mirror of
https://github.com/apache/nuttx.git
synced 2026-05-29 20:56:47 +08:00
boards: add support for ODrive V3.6 board
This commit is contained in:
raiden00pl
Xiang Xiao
@@ -57,7 +57,6 @@ f_PWM f_notifier ccb Kp Ki
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20kHz 10kHz 1000 0.0087 0.0025
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20kHz 10kHz 1000 0.0087 0.0025
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====== =========== ===== ======== ======
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====== =========== ===== ======== ======
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* Linix 45ZWN24-40 (PMSM motor dedicated for NXP FRDM-MC-LVMTR kit)
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* Linix 45ZWN24-40 (PMSM motor dedicated for NXP FRDM-MC-LVMTR kit)
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====== =========== ===== ======== ======
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====== =========== ===== ======== ======
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@@ -74,7 +73,6 @@ f_PWM f_notifier ccb Kp Ki
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20kHz 10kHz 200 0.036 0.022
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20kHz 10kHz 200 0.036 0.022
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====== =========== ===== ======== ======
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====== =========== ===== ======== ======
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* iPower GBM2804H-100T (gimbal motor provided with the ST P-NUCLEO-IHM03 kit)
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* iPower GBM2804H-100T (gimbal motor provided with the ST P-NUCLEO-IHM03 kit)
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====== =========== ===== ======== ======
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====== =========== ===== ======== ======
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@@ -0,0 +1,97 @@
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===========
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ODrive V3.6
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===========
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ODrive V3.6 is an open-source dual-motor FOC controller based on
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the STMicro STM32F405RG and TI DRV8301 gate drivers.
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See https://odriverobotics.com/shop/odrive-v36 for further information.
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For now we support only ODrive V3.6 56V.
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Pin configuration
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=================
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========= ============== ========= =======================
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Board Pin Chip Function Chip Pin Notes
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========= ============== ========= =======================
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GPIO_1 PA0
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GPIO_2 PA1
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GPIO_3 USART2_TX PA2 Serial TX
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GPIO_4 USART2_RX PA3 Serial RX
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M1_TEMP ADC1_IN4 PA4
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AUX_TEMP ADC1_IN5 PA5
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VBUS_S ADC1_IN6 PA6
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M1_AL TIM8 CH1N PA7
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M0_AH TIM1 CH1 PA8
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M0_BH TIM1 CH2 PA9
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M0_CH TIM1 CH3 PA10
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USB_DM USB DM PA11
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USB_DP USB DP PA12
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SWDIO PA13
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SWCLK PA14
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GPIO_7 PA15
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M0_SO1 ADC2_IN10 PC0 M0 current 1
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M0_SO2 ADC2_IN11 PC1 M0 current 2
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M1_SO2 ADC3_IN12 PC2 M1 current 2
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M1_SO1 ADC3_IN13 PC3 M1 current 1
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GPIO_5 PC4
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M0_TEMP ADC1_IN15 PC5
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M1_AH TIM8 CH1 PC6
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M1_BH TIM8 CH2 PC7
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M1_CH TIM8 CH3 PC8
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M0_ENC_Z PC9
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SPI_SCK SPI3_SCK PC10 DRV8301 M0/M1
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SPI_MISO SPI3_MISO PC11 DRV8301 M0/M1
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SPI_MOSI SPI3_MOSI PC12 DRV8301 M0/M1
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M0_NCS SPI CS PC13 DRV8301 M0 CS
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M1_NCS SPI CS PC14 DRV8301 M1 CS
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M1_ENC_Z PC15
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M1_BL TIM8 CH2N PB0
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M1_CL TIM8 CH3N PB1
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GPIO_6 PB2
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GPIO_8 PB3
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M0_ENC_A TIM3_CH1IN_2 PB4
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M0_ENC_B TIM3_CH2IN_2 PB5
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M1_ENC_A TIM4_CH1IN_1 PB6
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M1_ENC_B TIM4_CH2IN_1 PB7
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CAN_R CAN_R PB8
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CAN_D CAN_D PB9
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AUX_L PB10
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AUX_H PB11
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EN_GATE OUT PB12 M0/M1 DRV8301
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M0_AL TIM1 CH1N PB13
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M0_BL TIM1 CH2N PB14
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M0_CL TIM1 CH3N PB15
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N_FAULT PD2 M0/M1 DRV8301 N_FAULT
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========= ============== ========= =======================
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Board hardware configuration
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============================
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=========================== ==================
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Current shunt resistance 0.0005
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Current sense gain 10/20/40/80
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Vbus min 12V
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Vbus max 24V or 56V
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Iout max 40A (no cooling for MOSFETs)
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IPHASE_RATIO 1/(R_shunt*gain)
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VBUS_RATIO = 1/VBUS_gain 11 or 19
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=========================== ==================
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Configurations
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==============
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nsh
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---
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Configures the NuttShell (nsh) located at apps/examples/nsh. The
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Configuration enables the serial interfaces on USART2. Support for
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builtin applications is enabled, but in the base configuration no
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builtin applications are selected.
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usbnsh
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------
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This is another NSH example. If differs from other 'nsh' configurations
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in that this configurations uses a USB serial device for console I/O.
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@@ -1270,6 +1270,14 @@ config ARCH_BOARD_OLIMEX_STRP711
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further information. STATUS: Configurations for the basic OS test and NSH
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further information. STATUS: Configurations for the basic OS test and NSH
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are complete and verified.
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are complete and verified.
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config ARCH_BOARD_ODRIVE36
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bool "Odrive V3.6 board"
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depends on ARCH_CHIP_STM32F405RG
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---help---
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This port uses the ODrive3.6 board. This is an open-source dual-motor
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FOC controller based on the STMicro STM32F405RG and TI DRV8301 gate drivers.
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See https://odriverobotics.com/shop/odrive-v36 for further information.
