOOLCHAIN_FILE)
set(CMAKE_TOOLCHAIN_FILE Toolchain-arm-none-eabi CACHE INTERNAL "toolchain file" FORCE)
endif()
if(LABEL MATCHES "stackcheck")
set(NUTTX_CONFIG "stackcheck" CACHE INTERNAL "NuttX config" FORCE)
else()
set(NUTTX_CONFIG "nsh" CACHE INTERNAL "NuttX config" FORCE)
endif()
# ROMFS
if(ROMFS)
if (NOT DEFINED ROMFSROOT)
set(config_romfs_root px4fmu_common)
else()
set(config_romfs_root ${ROMFSROOT})
endif()
set(config_romfs_root ${config_romfs_root} CACHE INTERNAL "ROMFS root" FORCE)
endif()
# IO board placed in ROMFS
if(IO)
set(config_io_board ${IO} CACHE INTERNAL "IO" FORCE)
endif()
if(UAVCAN_INTERFACES)
set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
endif()
include(px4_impl_os)
px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
endfunction()
platforms/nuttx/cmake/px4_impl_os.cmake
+12 -148
View File
@@ -35,85 +35,13 @@
#
# Defined functions in this file
#
# OS Specific Functions
#
# * px4_nuttx_make_uavcan_bootloadable
#
# Required OS Inteface Functions
# Required OS Interface Functions
#
# * px4_os_add_flags
# * px4_os_prebuild_targets
#
include(common/px4_base)
#=============================================================================
#
# px4_nuttx_make_uavcan_bootloadable
#
# This function adds a uavcan boot loadable target.
#
# Usage:
# px4_nuttx_make_uavcan_bootloadable(
# BOARD <board>
# BIN <input bin file>)
# HWNAME <uavcan name>
# HW_MAJOR <number>
# HW_MINOR <number>
# SW_MAJOR <number>
# SW_MINOR <number>)
#
# Input:
# BOARD : the board
# BIN : the bin file to generate the bootloadable image from
# HWNAME : the uavcan name
# HW_MAJOR : the major hardware revision
# HW_MINOR : the minor hardware revision
# SW_MAJOR : the major software revision
# SW_MINOR : the minor software revision
#
# Output:
# OUT : None
#
# Example:
# px4_nuttx_make_uavcan_bootloadable(
# BOARD ${BOARD}
# BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
# HWNAME ${uavcanblid_name}
# HW_MAJOR ${uavcanblid_hw_version_major}
# HW_MINOR ${uavcanblid_hw_version_minor}
# SW_MAJOR ${uavcanblid_sw_version_major}
# SW_MINOR ${uavcanblid_sw_version_minor}
# )
#
function(px4_nuttx_make_uavcan_bootloadable)
px4_parse_function_args(
NAME px4_nuttx_make_uavcan_bootloadable
ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
ARGN ${ARGN})
string(REPLACE "\"" "" HWNAME ${HWNAME})
execute_process(
COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
OUTPUT_VARIABLE uavcanbl_git_desc
OUTPUT_STRIP_TRAILING_WHITESPACE
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
)
if ("${uavcanbl_git_desc}" STREQUAL "")
set(uavcanbl_git_desc ffffffff)
endif()
set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
add_custom_command(OUTPUT ${uavcan_bl_imange_name}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
DEPENDS ${BIN}
)
add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
endfunction()
include(px4_base)
#=============================================================================
#
@@ -163,11 +91,11 @@ function(px4_os_add_flags)
px4_parse_function_args(
NAME px4_os_add_flags
ONE_VALUE ${inout_vars} BOARD
REQUIRED ${inout_vars} BOARD
REQUIRED ${inout_vars}
ARGN ${ARGN})
px4_add_common_flags(
BOARD ${BOARD}
BOARD ${PX4_BOARD}
C_FLAGS ${C_FLAGS}
CXX_FLAGS ${CXX_FLAGS}
OPTIMIZATION_FLAGS ${OPTIMIZATION_FLAGS}
@@ -217,7 +145,7 @@ endfunction()
# px4_os_prebuild_targets
#
# This function generates os dependent targets
#
# Usage:
# px4_os_prebuild_targets(
# OUT <out-list_of_targets>
@@ -237,15 +165,15 @@ function(px4_os_prebuild_targets)
px4_parse_function_args(
NAME px4_os_prebuild_targets
ONE_VALUE OUT BOARD
REQUIRED OUT BOARD
REQUIRED OUT
ARGN ${ARGN})
add_library(${OUT} INTERFACE)
target_link_libraries(${OUT} INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
add_dependencies(${OUT} DEPENDS nuttx_context uorb_headers)
add_library(prebuild_targets INTERFACE)
target_link_libraries(prebuild_targets INTERFACE nuttx_cxx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
# parse nuttx config options for cmake
file(STRINGS ${PX4_SOURCE_DIR}/platforms/nuttx/nuttx-configs/${BOARD}/${nuttx_config_type}/defconfig ConfigContents)