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config ARCH_BOARD_OLIMEX_STM32H405
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config ARCH_BOARD_OLIMEX_STM32H405
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bool "Olimex STM32 H405 board"
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bool "Olimex STM32 H405 board"
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depends on ARCH_CHIP_STM32F405RG
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depends on ARCH_CHIP_STM32F405RG
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@@ -3198,6 +3206,7 @@ config ARCH_BOARD
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default "olimex-stm32-p207" if ARCH_BOARD_OLIMEX_STM32P207
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default "olimex-stm32-p207" if ARCH_BOARD_OLIMEX_STM32P207
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default "olimex-stm32-p407" if ARCH_BOARD_OLIMEX_STM32P407
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default "olimex-stm32-p407" if ARCH_BOARD_OLIMEX_STM32P407
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default "olimex-strp711" if ARCH_BOARD_OLIMEX_STRP711
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default "olimex-strp711" if ARCH_BOARD_OLIMEX_STRP711
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default "odrive36" if ARCH_BOARD_ODRIVE36
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default "olimexino-stm32" if ARCH_BOARD_OLIMEXINO_STM32
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default "olimexino-stm32" if ARCH_BOARD_OLIMEXINO_STM32
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default "omnibusf4" if ARCH_BOARD_OMNIBUSF4
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default "omnibusf4" if ARCH_BOARD_OMNIBUSF4
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default "open1788" if ARCH_BOARD_OPEN1788
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default "open1788" if ARCH_BOARD_OPEN1788
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@@ -3892,6 +3901,9 @@ endif
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if ARCH_BOARD_NUCLEO_L152RE
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if ARCH_BOARD_NUCLEO_L152RE
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source "boards/arm/stm32/nucleo-l152re/Kconfig"
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source "boards/arm/stm32/nucleo-l152re/Kconfig"
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endif
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endif
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if ARCH_BOARD_ODRIVE36
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source "boards/arm/stm32/odrive36/Kconfig"
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endif
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if ARCH_BOARD_OLIMEX_STM32E407
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if ARCH_BOARD_OLIMEX_STM32E407
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source "boards/arm/stm32/olimex-stm32-e407/Kconfig"
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source "boards/arm/stm32/olimex-stm32-e407/Kconfig"
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endif
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endif
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@@ -0,0 +1,21 @@
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# ##############################################################################
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# boards/arm/stm32/odrive36/CMakeLists.txt
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more contributor
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# license agreements. See the NOTICE file distributed with this work for
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# additional information regarding copyright ownership. The ASF licenses this
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||||||
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# file to you under the Apache License, Version 2.0 (the "License"); you may not
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# use this file except in compliance with the License. You may obtain a copy of
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# the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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||||||
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#
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||||||
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# Unless required by applicable law or agreed to in writing, software
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||||||
|
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
# License for the specific language governing permissions and limitations under
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||||||
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# the License.
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||||||
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#
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||||||
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# ##############################################################################
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add_subdirectory(src)
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@@ -0,0 +1,48 @@
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#
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# For a description of the syntax of this configuration file,
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# see the file kconfig-language.txt in the NuttX tools repository.
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#
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if ARCH_BOARD_ODRIVE36
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choice
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prompt "ODrive voltage version"
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default ODRIVE_HW_VOLTAGE_56
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config ODRIVE_HW_VOLTAGE_56
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bool "ODrive 56V version"
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config ODRIVE_HW_VOLTAGE_24
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bool "ODrive 24V version"
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endchoice # ODrive voltage version
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if MOTOR_FOC
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config ODRIVE_FOC_FOC0
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bool "ODrive enable support for FOC device 0"
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default y
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if ODRIVE_FOC_FOC0
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endif # ODRIVE_FOC_FOC0
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config ODRIVE_FOC_FOC1
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bool "ODrive enable support for FOC device 1"
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default y
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if ODRIVE_FOC_FOC1
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endif # ODRIVE_FOC_FOC1
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config ODRIVE_FOC_VBUS
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bool "ODrive VBUS ADC support"
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default n
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config ODRIVE_FOC_TEMP
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bool "ODrive Temperature ADC support"
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default n
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endif # MOTOR_FOC
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endif # ARCH_BOARD_ODRIVE
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@@ -0,0 +1,44 @@
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#
|
||||||
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||||
|
#
|
||||||
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# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||||
|
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||||
|
# modifications.
|
||||||
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#
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||||||
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# CONFIG_ARCH_FPU is not set
|
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# CONFIG_NSH_ARGCAT is not set
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# CONFIG_NSH_CMDOPT_HEXDUMP is not set
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# CONFIG_STM32_USE_LEGACY_PINMAP is not set
|
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD="odrive36"
|
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CONFIG_ARCH_BOARD_ODRIVE36=y
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CONFIG_ARCH_CHIP="stm32"
|
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CONFIG_ARCH_CHIP_STM32=y
|
||||||
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CONFIG_ARCH_CHIP_STM32F405RG=y
|
||||||
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CONFIG_ARCH_STACKDUMP=y
|
||||||
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CONFIG_BOARD_LATE_INITIALIZE=y
|
||||||
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CONFIG_BOARD_LOOPSPERMSEC=15272
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||||||
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CONFIG_BUILTIN=y
|
||||||
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CONFIG_EXAMPLES_HELLO=y
|
||||||
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CONFIG_HAVE_CXX=y
|
||||||
|
CONFIG_HAVE_CXXINITIALIZE=y
|
||||||
|
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||||
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CONFIG_INTELHEX_BINARY=y
|
||||||
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CONFIG_MM_REGIONS=2
|
||||||
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CONFIG_NSH_BUILTIN_APPS=y
|
||||||
|
CONFIG_NSH_FILEIOSIZE=512
|
||||||
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CONFIG_NSH_LINELEN=64
|
||||||
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CONFIG_NSH_READLINE=y
|
||||||
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CONFIG_PREALLOC_TIMERS=4
|
||||||
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CONFIG_RAM_SIZE=114688
|
||||||
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CONFIG_RAM_START=0x20000000
|
||||||
|
CONFIG_RAW_BINARY=y
|
||||||
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CONFIG_RR_INTERVAL=200
|
||||||
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CONFIG_SCHED_WAITPID=y
|
||||||
|
CONFIG_START_DAY=6
|
||||||
|
CONFIG_START_MONTH=12
|
||||||
|
CONFIG_START_YEAR=2011
|
||||||
|
CONFIG_STM32_JTAG_SW_ENABLE=y
|
||||||
|
CONFIG_STM32_USART2=y
|
||||||
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CONFIG_SYSTEM_NSH=y
|
||||||
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CONFIG_USART2_SERIAL_CONSOLE=y
|
||||||
@@ -0,0 +1,56 @@
|
|||||||
|
#
|
||||||
|
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||||
|
#
|
||||||
|
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||||
|
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||||
|
# modifications.
|
||||||
|
#
|
||||||
|
# CONFIG_ARCH_FPU is not set
|
||||||
|
# CONFIG_DEV_CONSOLE is not set
|
||||||
|
# CONFIG_STM32_USE_LEGACY_PINMAP is not set
|
||||||
|
CONFIG_ARCH="arm"
|
||||||
|
CONFIG_ARCH_BOARD="odrive36"
|
||||||
|
CONFIG_ARCH_BOARD_ODRIVE36=y
|
||||||
|
CONFIG_ARCH_CHIP="stm32"
|
||||||
|
CONFIG_ARCH_CHIP_STM32=y
|
||||||
|
CONFIG_ARCH_CHIP_STM32F405RG=y
|
||||||
|
CONFIG_ARCH_STACKDUMP=y
|
||||||
|
CONFIG_BOARDCTL_USBDEVCTRL=y
|
||||||
|
CONFIG_BOARD_LOOPSPERMSEC=15272
|
||||||
|
CONFIG_BUILTIN=y
|
||||||
|
CONFIG_CDCACM=y
|
||||||
|
CONFIG_CDCACM_CONSOLE=y
|
||||||
|
CONFIG_CDCACM_RXBUFSIZE=256
|
||||||
|
CONFIG_CDCACM_TXBUFSIZE=256
|
||||||
|
CONFIG_DEBUG_FULLOPT=y
|
||||||
|
CONFIG_DEBUG_SYMBOLS=y
|
||||||
|
CONFIG_EXAMPLES_HELLO=y
|
||||||
|
CONFIG_HAVE_CXX=y
|
||||||
|
CONFIG_HAVE_CXXINITIALIZE=y
|
||||||
|
CONFIG_IDLETHREAD_STACKSIZE=2048
|
||||||
|
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||||
|
CONFIG_INTELHEX_BINARY=y
|
||||||
|
CONFIG_MM_REGIONS=2
|
||||||
|
CONFIG_NSH_ARCHINIT=y
|
||||||
|
CONFIG_NSH_BUILTIN_APPS=y
|
||||||
|
CONFIG_NSH_FILEIOSIZE=512
|
||||||
|
CONFIG_NSH_LINELEN=64
|
||||||
|
CONFIG_NSH_READLINE=y
|
||||||
|
CONFIG_PREALLOC_TIMERS=4
|
||||||
|
CONFIG_RAMLOG=y
|
||||||
|
CONFIG_RAMLOG_BUFSIZE=4096
|
||||||
|
CONFIG_RAMLOG_SYSLOG=y
|
||||||
|
CONFIG_RAM_SIZE=114688
|
||||||
|
CONFIG_RAM_START=0x20000000
|
||||||
|
CONFIG_RAW_BINARY=y
|
||||||
|
CONFIG_RR_INTERVAL=200
|
||||||
|
CONFIG_SCHED_WAITPID=y
|
||||||
|
CONFIG_STACK_COLORATION=y
|
||||||
|
CONFIG_START_DAY=27
|
||||||
|
CONFIG_START_YEAR=2013
|
||||||
|
CONFIG_STM32_JTAG_SW_ENABLE=y
|
||||||
|
CONFIG_STM32_OTGFS=y
|
||||||
|
CONFIG_STM32_PWR=y
|
||||||
|
CONFIG_STM32_USART2=y
|
||||||
|
CONFIG_SYSTEM_NSH=y
|
||||||
|
CONFIG_USBDEV=y
|
||||||
@@ -0,0 +1,210 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* boards/arm/stm32/odrive36/include/board.h
|
||||||
|
*
|
||||||
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
* contributor license agreements. See the NOTICE file distributed with
|
||||||
|
* this work for additional information regarding copyright ownership. The
|
||||||
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
* "License"); you may not use this file except in compliance with the
|
||||||
|
* License. You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
* License for the specific language governing permissions and limitations
|
||||||
|
* under the License.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifndef __BOARDS_ARM_STM32_ODRIVE36_INCLUDE_BOARD_H
|
||||||
|
#define __BOARDS_ARM_STM32_ODRIVE36_INCLUDE_BOARD_H
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
|
#ifndef __ASSEMBLY__
|
||||||
|
# include <stdint.h>
|
||||||
|
#endif
|
||||||
|
#include "stm32_rcc.h"
|
||||||
|
#include "stm32.h"
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-processor Definitions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/* Clocking *****************************************************************/
|
||||||
|
|
||||||
|
/* HSI - 16 MHz RC factory-trimmed
|
||||||
|
* LSI - 32 KHz RC (30-60KHz, uncalibrated)
|
||||||
|
* HSE - On-board crystal frequency is 8MHz
|
||||||
|
* LSE - 32.768 kHz
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define STM32_BOARD_XTAL 8000000ul
|
||||||
|
|
||||||
|
#define STM32_HSI_FREQUENCY 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
|
||||||
|
* = (8,000,000 / 8) * 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(8)
|
||||||
|
#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
|
||||||
|
|
||||||
|
/* 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 BOARD_TIM1_FREQUENCY STM32_HCLK_FREQUENCY
|
||||||
|
#define BOARD_TIM2_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
|
||||||
|
#define BOARD_TIM3_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
|
||||||
|
#define BOARD_TIM4_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
|
||||||
|
#define BOARD_TIM5_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
|
||||||
|
#define BOARD_TIM6_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
|
||||||
|
#define BOARD_TIM7_FREQUENCY (STM32_HCLK_FREQUENCY / 2)
|
||||||
|
#define BOARD_TIM8_FREQUENCY STM32_HCLK_FREQUENCY
|
||||||
|
|
||||||
|
/* DMA Channel/Stream Selections ********************************************/
|
||||||
|
|
||||||
|
/* ADC 1 */
|
||||||
|
|
||||||
|
#define ADC1_DMA_CHAN DMAMAP_ADC1_1
|
||||||
|
|
||||||
|
/* Alternate function pin selections ****************************************/
|
||||||
|
|
||||||
|
/* ADC */
|
||||||
|
|
||||||
|
#define GPIO_ADC1_IN4 GPIO_ADC1_IN4_0
|
||||||
|
#define GPIO_ADC1_IN5 GPIO_ADC1_IN5_0
|
||||||
|
#define GPIO_ADC1_IN6 GPIO_ADC1_IN6_0