file(STRINGS ${PX4_BOARD_DIR}/nuttx-config/${NUTTX_CONFIG}/defconfig ConfigContents)
foreach(NameAndValue ${ConfigContents})
# Strip leading spaces
string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
@@ -261,72 +189,8 @@ function(px4_os_prebuild_targets)
string(REPLACE "\"" "" Value ${Value})
# Set the variable
set(${Name} ${Value} PARENT_SCOPE)
#message(STATUS "${Name} ${Value}")
set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
endif()
endforeach()
endfunction()
#=============================================================================
#
# px4_nuttx_configure
#
# This function sets the nuttx configuration
#
# Usage:
# px4_nuttx_configure(
# HWCLASS <m3|m4>
# [ROMFS <y|n>
# ROMFSROOT <root>]
# )
#
# Input:
# HWCLASS : the class of hardware
# CONFIG : the nuttx configuration to use
# ROMFS : whether or not to use incllude theROMFS
# ROMFSROOT : If ROMFS used set the root the default is px4fmu_common
#
# Output:
# OUT : None
#
# Example:
# px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
#
function(px4_nuttx_configure)
px4_parse_function_args(
NAME px4_nuttx_configure
ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT IO
REQUIRED HWCLASS
ARGN ${ARGN})
# HWCLASS -> CMAKE_SYSTEM_PROCESSOR
if(HWCLASS STREQUAL "m7")
set(CMAKE_SYSTEM_PROCESSOR "cortex-m7" PARENT_SCOPE)
elseif(HWCLASS STREQUAL "m4")
set(CMAKE_SYSTEM_PROCESSOR "cortex-m4" PARENT_SCOPE)
elseif(HWCLASS STREQUAL "m3")
set(CMAKE_SYSTEM_PROCESSOR "cortex-m3" PARENT_SCOPE)
endif()
set(CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR} CACHE INTERNAL "system processor" FORCE)
set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake CACHE INTERNAL "toolchain file" FORCE)
if (CONFIG)
set(nuttx_config_type ${CONFIG})
set(nuttx_config_type ${nuttx_config_type} PARENT_SCOPE)
endif()
# ROMFS
if("${ROMFS}" STREQUAL "y")
if (NOT DEFINED ROMFSROOT)
set(config_romfs_root px4fmu_common)
else()
set(config_romfs_root ${ROMFSROOT})
endif()
set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
endif()
# IO board placed in ROMFS
if(config_romfs_root)
set(config_io_board ${IO} PARENT_SCOPE)
endif()
endfunction()
platforms/nuttx/nuttx-configs/aerocore2/Kconfig
-5
View File
@@ -1,5 +0,0 @@
#
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#
platforms/nuttx/nuttx-configs/aerocore2/include/board.h
-290
View File
@@ -1,290 +0,0 @@
/************************************************************************************
* nuttx-configs/aerocore/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
#include <stm32.h>
/************************************************************************************
* Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* The AeroCore 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
/* Main PLL Configuration.
*
* PLL source is HSE
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
* = (24,000,000 / 24) * 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_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_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)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1,8-11 are on APB2, others on APB1
*/
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
/* Alternate function pin selections ************************************************/
/*
* UARTs.
*/
/* USART1 on PB[6,7]: GPS */
#define GPIO_USART1_RX GPIO_USART1_RX_2
#define GPIO_USART1_TX GPIO_USART1_TX_2
/* USART2 on PD[5,6]: J9 */
#define GPIO_USART2_RX GPIO_USART2_RX_2
#define GPIO_USART2_TX GPIO_USART2_TX_2
#define GPIO_USART2_CTS 0 // unused
#define GPIO_USART2_RTS 0 // unused
/* USART3 on PD[8,9]: to Gumstix UART2 */
#define GPIO_USART3_RX GPIO_USART3_RX_3
#define GPIO_USART3_TX GPIO_USART3_TX_3
#define GPIO_USART3_CTS 0 // unused
#define GPIO_USART3_RTS 0 // unused
/* UART7 on PE[78]: J7 Breakout */
#define GPIO_UART7_RX GPIO_UART7_RX_1
#define GPIO_UART7_TX GPIO_UART7_TX_1
/*
* UART8 on PE[0-1]: Spektrum Receiver
* No alternate pin config
*/
/* USART[1,6] require a RX DMA configuration */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* CAN1 on PD[0-1]
*/
#define GPIO_CAN1_RX GPIO_CAN1_RX_3
#define GPIO_CAN1_TX GPIO_CAN1_TX_3
/*
* 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.
*/
/* PB[10-11]: I2C2 is broken out on J9 header */
#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)
/*
* SPI
*/
/* PA[4-7] SPI1 broken out on J12 */
#define GPIO_SPI1_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4) /* should be GPIO_SPI1_NSS_2 but use as a GPIO */
#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
/* PB[12-15]: SPI2 connected to DuoVero SPI1 */
#define GPIO_SPI2_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12) /* should be GPIO_SPI2_NSS_2 but use as a GPIO */
#define GPIO_SPI2_SCK (GPIO_SPI2_SCK_2|GPIO_SPEED_50MHz)
#define GPIO_SPI2_MISO (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
#define GPIO_SPI2_MOSI (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
/* PC[10-12]: SPI3 connected to onboard sensors */
#define GPIO_SPI3_SCK (GPIO_SPI3_SCK_2|GPIO_SPEED_50MHz)
#define GPIO_SPI3_MISO (GPIO_SPI3_MISO_2|GPIO_SPEED_50MHz)
#define GPIO_SPI3_MOSI (GPIO_SPI3_MOSI_2|GPIO_SPEED_50MHz)
/* PE[11-14]: SPI4 connected to FRAM */
#define GPIO_SPI4_NSS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN11) /* should be GPIO_SPI4_NSS_2 but use as a GPIO */
#define GPIO_SPI4_SCK (GPIO_SPI4_SCK_2|GPIO_SPEED_50MHz)
#define GPIO_SPI4_MISO (GPIO_SPI4_MISO_2|GPIO_SPEED_50MHz)
#define GPIO_SPI4_MOSI (GPIO_SPI4_MOSI_2|GPIO_SPEED_50MHz)
/************************************************************************************
* 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 */
platforms/nuttx/nuttx-configs/aerocore2/nsh/defconfig
-1627
View File
File diff suppressed because it is too large Load Diff
platforms/nuttx/nuttx-configs/aerocore2/scripts/ld.script
-160
View File
@@ -1,160 +0,0 @@
/****************************************************************************
* nuttx-configs/aerocore2/scripts/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
{
/* disabled due to silicon errata flash (rx) : ORIGIN = 0x08004000, LENGTH = 2032K */
flash (rx) : ORIGIN = 0x08004000, LENGTH = 1008K
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)
EXTERN(_bootdelay_signature)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
. = ALIGN(32);
/*
This signature provides the bootloader with a way to delay booting
*/
_bootdelay_signature = ABSOLUTE(.);
FILL(0xffecc2925d7d05c5)
. += 8;
*(.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)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}
platforms/nuttx/nuttx-configs/aerofc-v1/Kconfig
-22
View File
@@ -1,22 +0,0 @@
#
# For a description of the syntax of this configuration file,
# see misc/tools/kconfig-language.txt.
#
if ARCH_BOARD_AEROFC_V1
config BOARD_HAS_PROBES
bool "Board provides GPIO or other Hardware for signaling to timing analyze."
default y
---help---
This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
config BOARD_USE_PROBES
bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
default n
depends on BOARD_HAS_PROBES
---help---
Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
endif
platforms/nuttx/nuttx-configs/aerofc-v1/include/board.h
-421
View File
@@ -1,421 +0,0 @@
/************************************************************************************
* configs/aerofc-v1/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2012-2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
* David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#pragma once
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include "stm32_rcc.h"
#include "stm32.h"
/************************************************************************************
* Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* The TAP V1 uses a 16MHz crystal connected to the HSE.
*
* This is the canonical configuration:
* 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) : 16000000 (STM32_BOARD_XTAL)
* PLLM : 8 (STM32_PLLCFG_PLLM)
* PLLN : 168 (STM32_PLLCFG_PLLN)
* PLLP : 2 (STM32_PLLCFG_PLLP)
* PLLQ : 7 (STM32_PLLCFG_PLLQ)
* 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 16MHz
* LSE - not installed
*/
#define STM32_BOARD_XTAL 16000000ul
#define STM32_HSI_FREQUENCY 16000000ul
#define STM32_LSI_FREQUENCY 32000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
/* Main PLL Configuration.
*
* PLL source is HSE
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
* = (16,000,000 / 8) * 168
* = 336,000,000
* SYSCLK = PLL_VCO / PLLP
* = 336,000,000 / 2 = 168,000,000
* USB OTG FS, SDIO and RNG Clock
* = PLL_VCO / PLLQ
* = 336,000,000 / 7
* = 48,000,000
*/
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(168)
#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_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1,8-11 are on APB2, others on APB1
*/
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
/* LED definitions ******************************************************************/
/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
* way. The following definitions are used to access individual LEDs.