|
||||||
|
#define GPIO_ADC1_IN15 GPIO_ADC1_IN15_0
|
||||||
|
|
||||||
|
#define GPIO_ADC2_IN10 GPIO_ADC2_IN10_0
|
||||||
|
#define GPIO_ADC2_IN11 GPIO_ADC2_IN11_0
|
||||||
|
#define GPIO_ADC2_IN12 GPIO_ADC2_IN13_0
|
||||||
|
|
||||||
|
#define GPIO_ADC3_IN12 GPIO_ADC3_IN12_0
|
||||||
|
#define GPIO_ADC3_IN13 GPIO_ADC3_IN13_0
|
||||||
|
|
||||||
|
/* USART2:
|
||||||
|
* USART2_TX - PA2 - GPIO_3
|
||||||
|
* USART2_RX - PA3 - GPIO_4
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define GPIO_USART2_RX (GPIO_USART2_RX_1|GPIO_SPEED_100MHz)
|
||||||
|
#define GPIO_USART2_TX (GPIO_USART2_TX_1|GPIO_SPEED_100MHz)
|
||||||
|
|
||||||
|
/* CAN:
|
||||||
|
* CAN_R - PB8
|
||||||
|
* CAN_T - PB9
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define GPIO_CAN1_RX (GPIO_CAN1_RX_2|GPIO_SPEED_50MHz)
|
||||||
|
#define GPIO_CAN1_TX (GPIO_CAN1_TX_2|GPIO_SPEED_50MHz)
|
||||||
|
|
||||||
|
/* SPI3 - connected to DRV8301
|
||||||
|
* SPI3_SCK - PC10
|
||||||
|
* SPI3_MISO - PC11
|
||||||
|
* SPI3_MOSI - PC12
|
||||||
|
*/
|
||||||
|
|
||||||
|
#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)
|
||||||
|
|
||||||
|
/* USBDEV */
|
||||||
|
|
||||||
|
#define GPIO_OTGFS_DM (GPIO_OTGFS_DM_0|GPIO_SPEED_100MHz)
|
||||||
|
#define GPIO_OTGFS_DP (GPIO_OTGFS_DP_0|GPIO_SPEED_100MHz)
|
||||||
|
#define GPIO_OTGFS_ID (GPIO_OTGFS_ID_0|GPIO_SPEED_100MHz)
|
||||||
|
|
||||||
|
/* Dual FOC configuration */
|
||||||
|
|
||||||
|
/* TIM1 configuration *******************************************************/
|
||||||
|
|
||||||
|
#define GPIO_TIM1_CH1OUT (GPIO_TIM1_CH1OUT_1|GPIO_SPEED_100MHz) /* TIM1 CH1 - PA8 - U high */
|
||||||
|
#define GPIO_TIM1_CH1NOUT (GPIO_TIM1_CH1N_2|GPIO_SPEED_100MHz) /* TIM1 CH1N - PB13 - U low */
|
||||||
|
#define GPIO_TIM1_CH2OUT (GPIO_TIM1_CH2OUT_1|GPIO_SPEED_100MHz) /* TIM1 CH2 - PA9 - V high */
|
||||||
|
#define GPIO_TIM1_CH2NOUT (GPIO_TIM1_CH2N_2|GPIO_SPEED_100MHz) /* TIM1 CH2N - PB14 - V low */
|
||||||
|
#define GPIO_TIM1_CH3OUT (GPIO_TIM1_CH3OUT_1|GPIO_SPEED_100MHz) /* TIM1 CH3 - PA10 - W high */
|
||||||
|
#define GPIO_TIM1_CH3NOUT (GPIO_TIM1_CH3N_2|GPIO_SPEED_100MHz) /* TIM1 CH3N - PB15 - W low */
|
||||||
|
#define GPIO_TIM1_CH4OUT 0 /* not used as output */
|
||||||
|
|
||||||
|
/* TIM8 configuration *******************************************************/
|
||||||
|
|
||||||
|
#define GPIO_TIM8_CH1OUT (GPIO_TIM8_CH1OUT_1|GPIO_SPEED_100MHz) /* TIM8 CH1 - PC6 - U high */
|
||||||
|
#define GPIO_TIM8_CH1NOUT (GPIO_TIM8_CH1N_2|GPIO_SPEED_100MHz) /* TIM8 CH1N - PA7 - U low */
|
||||||
|
#define GPIO_TIM8_CH2OUT (GPIO_TIM8_CH2OUT_1|GPIO_SPEED_100MHz) /* TIM8 CH2 - PC7 - V high */
|
||||||
|
#define GPIO_TIM8_CH2NOUT (GPIO_TIM8_CH2N_1|GPIO_SPEED_100MHz) /* TIM8 CH2N - PB0 - V low */
|
||||||
|
#define GPIO_TIM8_CH3OUT (GPIO_TIM8_CH3OUT_1|GPIO_SPEED_100MHz) /* TIM8 CH3 - PC8 - W high */
|
||||||
|
#define GPIO_TIM8_CH3NOUT (GPIO_TIM8_CH3N_1|GPIO_SPEED_100MHz) /* TIM8 CH3N - PB1 - W low */
|
||||||
|
#define GPIO_TIM8_CH4OUT 0 /* not used as output */
|
||||||
|
|
||||||
|
/* QEN3 configuration *******************************************************/
|
||||||
|
|
||||||
|
#define GPIO_TIM3_CH1IN (GPIO_TIM3_CH1IN_2|GPIO_SPEED_50MHz) /* TIM3 CH1IN - PB4 */
|
||||||
|
#define GPIO_TIM3_CH2IN (GPIO_TIM3_CH2IN_2|GPIO_SPEED_50MHz) /* TIM3 CH2IN - PB5 */
|
||||||
|
|
||||||
|
/* QEN4 configuration *******************************************************/
|
||||||
|
|
||||||
|
#define GPIO_TIM4_CH1IN (GPIO_TIM4_CH1IN_1|GPIO_SPEED_50MHz) /* TIM4 CH1IN - PB6 */
|
||||||
|
#define GPIO_TIM4_CH2IN (GPIO_TIM4_CH2IN_1|GPIO_SPEED_50MHz) /* TIM4 CH2IN - PB7 */
|
||||||
|
|
||||||
|
#endif /* __BOARDS_ARM_STM32_ODRIVE36_INCLUDE_BOARD_H */
|
||||||
@@ -0,0 +1,40 @@
|
|||||||
|
############################################################################
|
||||||
|
# boards/arm/stm32/odrive36/scripts/Make.defs
|
||||||
|
#
|
||||||
|
# Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
# contributor license agreements. See the NOTICE file distributed with
|
||||||
|
# this work for additional information regarding copyright ownership. The
|
||||||
|
# ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
# "License"); you may not use this file except in compliance with the
|
||||||
|
# License. You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
# License for the specific language governing permissions and limitations
|
||||||
|
# under the License.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
include $(TOPDIR)/.config
|
||||||
|
include $(TOPDIR)/tools/Config.mk
|
||||||
|
include $(TOPDIR)/arch/arm/src/armv7-m/Toolchain.defs
|
||||||
|
|
||||||
|
LDSCRIPT = ld.script
|
||||||
|
|
||||||
|
ARCHSCRIPT += $(BOARD_DIR)$(DELIM)scripts$(DELIM)$(LDSCRIPT)
|
||||||
|
|
||||||
|
ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
|
||||||
|
|
||||||
|
CFLAGS := $(ARCHCFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
|
||||||
|
CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