*/
/* LED index values for use with stm32_setled() */
#define BOARD_LED1 0
#define BOARD_LED2 1
#define BOARD_NLEDS 2
#define BOARD_LED_BLUE BOARD_LED1
#define BOARD_LED_RED BOARD_LED2
/* LED bits for use with stm32_setleds() */
#define BOARD_LED1_BIT (1 << BOARD_LED1)
#define BOARD_LED2_BIT (1 << BOARD_LED2)
/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board
* the aerofc-v1. The following definitions describe how NuttX controls
* the LEDs:
*/
#define LED_STARTED 0 /* BLUE */
#define LED_HEAPALLOCATE 1 /* LED2 */
#define LED_IRQSENABLED 2 /* BLUE */
#define LED_STACKCREATED 3 /* BLUE + RED */
#define LED_INIRQ 4 /* BLUE */
#define LED_SIGNAL 5 /* RED */
#define LED_ASSERTION 6 /* BLUE + RED */
#define LED_PANIC 7 /* BLUE + RED */
/* Alternate function pin selections ************************************************/
/*
* USARTs and UARTs
*
*
* Peripheral Port Signal Name CONN
* USART1_TX PB6 GPS_USART1_TX JP1-15,16
* USART1_RX PB7 GPS_USART1_RX JP1-13,14
* USART2_TX PA2 GB_USART2_TX JP2-19,20
* USART2_RX PA3 GB_USART2_RX JP2-21,22
* USART3_TX PC10 RF2_USART3_TX J3-2
* USART3_RX PC11 RF2_USART3_RX J3-1
* USART6_TX PC6 RF_USART6_TX JP2-15,16
* USART6_RX PC7 RF_USART6_RX JP2-17,18
*/
// ESC
#define GPIO_USART1_TX GPIO_USART1_TX_2
#define GPIO_USART1_RX GPIO_USART1_RX_2
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
// Companion
#define GPIO_USART2_TX GPIO_USART2_TX_1
#define GPIO_USART2_RX GPIO_USART2_RX_1
#define GPIO_USART2_CTS 0 // unused
#define GPIO_USART2_RTS 0 // unused
// GPS
#define GPIO_UART7_TX GPIO_UART7_TX_1
#define GPIO_UART7_RX GPIO_UART7_RX_1
#define GPIO_UART7_CTS 0 // unused
#define GPIO_UART7_RTS 0 // unused
// RC
#define GPIO_UART4_TX GPIO_UART4_TX_1
#define GPIO_UART4_RX GPIO_UART4_RX_1
#define GPIO_UART4_CTS 0 // unused
#define GPIO_UART4_RTS 0 // unused
// Mavlink
// UART5
// Serial console
#define GPIO_USART6_TX GPIO_USART6_TX_1
#define GPIO_USART6_RX GPIO_USART6_RX_1
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/*
* I2C
*
* Peripheral Port Signal Name CONN
* I2C1_SDA PB9 I2C1_SDA J2-4,9,16,21 mpu6050, U4 MS6507
* I2C1_SDL PB8 I2C1_SCL J2-3,10,15,22 mpu6050, U4 MS6507
* I2C2_SDA PB11 Sonar Echo/I2C_SDA JP2-31,32
* I2C2_SDL PB10 Sonar Trig/I2C_SCL JP2-29,30
* I2C3_SDA PC9 COMPASS_I2C3_SDA JP1-27,28
* I2C3_SDL PA8 COMPASS_I2C3_SCL JP1-25,26
*
* 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_SDA GPIO_I2C1_SDA_2
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_1
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1
/*
* SPI
*
* Peripheral Port Signal Name CONN
* SPI2_NSS PB12 SD_SPI2_NSS SD-2 CS
* TBD
*
*/
#define GPIO_SPI1_NSS (GPIO_SPI1_NSS_2 | GPIO_SPEED_50MHz)
#define GPIO_SPI1_SCK (GPIO_SPI1_SCK_1 | GPIO_SPEED_50MHz)
#define GPIO_SPI1_MISO (GPIO_SPI1_MISO_1 | GPIO_SPEED_50MHz)
#define GPIO_SPI1_MOSI (GPIO_SPI1_MOSI_1 | GPIO_SPEED_50MHz)
/* The following Pin Mapping is just for completeness */
/*
* JTAG
*
* We will only enable SW-DP, JTAG-DP will be disabled
*
* Function Port Signal Name CONN
* SWDIO PA13 DAT J10-3,J7
* SWCLK PA14 CLK J10-4,J8
*
*/
/*
* BOOT
*
* Function Port Signal Name CONN
* BOOT0 NA BOOT0 GND via 10 K
* BOOT1 PB2 BOOT1 V3.3 - 10 K
*
* As jumpered the device can only boot from FLASH.
*
* It can be booted to:
*
* SRAM if BOOT0 is pulled High with 1K.
* System memory if:
* BOOT0 is pulled High with 1K and
* BOOT1 is pulled Low with 1K
*/
/*
* Timer PWM
*
* Peripheral Port Signal Name CONN
* TIM3_CH1 PA6 LED_R JP2-23,24
* TIM3_CH2 PA7 LED_G JP2-25,26
* TIM3_CH3 PB0 LED_B JP2-27,28
* TIM3_CH4 PB1 nPWM_1 AUX1(Landing Gear) JP1-21,22
*/
/*
* GPIO
*
* Port Signal Name CONN
* PA4 POWER JP1-23, - Must be held High to run w/o USB
* PB4 TEMP_CONT J2-2,11,14,23 - Gyro Heater
* PC0 VOLTAGE JP2-13,14 - 1.84 @16.66 1.67 @15.12 Scale 0.1105
* PC1 KEY_AD JP1-31,32 - Low when Power button is depressed
* PC2 SD_SW SD-9 SW - Card Present
* PC3 PCON_RADIO JP1-29,30
* PC13 S2 U8-9 74HCT151
* PC14 S1 U8-10 74HCT151
* PC15 S0 U8-11 74HCT151
*/
/*
* USB
*
* Port Signal Name CONN
* PA9 OTG_FS_VBUS J1-1
* PA10 OTG_FS_ID J1-4
* PA11 OTG_FS_DM J1-2
* PA12 OTG_FS_DP J1-3
*/
/*
* UNUSED PINS - In an idle world - these would have been tied to pads to
* facilitate debugging probs.
* Port
* PA15
* PB3
* PB5
* PC8
*/
/* Board provides GPIO or other Hardware for signaling to timing analyzer */
#if defined(CONFIG_BOARD_USE_PROBES)
# define PROBE_N(n) (1<<((n)-1))
# define PROBE_1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
# define PROBE_2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN3)
# define PROBE_3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
# define PROBE_4 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN8)
# define PROBE_INIT(mask) \
do { \
if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
} while(0)
# define PROBE(n,s) do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
#else
# define PROBE_INIT(mask)
# define PROBE(n,s)
# define PROBE_MARK(n)
#endif
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
EXTERN void stm32_boardinitialize(void);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
platforms/nuttx/nuttx-configs/aerofc-v1/include/nsh_romfsimg.h
-42
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@@ -1,42 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2016 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;
platforms/nuttx/nuttx-configs/aerofc-v1/nsh/defconfig
-1598
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platforms/nuttx/nuttx-configs/aerofc-v1/scripts/ld.script
-151
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@@ -1,151 +0,0 @@
/****************************************************************************
* configs/aerofc-v1/scripts/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 STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
* 192Kb 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 CCM 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 16 KiB of flash is reserved for the bootloader.
* Paramater storage will use the next 2 16KiB Sectors.
*/
MEMORY
{
flash (rx) : ORIGIN = 0x0800C000, LENGTH = 976K
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
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)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}
platforms/nuttx/nuttx-configs/auav-x21/include/board.h
-317
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@@ -1,317 +0,0 @@
/************************************************************************************
* configs/auav-x21/include/board.h
* include/arch/board/board.h
*
* Copyright (C) 2009, 2016 Gregory Nutt. All rights reserved.
* Authors: Gregory Nutt <gnutt@nuttx.org>
* David Sidrane <david_s5@nscsdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
************************************************************************************/
#ifndef __ARCH_BOARD_BOARD_H
#define __ARCH_BOARD_BOARD_H
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include <stm32.h>
/************************************************************************************
* 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_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
* otherwise frequency is 2xAPBx.
* Note: TIM1,8-11 are on APB2, others on APB1
*/
#define BOARD_TIM1_FREQUENCY STM32_APB2_TIM1_CLKIN
#define BOARD_TIM2_FREQUENCY STM32_APB1_TIM2_CLKIN
#define BOARD_TIM3_FREQUENCY STM32_APB1_TIM3_CLKIN
#define BOARD_TIM4_FREQUENCY STM32_APB1_TIM4_CLKIN
#define BOARD_TIM5_FREQUENCY STM32_APB1_TIM5_CLKIN
#define BOARD_TIM6_FREQUENCY STM32_APB1_TIM6_CLKIN
#define BOARD_TIM7_FREQUENCY STM32_APB1_TIM7_CLKIN
#define BOARD_TIM8_FREQUENCY STM32_APB2_TIM8_CLKIN
#define BOARD_TIM9_FREQUENCY STM32_APB2_TIM9_CLKIN
#define BOARD_TIM10_FREQUENCY STM32_APB2_TIM10_CLKIN
#define BOARD_TIM11_FREQUENCY STM32_APB2_TIM11_CLKIN
#define BOARD_TIM12_FREQUENCY STM32_APB1_TIM12_CLKIN
#define BOARD_TIM13_FREQUENCY STM32_APB1_TIM13_CLKIN
#define BOARD_TIM14_FREQUENCY STM32_APB1_TIM14_CLKIN
/* 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!!!
*
* SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(118+2)=400 KHz
*/
#define SDIO_INIT_CLKDIV (118 << SDIO_CLKCR_CLKDIV_SHIFT)
/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
* DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
*/
#ifdef CONFIG_STM32_SDIO_DMA
# define SDIO_MMCXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_MMCXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA ON: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(1+2)=16 MHz
* DMA OFF: SDIOCLK=48MHz, SDIO_CK=SDIOCLK/(2+2)=12 MHz
*/
#ifdef CONFIG_STM32_SDIO_DMA
# define SDIO_SDXFR_CLKDIV (1 << SDIO_CLKCR_CLKDIV_SHIFT)
#else
# define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA Channl/Stream Selections *****************************************************/
/* Stream selections are arbitrary for now but might become important in the future
* is we set aside more DMA channels/streams.
*
* SDIO DMA
*   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
*   DMAMAP_SDIO_2 = Channel 4, Stream 6
*/
#define DMAMAP_SDIO DMAMAP_SDIO_1
/* 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_USART3_RTS GPIO_USART3_RTS_2
#define GPIO_USART3_CTS GPIO_USART3_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
/*
* CAN
*
* CAN1 is routed to the onboard transceiver.