|
||||||
|
CXXFLAGS := $(ARCHCXXFLAGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS) -pipe
|
||||||
|
CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
|
||||||
|
CPPFLAGS := $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRAFLAGS)
|
||||||
|
AFLAGS := $(CFLAGS) -D__ASSEMBLY__
|
||||||
|
|
||||||
|
NXFLATLDFLAGS1 = -r -d -warn-common
|
||||||
|
NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
|
||||||
|
LDNXFLATFLAGS = -e main -s 2048
|
||||||
@@ -0,0 +1,123 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* boards/arm/stm32/odrive36/scripts/ld.script
|
||||||
|
*
|
||||||
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
* contributor license agreements. See the NOTICE file distributed with
|
||||||
|
* this work for additional information regarding copyright ownership. The
|
||||||
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
* "License"); you may not use this file except in compliance with the
|
||||||
|
* License. You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
* License for the specific language governing permissions and limitations
|
||||||
|
* under the License.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/* The STM32F405RGT6 has 1024Kb of FLASH beginning at address 0x0800:0000 and
|
||||||
|
* 192Kb of SRAM. SRAM is split up into two 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
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*/
|
||||||
|
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
flash (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
|
||||||
|
sram (rwx) : ORIGIN = 0x20000000, LENGTH = 112K
|
||||||
|
}
|
||||||
|
|
||||||
|
OUTPUT_ARCH(arm)
|
||||||
|
EXTERN(_vectors)
|
||||||
|
ENTRY(_stext)
|
||||||
|
SECTIONS
|
||||||
|
{
|
||||||
|
.text : {
|
||||||
|
_stext = ABSOLUTE(.);
|
||||||
|
*(.vectors)
|
||||||
|
*(.text .text.*)
|
||||||
|
*(.fixup)
|
||||||
|
*(.gnu.warning)
|
||||||
|
*(.rodata .rodata.*)
|
||||||
|
*(.gnu.linkonce.t.*)
|
||||||
|
*(.glue_7)
|
||||||
|
*(.glue_7t)
|
||||||
|
*(.got)
|
||||||
|
*(.gcc_except_table)
|
||||||
|
*(.gnu.linkonce.r.*)
|
||||||
|
_etext = ABSOLUTE(.);
|
||||||
|
} > flash
|
||||||
|
|
||||||
|
.init_section : ALIGN(4) {
|
||||||
|
_sinit = ABSOLUTE(.);
|
||||||
|
KEEP(*(.init_array .init_array.*))
|
||||||
|
_einit = ABSOLUTE(.);
|
||||||
|
} > flash
|
||||||
|
|
||||||
|
.ARM.extab : ALIGN(4) {
|
||||||
|
*(.ARM.extab*)
|
||||||
|
} > flash
|
||||||
|
|
||||||
|
.ARM.exidx : ALIGN(4) {
|
||||||
|
__exidx_start = ABSOLUTE(.);
|
||||||
|
*(.ARM.exidx*)
|
||||||
|
__exidx_end = ABSOLUTE(.);
|
||||||
|
} > flash
|
||||||
|
|
||||||
|
.tdata : {
|
||||||
|
_stdata = ABSOLUTE(.);
|
||||||
|
*(.tdata .tdata.* .gnu.linkonce.td.*);
|
||||||
|
_etdata = ABSOLUTE(.);
|
||||||
|
} > flash
|
||||||
|
|
||||||
|
.tbss : {
|
||||||
|
_stbss = ABSOLUTE(.);
|
||||||
|
*(.tbss .tbss.* .gnu.linkonce.tb.* .tcommon);
|
||||||
|
_etbss = ABSOLUTE(.);
|
||||||
|
} > flash
|
||||||
|
|
||||||
|
_eronly = ABSOLUTE(.);
|
||||||
|
|
||||||
|
.data : ALIGN(4) {
|
||||||
|
_sdata = ABSOLUTE(.);
|
||||||
|
*(.data .data.*)
|
||||||
|
*(.gnu.linkonce.d.*)
|
||||||
|
CONSTRUCTORS
|
||||||
|
. = ALIGN(4);
|
||||||
|
_edata = ABSOLUTE(.);
|
||||||
|
} > sram AT > flash
|
||||||
|
|
||||||
|
.bss : ALIGN(4) {
|
||||||
|
_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) }
|
||||||
|
}
|
||||||
@@ -0,0 +1,41 @@
|
|||||||
|
# ##############################################################################
|
||||||
|
# boards/arm/stm32/odrive36/src/CMakeLists.txt
|
||||||
|
#
|
||||||
|
# Licensed to the Apache Software Foundation (ASF) under one or more contributor
|
||||||
|
# license agreements. See the NOTICE file distributed with this work for
|
||||||
|
# additional information regarding copyright ownership. The ASF licenses this
|
||||||
|
# file to you under the Apache License, Version 2.0 (the "License"); you may not
|
||||||
|
# use this file except in compliance with the License. You may obtain a copy of
|
||||||
|
# the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
# License for the specific language governing permissions and limitations under
|
||||||
|
# the License.
|
||||||
|
#
|
||||||
|
# ##############################################################################
|
||||||
|
|
||||||
|
set(SRCS stm32_boot.c stm32_bringup.c)
|
||||||
|
|
||||||
|
if(CONFIG_STM32_SPI)
|
||||||
|
list(APPEND SRCS stm32_spi.c)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(CONFIG_BOARDCTL)
|
||||||
|
list(APPEND SRCS stm32_appinit.c)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(CONFIG_STM32_FOC)
|
||||||
|
list(APPEND SRCS stm32_foc.c)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(CONFIG_STM32_OTGFS)
|
||||||
|
list(APPEND SRCS stm32_usb.c)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
target_sources(board PRIVATE ${SRCS})
|
||||||
|
|
||||||
|
set_property(GLOBAL PROPERTY LD_SCRIPT "${NUTTX_BOARD_DIR}/scripts/ld.script")
|
||||||
@@ -0,0 +1,43 @@
|
|||||||
|
############################################################################
|
||||||
|
# boards/arm/stm32/odrive36/src/Make.defs
|
||||||
|
#
|
||||||
|
# Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
# contributor license agreements. See the NOTICE file distributed with
|
||||||
|
# this work for additional information regarding copyright ownership. The
|
||||||
|
# ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
# "License"); you may not use this file except in compliance with the
|
||||||
|
# License. You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
# License for the specific language governing permissions and limitations
|
||||||
|
# under the License.
|
||||||
|
#
|
||||||
|
############################################################################
|
||||||
|
|
||||||
|
include $(TOPDIR)/Make.defs
|
||||||
|
|
||||||
|
CSRCS = stm32_boot.c stm32_bringup.c
|
||||||
|
|
||||||
|
ifeq ($(CONFIG_STM32_SPI),y)
|
||||||
|
CSRCS += stm32_spi.c
|
||||||
|
endif
|
||||||
|
|
||||||
|
ifeq ($(CONFIG_BOARDCTL),y)
|
||||||
|
CSRCS += stm32_appinit.c
|
||||||
|
endif
|
||||||
|
|
||||||
|
ifeq ($(CONFIG_STM32_FOC),y)
|
||||||
|
CSRCS += stm32_foc.c
|
||||||
|
endif
|
||||||
|
|
||||||
|
ifeq ($(CONFIG_STM32_OTGFS),y)
|
||||||
|
CSRCS += stm32_usb.c
|
||||||
|
endif
|
||||||
|
|
||||||
|
DEPPATH += --dep-path board
|
||||||
|
VPATH += :board
|
||||||
|
CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board)
|
||||||
@@ -0,0 +1,155 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* boards/arm/stm32/odrive36/src/odrive.h
|
||||||
|
*
|
||||||
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
* contributor license agreements. See the NOTICE file distributed with
|
||||||
|
* this work for additional information regarding copyright ownership. The
|
||||||
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
* "License"); you may not use this file except in compliance with the
|
||||||
|
* License. You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
* License for the specific language governing permissions and limitations
|
||||||
|
* under the License.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifndef __BOARDS_ARM_STM32_ODRIVE36_SRC_ODRIVE_H
|
||||||
|
#define __BOARDS_ARM_STM32_ODRIVE36_SRC_ODRIVE_H
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
#include <nuttx/compiler.h>
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-processor Definitions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/* procfs File System */
|
||||||
|
|
||||||
|
#ifdef CONFIG_FS_PROCFS
|
||||||
|
# ifdef CONFIG_NSH_PROC_MOUNTPOINT
|
||||||
|
# define STM32_PROCFS_MOUNTPOINT CONFIG_NSH_PROC_MOUNTPOINT
|
||||||
|
# else
|
||||||
|
# define STM32_PROCFS_MOUNTPOINT "/proc"
|
||||||
|
# endif
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* DRV8301 pins */
|
||||||
|
|
||||||
|
#define GPIO_DRV8301_ENGATE (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
|
||||||
|
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
|
||||||
|
#define GPIO_DRV8301_NFAULT (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD| \
|
||||||
|
GPIO_PIN2)
|
||||||
|
|
||||||
|
/* SPI chip selects */
|
||||||
|
|
||||||
|
#define GPIO_GATEDRV0_CS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
|
||||||
|
GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
|
||||||
|
#define GPIO_GATEDRV1_CS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
|
||||||
|
GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
|
||||||
|
|
||||||
|
/* QE index pins */
|
||||||
|
|
||||||
|
#define GPIO_QE3_INDEX (GPIO_INPUT | GPIO_FLOAT | \
|
||||||
|
GPIO_EXTI | GPIO_PORTC | GPIO_PIN9)
|
||||||
|
#define GPIO_QE4_INDEX (GPIO_INPUT | GPIO_FLOAT | \
|
||||||
|
GPIO_EXTI | GPIO_PORTC | GPIO_PIN15)
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Data
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Function Prototypes
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_bringup
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Perform architecture specific initialization
|
||||||
|
*
|
||||||
|
* CONFIG_LIB_BOARDCTL=y:
|
||||||
|
* If CONFIG_NSH_ARCHINITIALIZE=y:
|
||||||
|
* Called from the NSH library (or other application)
|
||||||
|
* Otherwise, assumed to be called from some other application.
|
||||||
|
*
|
||||||
|
* Otherwise CONFIG_BOARD_LATE_INITIALIZE=y:
|
||||||
|
* Called from board_late_initialize().
|
||||||
|
*
|
||||||
|
* Otherwise, bad news: Never called
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
int stm32_bringup(void);
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_spidev_initialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called to configure SPI chip select GPIO pins.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
void stm32_spidev_initialize(void);
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_adc_setup
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Initialize ADC and register the ADC driver.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_ADC
|
||||||
|
int stm32_adc_setup(void);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_dac_setup
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Initialize DAC and register the DAC driver.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_DAC
|
||||||
|
int stm32_dac_setup(void);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_foc_setup
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Initialize FOC peripherals for the board.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_FOC
|
||||||
|
int stm32_foc_setup(void);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_usbinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called from stm32_usbinitialize very early in initialization to setup
|
||||||
|
* USB-related GPIO pins for the STM32F4Discovery board.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_OTGFS
|
||||||
|
void weak_function stm32_usbinitialize(void);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* __BOARDS_ARM_STM32_ODRIVE36_SRC_ODRIVE_H */
|
||||||
@@ -0,0 +1,71 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* boards/arm/stm32/odrive36/src/stm32_appinit.c
|
||||||
|
*
|
||||||
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
* contributor license agreements. See the NOTICE file distributed with
|
||||||
|
* this work for additional information regarding copyright ownership. The
|
||||||
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
* "License"); you may not use this file except in compliance with the
|
||||||
|
* License. You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
* License for the specific language governing permissions and limitations
|
||||||
|
* under the License.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
|
#include <sys/types.h>
|
||||||
|
|
||||||
|
#include "odrive.h"
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: board_app_initialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Perform application specific initialization. This function is never
|
||||||
|
* called directly from application code, but only indirectly via the
|
||||||
|
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||||
|
*
|
||||||
|
* Input Parameters:
|
||||||
|
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||||
|
* implementation without modification. The argument has no
|
||||||
|
* meaning to NuttX; the meaning of the argument is a contract
|
||||||
|
* between the board-specific initialization logic and the
|
||||||
|
* matching application logic. The value could be such things as a
|
||||||
|
* mode enumeration value, a set of DIP switch switch settings, a
|
||||||
|
* pointer to configuration data read from a file or serial FLASH,
|
||||||
|
* or whatever you would like to do with it. Every implementation
|
||||||
|
* should accept zero/NULL as a default configuration.