*/
#define GPIO_CAN1_RX GPIO_CAN1_RX_3
#define GPIO_CAN1_TX GPIO_CAN1_TX_3
/*
* 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)
/*
* 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
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1
#define GPIO_SPI4_SCK GPIO_SPI4_SCK_1
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
EXTERN void stm32_boardinitialize(void);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
#endif /* __ARCH_BOARD_BOARD_H */
platforms/nuttx/nuttx-configs/auav-x21/include/nsh_romfsimg.h
-42
View File
@@ -1,42 +0,0 @@
/****************************************************************************
*
* 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;
platforms/nuttx/nuttx-configs/auav-x21/nsh/defconfig
-1690
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File diff suppressed because it is too large Load Diff
platforms/nuttx/nuttx-configs/auav-x21/scripts/ld.script
-159
View File
@@ -1,159 +0,0 @@
/****************************************************************************
* configs/auav_x21/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)
EXTERN(_bootdelay_signature)
SECTIONS
{
.text : {
_stext = ABSOLUTE(.);
*(.vectors)
. = ALIGN(32);
/*
This signature provides the bootloader with a way to delay booting
*/
_bootdelay_signature = ABSOLUTE(.);
FILL(0xffecc2925d7d05c5)
. += 8;
*(.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)
. = ALIGN(4);
_ebss = ABSOLUTE(.);
} > sram
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_info 0 : { *(.debug_info) }
.debug_line 0 : { *(.debug_line) }
.debug_pubnames 0 : { *(.debug_pubnames) }
.debug_aranges 0 : { *(.debug_aranges) }
}
platforms/nuttx/nuttx-configs/av-x-v1/include/board.h
-464
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@@ -1,464 +0,0 @@
/************************************************************************************
* nuttx-configs/av-x-v1/include/board.h
*
* Copyright (C) 2016 Gregory Nutt. 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 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.
*
************************************************************************************/
#pragma once
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
# include <stdint.h>
#endif
#include "stm32_rcc.h"
#include "stm32_sdmmc.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Clocking *************************************************************************/
/* The av-x-v1 board provides the following clock sources:
*
* X2: 16 MHz oscillator for STM32F777NI microcontroller and Ethernet PHY.
* X1: 32.768 KHz crystal for STM32F777NI embedded RTC
*
* So we have these clock source available within the STM32
*
* HSI: 16 MHz RC factory-trimmed
* LSI: 32 KHz RC
* HSE: 16 MHz crystal for HSE
*/
#define STM32_BOARD_XTAL 16000000ul
#define STM32_HSI_FREQUENCY 16000000ul
#define STM32_LSI_FREQUENCY 32000
#define STM32_HSE_FREQUENCY STM32_BOARD_XTAL
#define STM32_LSE_FREQUENCY 0
/* Main PLL Configuration.
*
* PLL source is HSE = 25,000,000
*
* PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
* Subject to:
*
* 2 <= PLLM <= 63
* 192 <= PLLN <= 432
* 192 MHz <= PLL_VCO <= 432MHz
*
* SYSCLK = PLL_VCO / PLLP
* Subject to
*
* PLLP = {2, 4, 6, 8}
* SYSCLK <= 216 MHz
*
* SDMMC and RNG Clock = PLL_VCO / PLLQ
* Subject to
* The SDMMC and the random number generator need a frequency lower than or equal
* to 48 MHz to work correctly.
*
* 2 <= PLLQ <= 15
*/
/* SDMMCCLK (= USB OTG FS clock = RNGCLK) should be <= 48MHz
*
* PLL_VCO = (16,000,000 / 8) * 216 = 432 MHz
* SYSCLK = 432 MHz / 2 = 216 MHz
* SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz
*/
#define STM32_PLLCFG_PLLM RCC_PLLCFG_PLLM(8)
#define STM32_PLLCFG_PLLN RCC_PLLCFG_PLLN(216)
#define STM32_PLLCFG_PLLP RCC_PLLCFG_PLLP_2
#define STM32_PLLCFG_PLLQ RCC_PLLCFG_PLLQ(9)
#define STM32_VCO_FREQUENCY ((STM32_HSE_FREQUENCY / 8) * 216)
#define STM32_SYSCLK_FREQUENCY (STM32_VCO_FREQUENCY / 2)
#define STM32_OTGFS_FREQUENCY (STM32_VCO_FREQUENCY / 9)
/* Configure factors for PLLSAI clock */
#define CONFIG_STM32F7_PLLSAI 1
#define STM32_RCC_PLLSAICFGR_PLLSAIN RCC_PLLSAICFGR_PLLSAIN(192)
#define STM32_RCC_PLLSAICFGR_PLLSAIP RCC_PLLSAICFGR_PLLSAIP(8)
#define STM32_RCC_PLLSAICFGR_PLLSAIQ RCC_PLLSAICFGR_PLLSAIQ(4)
#define STM32_RCC_PLLSAICFGR_PLLSAIR RCC_PLLSAICFGR_PLLSAIR(2)
/* Configure Dedicated Clock Configuration Register */
#define STM32_RCC_DCKCFGR1_PLLI2SDIVQ RCC_DCKCFGR1_PLLI2SDIVQ(1)
#define STM32_RCC_DCKCFGR1_PLLSAIDIVQ RCC_DCKCFGR1_PLLSAIDIVQ(1)
#define STM32_RCC_DCKCFGR1_PLLSAIDIVR RCC_DCKCFGR1_PLLSAIDIVR(0)
#define STM32_RCC_DCKCFGR1_SAI1SRC RCC_DCKCFGR1_SAI1SEL(0)
#define STM32_RCC_DCKCFGR1_SAI2SRC RCC_DCKCFGR1_SAI2SEL(0)
#define STM32_RCC_DCKCFGR1_TIMPRESRC 0
#define STM32_RCC_DCKCFGR1_DFSDM1SRC 0
#define STM32_RCC_DCKCFGR1_ADFSDM1SRC 0
/* Configure factors for PLLI2S clock */
#define CONFIG_STM32F7_PLLI2S 1
#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
#define STM32_RCC_PLLI2SCFGR_PLLI2SP RCC_PLLI2SCFGR_PLLI2SP(2)
#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
/* Configure Dedicated Clock Configuration Register 2 */
#define STM32_RCC_DCKCFGR2_USART1SRC RCC_DCKCFGR2_USART1SEL_APB
#define STM32_RCC_DCKCFGR2_USART2SRC RCC_DCKCFGR2_USART2SEL_APB
#define STM32_RCC_DCKCFGR2_UART4SRC RCC_DCKCFGR2_UART4SEL_APB
#define STM32_RCC_DCKCFGR2_UART5SRC RCC_DCKCFGR2_UART5SEL_APB
#define STM32_RCC_DCKCFGR2_USART6SRC RCC_DCKCFGR2_USART6SEL_APB
#define STM32_RCC_DCKCFGR2_UART7SRC RCC_DCKCFGR2_UART7SEL_APB
#define STM32_RCC_DCKCFGR2_UART8SRC RCC_DCKCFGR2_UART8SEL_APB
#define STM32_RCC_DCKCFGR2_I2C1SRC RCC_DCKCFGR2_I2C1SEL_HSI
#define STM32_RCC_DCKCFGR2_I2C2SRC RCC_DCKCFGR2_I2C2SEL_HSI
#define STM32_RCC_DCKCFGR2_I2C3SRC RCC_DCKCFGR2_I2C3SEL_HSI
#define STM32_RCC_DCKCFGR2_I2C4SRC RCC_DCKCFGR2_I2C4SEL_HSI
#define STM32_RCC_DCKCFGR2_LPTIM1SRC RCC_DCKCFGR2_LPTIM1SEL_APB
#define STM32_RCC_DCKCFGR2_CECSRC RCC_DCKCFGR2_CECSEL_HSI
#define STM32_RCC_DCKCFGR2_CK48MSRC RCC_DCKCFGR2_CK48MSEL_PLL
#define STM32_RCC_DCKCFGR2_SDMMCSRC RCC_DCKCFGR2_SDMMCSEL_48MHZ
#define STM32_RCC_DCKCFGR2_SDMMC2SRC RCC_DCKCFGR2_SDMMC2SEL_48MHZ
#define STM32_RCC_DCKCFGR2_DSISRC RCC_DCKCFGR2_DSISEL_PHY
/* Several prescalers allow the configuration of the two AHB buses, the
* high-speed APB (APB2) and the low-speed APB (APB1) domains. The maximum
* frequency of the two AHB buses is 216 MHz while the maximum frequency of
* the high-speed APB domains is 108 MHz. The maximum allowed frequency of
* the low-speed APB domain is 54 MHz.
*/
/* AHB clock (HCLK) is SYSCLK (216 MHz) */
#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 (54 MHz) */
#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 (108MHz) */
#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_PCLK2_FREQUENCY)
#define STM32_APB2_TIM10_CLKIN (2*STM32_PCLK2_FREQUENCY)
#define STM32_APB2_TIM11_CLKIN (2*STM32_PCLK2_FREQUENCY)
/* SDMMC 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!!!
*
* SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(118+2)=400 KHz
*/
/* Use the Falling edge of the SDIO_CLK clock to change the edge the
* data and commands are change on
*/
#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
#define STM32_SDMMC_INIT_CLKDIV (118 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
/* DMA ON: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
* DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
*/
#ifdef CONFIG_STM32F7_SDMMC_DMA
# define STM32_SDMMC_MMCXFR_CLKDIV (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
#else
# define STM32_SDMMC_MMCXFR_CLKDIV (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA ON: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
* DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
*/
//TODO #warning "Check Freq for 24mHz"
#ifdef CONFIG_STM32F7_SDMMC_DMA
# define STM32_SDMMC_SDXFR_CLKDIV (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
#else
# define STM32_SDMMC_SDXFR_CLKDIV (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
#endif
/* DMA Channl/Stream Selections *****************************************************/
/* Stream selections are arbitrary for now but might become important in the future
* if we set aside more DMA channels/streams.
*
* SDMMC DMA is on DMA2
*
* SDMMC1 DMA
* DMAMAP_SDMMC1_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
* DMAMAP_SDMMC1_2 = Channel 4, Stream 6
*/
#define DMAMAP_SDMMC1 DMAMAP_SDMMC1_1
/* FLASH wait states
*
* --------- ---------- -----------
* VDD MAX SYSCLK WAIT STATES
* --------- ---------- -----------
* 1.7-2.1 V 180 MHz 8
* 2.1-2.4 V 216 MHz 9
* 2.4-2.7 V 216 MHz 8
* 2.7-3.6 V 216 MHz 7
* --------- ---------- -----------
*/
#define BOARD_FLASH_WAITSTATES 7
/* Alternate function pin selections ************************************************/
#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PB7 */
#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PB6 */
#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
#define GPIO_UART4_RX GPIO_UART4_RX_4 /* PD0 */
#define GPIO_UART4_TX GPIO_UART4_TX_3 /* PA12 */
#define GPIO_UART4_RS485_DIR GPIO_UART4_RTS_2 /* PB14 */
#define GPIO_UART5_RX GPIO_UART5_RX_4 /* PB8 */
#define GPIO_UART5_TX GPIO_UART5_TX_4 /* PB9 */
#define GPIO_USART6_RX GPIO_USART6_RX_2 /* PG9 */
#define GPIO_USART6_TX GPIO_USART6_TX_2 /* PG14 */
#define GPIO_UART7_RX GPIO_UART7_RX_1 /* PE8 */
#define GPIO_UART7_TX GPIO_UART7_TX_1 /* PE7 */
/* USART8: has no remap
*
* GPIO_UART8_RX PE0
* GPIO_UART8_TX PE1
*/
/* UART RX DMA configurations */
#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
/* CAN
*
* CAN1 is routed to transceiver.