|
||||||
|
*
|
||||||
|
* Returned Value:
|
||||||
|
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||||
|
* any failure to indicate the nature of the failure.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
int board_app_initialize(uintptr_t arg)
|
||||||
|
{
|
||||||
|
#ifdef CONFIG_BOARD_LATE_INITIALIZE
|
||||||
|
/* Board initialization already performed by board_late_initialize() */
|
||||||
|
|
||||||
|
return OK;
|
||||||
|
#else
|
||||||
|
/* Perform board-specific initialization */
|
||||||
|
|
||||||
|
return stm32_bringup();
|
||||||
|
#endif
|
||||||
|
}
|
||||||
@@ -0,0 +1,105 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* boards/arm/stm32/odrive36/src/stm32_boot.c
|
||||||
|
*
|
||||||
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
* contributor license agreements. See the NOTICE file distributed with
|
||||||
|
* this work for additional information regarding copyright ownership. The
|
||||||
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
* "License"); you may not use this file except in compliance with the
|
||||||
|
* License. You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
* License for the specific language governing permissions and limitations
|
||||||
|
* under the License.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
|
#include <debug.h>
|
||||||
|
|
||||||
|
#include <nuttx/arch.h>
|
||||||
|
#include <nuttx/board.h>
|
||||||
|
#include <nuttx/spi/spi.h>
|
||||||
|
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
|
||||||
|
#include "arm_internal.h"
|
||||||
|
#include "odrive.h"
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_boardinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* All STM32 architectures must provide the following entry point. This
|
||||||
|
* entry point is called early in the initialization -- after all memory
|
||||||
|
* has been configured and mapped but before any devices have been
|
||||||
|
* initialized.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
void stm32_boardinitialize(void)
|
||||||
|
{
|
||||||
|
#ifdef CONFIG_SEGGER_SYSVIEW
|
||||||
|
up_perf_init((void *)STM32_SYSCLK_FREQUENCY);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_ARCH_LEDS
|
||||||
|
/* Configure on-board LEDs if LED support has been selected. */
|
||||||
|
|
||||||
|
board_autoled_initialize();
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
|
||||||
|
defined(CONFIG_STM32_SPI3)
|
||||||
|
/* Configure SPI chip selects if 1) SP2 is not disabled, and 2) the weak
|
||||||
|
* function stm32_spidev_initialize() has been brought into the link.
|
||||||
|
*/
|
||||||
|
|
||||||
|
stm32_spidev_initialize();
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_OTGFS
|
||||||
|
/* Initialize USB is 1) USBDEV is selected, 2) the USB controller is not
|
||||||
|
* disabled, and 3) the weak function stm32_usbinitialize() has been
|
||||||
|
* brought into the build.
|
||||||
|
*/
|
||||||
|
|
||||||
|
stm32_usbinitialize();
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: board_late_initialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* If CONFIG_BOARD_LATE_INITIALIZE is selected, then an additional
|
||||||
|
* initialization call will be performed in the boot-up sequence to a
|
||||||
|
* function called board_late_initialize(). board_late_initialize() will
|
||||||
|
* be called immediately after up_initialize() is called and just before
|
||||||
|
* the initial application is started. This additional initialization
|
||||||
|
* phase may be used, for example, to initialize board-specific device
|
||||||
|
* drivers.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_BOARD_LATE_INITIALIZE
|
||||||
|
void board_late_initialize(void)
|
||||||
|
{
|
||||||
|
/* Perform board-specific initialization */
|
||||||
|
|
||||||
|
stm32_bringup();
|
||||||
|
}
|
||||||
|
#endif
|
||||||
@@ -0,0 +1,141 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* boards/arm/stm32/odrive36/src/stm32_bringup.c
|
||||||
|
*
|
||||||
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
* contributor license agreements. See the NOTICE file distributed with
|
||||||
|
* this work for additional information regarding copyright ownership. The
|
||||||
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
* "License"); you may not use this file except in compliance with the
|
||||||
|
* License. You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
* License for the specific language governing permissions and limitations
|
||||||
|
* under the License.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
|
#include <debug.h>
|
||||||
|
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
|
||||||
|
#include <nuttx/usb/cdcacm.h>
|
||||||
|
#include <nuttx/fs/fs.h>
|
||||||
|
|
||||||
|
#ifdef CONFIG_SENSORS_QENCODER
|
||||||
|
# include "board_qencoder.h"
|
||||||
|
# include "stm32_qencoder.h"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include "odrive.h"
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_bringup
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Perform architecture-specific initialization
|
||||||
|
*
|
||||||
|
* CONFIG_BOARD_LATE_INITIALIZE=y :
|
||||||
|
* Called from board_late_initialize().
|
||||||
|
*
|
||||||
|
* CONFIG_BOARD_LATE_INITIALIZE=n && CONFIG_LIB_BOARDCTL=y :
|
||||||
|
* Called from the NSH library
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
int stm32_bringup(void)
|
||||||
|
{
|
||||||
|
int ret = OK;
|
||||||
|
|
||||||
|
#ifdef CONFIG_FS_PROCFS
|
||||||
|
/* Mount the procfs file system */
|
||||||
|
|
||||||
|
ret = nx_mount(NULL, STM32_PROCFS_MOUNTPOINT, "procfs", 0, NULL);
|
||||||
|
if (ret < 0)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: Failed to mount the PROC filesystem: %d\n",
|
||||||
|
ret);
|
||||||
|
}
|
||||||
|
#endif /* CONFIG_FS_PROCFS */
|
||||||
|
|
||||||
|
#if defined(CONFIG_CDCACM) && !defined(CONFIG_CDCACM_CONSOLE)
|
||||||
|
/* Initialize CDCACM */
|
||||||
|
|
||||||
|
ret = cdcacm_initialize(0, NULL);
|
||||||
|
if (ret < 0)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: cdcacm_initialize failed: %d\n", ret);
|
||||||
|
}
|
||||||
|
#endif /* CONFIG_CDCACM & !CONFIG_CDCACM_CONSOLE */
|
||||||
|
|
||||||
|
#if defined(CONFIG_STM32_TIM3_QE) && defined(CONFIG_SENSORS_QENCODER)
|
||||||
|
/* Initialize and register the qencoder driver - TIM3 */
|
||||||
|
|
||||||
|
ret = board_qencoder_initialize(0, 3);
|
||||||
|
if (ret != OK)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: Failed to register the qencoder: %d\n", ret);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Connect QE index pin */