*/
#define GPIO_CAN1_RX GPIO_CAN1_RX_5 /* PI9 */
#define GPIO_CAN1_TX GPIO_CAN1_TX_3 /* PD1 */
/* SPI
* SPI1-SPI4 sensors
*/
#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1 /* PA6 */
#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_2 /* PB5 */
#define GPIO_SPI1_SCK GPIO_SPI1_SCK_1 /* PA5 */
#define GPIO_SPI2_MISO GPIO_SPI2_MISO_3 /* PI2 */
#define GPIO_SPI2_MOSI GPIO_SPI2_MOSI_3 /* PI3 */
#define GPIO_SPI2_SCK GPIO_SPI2_SCK_4 /* PD3 */
#define GPIO_SPI4_MISO GPIO_SPI4_MISO_1 /* PE5 */
#define GPIO_SPI4_MOSI GPIO_SPI4_MOSI_1 /* PE6 */
#define GPIO_SPI4_SCK GPIO_SPI4_SCK_1 /* PE2 */
#define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */
#define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF11 */
#define GPIO_SPI5_SCK GPIO_SPI5_SCK_2 /* PH6 */
/* The STM32 F7 connects to a SMSC LAN8720A PHY using these pins:
*
* STM32 F7 BOARD LAN8720A
* GPIO SIGNAL PIN NAME
* -------- ------------ -------------
* PB11 RMII_TX_EN TXEN
* PB12 RMII_TXD0 TXD0
* PB13 RMII_TXD1 TXD1
* PC4 RMII_RXD0 RXD0/MODE0
* PC5 RMII_RXD1 RXD1/MODE1
* PD5 RMII_RXER RXER/PHYAD0
* PA7 RMII_CRS_DV CRS_DV/MODE2
* PC1 RMII_MDC MDC
* PA2 RMII_MDIO MDIO
* N/A NRST nRST
* PA1 RMII_REF_CLK nINT/REFCLK0
* N/A OSC_25M XTAL1/CLKIN
*
* The PHY address is 0, since RMII_RXER/PHYAD0 features a pull down.
* After reset, RMII_RXER/PHYAD0 switches to the RXER function,
* receive errors can be detected using GPIO pin PD5
*/
#define GPIO_ETH_RMII_TX_EN GPIO_ETH_RMII_TX_EN_1
#define GPIO_ETH_RMII_TXD0 GPIO_ETH_RMII_TXD0_1
#define GPIO_ETH_RMII_TXD1 GPIO_ETH_RMII_TXD1_1
/* I2C Mapping
*
*/
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1 */
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0 */
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | \
GPIO_OPENDRAIN | \
GPIO_SPEED_50MHz| \
GPIO_OUTPUT_SET | \
GPIO_PORTF | \
GPIO_PIN1)
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | \
GPIO_OPENDRAIN | \
GPIO_SPEED_50MHz| \
GPIO_OUTPUT_SET | \
GPIO_PORTF | \
GPIO_PIN0)
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT | \
GPIO_OPENDRAIN | \
GPIO_SPEED_50MHz| \
GPIO_OUTPUT_SET | \
GPIO_PORTH | \
GPIO_PIN7)
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT | \
GPIO_OPENDRAIN | \
GPIO_SPEED_50MHz| \
GPIO_OUTPUT_SET | \
GPIO_PORTH | \
GPIO_PIN8)
#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */
#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */
#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | \
GPIO_OPENDRAIN | \
GPIO_SPEED_50MHz| \
GPIO_OUTPUT_SET | \
GPIO_PORTF | \
GPIO_PIN14)
#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | \
GPIO_OPENDRAIN | \
GPIO_SPEED_50MHz| \
GPIO_OUTPUT_SET | \
GPIO_PORTF | \
GPIO_PIN15)
/* SDMMC1
*
* VDD 3.3
* GND
* SDMMC1_CK PC12
* SDMMC1_CMD PD2
* SDMMC1_D0 PC8
* SDMMC1_D1 PC9
* SDMMC1_D2 PC10
* SDMMC1_D3 PC11
*/
/************************************************************************************
* Public Data
************************************************************************************/
#ifndef __ASSEMBLY__
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the initialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
void stm32_boardinitialize(void);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* __ASSEMBLY__ */
platforms/nuttx/nuttx-configs/av-x-v1/include/nsh_romfsimg.h
-42
View File
@@ -1,42 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2016 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;

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