|
||||||
|
|
||||||
|
ret = stm32_qe_index_init(3, GPIO_QE3_INDEX);
|
||||||
|
if (ret != OK)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: Failed to register qe index pin: %d\n", ret);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if defined(CONFIG_STM32_TIM4_QE) && defined(CONFIG_SENSORS_QENCODER)
|
||||||
|
/* Initialize and register the qencoder driver - TIM4 */
|
||||||
|
|
||||||
|
ret = board_qencoder_initialize(1, 4);
|
||||||
|
if (ret != OK)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: Failed to register the qencoder: %d\n", ret);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Connect QE index pin */
|
||||||
|
|
||||||
|
ret = stm32_qe_index_init(4, GPIO_QE4_INDEX);
|
||||||
|
if (ret != OK)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: Failed to register qe index pin: %d\n", ret);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_ADC
|
||||||
|
/* Initialize ADC and register the ADC driver. */
|
||||||
|
|
||||||
|
ret = stm32_adc_setup();
|
||||||
|
if (ret < 0)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: stm32_adc_setup failed: %d\n", ret);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_FOC
|
||||||
|
/* Initialize and register FOC devices */
|
||||||
|
|
||||||
|
ret = stm32_foc_setup();
|
||||||
|
if (ret < 0)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: stm32_foc_setup failed: %d\n", ret);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
return ret;
|
||||||
|
}
|
||||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,196 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* boards/arm/stm32/odrive36/src/stm32_spi.c
|
||||||
|
*
|
||||||
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
* contributor license agreements. See the NOTICE file distributed with
|
||||||
|
* this work for additional information regarding copyright ownership. The
|
||||||
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
* "License"); you may not use this file except in compliance with the
|
||||||
|
* License. You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
* License for the specific language governing permissions and limitations
|
||||||
|
* under the License.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <errno.h>
|
||||||
|
#include <debug.h>
|
||||||
|
|
||||||
|
#include <nuttx/spi/spi.h>
|
||||||
|
#include <arch/board/board.h>
|
||||||
|
|
||||||
|
#include "arm_internal.h"
|
||||||
|
#include "chip.h"
|
||||||
|
#include "stm32.h"
|
||||||
|
|
||||||
|
#include "odrive.h"
|
||||||
|
|
||||||
|
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_spidev_initialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called to configure SPI chip select GPIO pins for the stm32f4discovery
|
||||||
|
* board.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
void weak_function stm32_spidev_initialize(void)
|
||||||
|
{
|
||||||
|
#ifdef CONFIG_MOTOR_FOC
|
||||||
|
# ifdef CONFIG_ODRIVE_FOC_FOC0
|
||||||
|
stm32_configgpio(GPIO_GATEDRV0_CS);
|
||||||
|
# endif
|
||||||
|
# ifdef CONFIG_ODRIVE_FOC_FOC1
|
||||||
|
stm32_configgpio(GPIO_GATEDRV1_CS);
|
||||||
|
# endif
|
||||||
|
#endif /* CONFIG_MOTOR_FOC */
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_spi1/2/3select and stm32_spi1/2/3status
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* The external functions, stm32_spi1/2/3select and stm32_spi1/2/3status
|
||||||
|
* must be provided by board-specific logic. They are implementations of
|
||||||
|
* the select and status methods of the SPI interface defined by struct
|
||||||
|
* spi_ops_s (see include/nuttx/spi/spi.h). All other methods (including
|
||||||
|
* stm32_spibus_initialize()) are provided by common STM32 logic. To use
|
||||||
|
* this common SPI logic on your board:
|
||||||
|
*
|
||||||
|
* 1. Provide logic in stm32_boardinitialize() to configure SPI chip select
|
||||||
|
* pins.
|
||||||
|
* 2. Provide stm32_spi1/2/3select() and stm32_spi1/2/3status() functions
|
||||||
|
* in your board-specific logic. These functions will perform chip
|
||||||
|
* selection and status operations using GPIOs in the way your board
|
||||||
|
* is configured.
|
||||||
|
* 3. Add a calls to stm32_spibus_initialize() in your low level
|
||||||
|
* application initialization logic
|
||||||
|
* 4. The handle returned by stm32_spibus_initialize() may then be used to
|
||||||
|
* bind the SPI driver to higher level logic (e.g., calling
|
||||||
|
* mmcsd_spislotinitialize(), for example, will bind the SPI driver to
|
||||||
|
* the SPI MMC/SD driver).
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_SPI1
|
||||||
|
void stm32_spi1select(struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||||
|
{
|
||||||
|
spiinfo("devid: %d CS: %s\n",
|
||||||
|
(int)devid, selected ? "assert" : "de-assert");
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t stm32_spi1status(struct spi_dev_s *dev, uint32_t devid)
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_SPI2
|
||||||
|
void stm32_spi2select(struct spi_dev_s *dev, uint32_t devid,
|
||||||
|
bool selected)
|
||||||
|
{
|
||||||
|
spiinfo("devid: %d CS: %s\n",
|
||||||
|
(int)devid, selected ? "assert" : "de-assert");
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t stm32_spi2status(struct spi_dev_s *dev, uint32_t devid)
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_SPI3
|
||||||
|
void stm32_spi3select(struct spi_dev_s *dev, uint32_t devid, bool selected)
|
||||||
|
{
|
||||||
|
spiinfo("devid: %d CS: %s\n",
|
||||||
|
(int)devid, selected ? "assert" : "de-assert");
|
||||||
|
|
||||||
|
#ifdef CONFIG_MOTOR_FOC
|
||||||
|
# ifdef CONFIG_ODRIVE_FOC_FOC0
|
||||||
|
if (devid == SPIDEV_MOTOR(0))
|
||||||
|
{
|
||||||
|
stm32_gpiowrite(GPIO_GATEDRV0_CS, !selected);
|
||||||
|
}
|
||||||
|
# endif
|
||||||
|
|
||||||
|
# ifdef CONFIG_ODRIVE_FOC_FOC1
|
||||||
|
if (devid == SPIDEV_MOTOR(1))
|
||||||
|
{
|
||||||
|
stm32_gpiowrite(GPIO_GATEDRV1_CS, !selected);
|
||||||
|
}
|
||||||
|
# endif
|
||||||
|
#endif /* CONFIG_MOTOR_FOC */
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t stm32_spi3status(struct spi_dev_s *dev, uint32_t devid)
|
||||||
|
{
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_spi1cmddata
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Set or clear the SH1101A A0 or SD1306 D/C n bit to select data (true)
|
||||||
|
* or command (false). This function must be provided by platform-specific
|
||||||
|
* logic. This is an implementation of the cmddata method of the SPI
|
||||||
|
* interface defined by struct spi_ops_s (see include/nuttx/spi/spi.h).
|
||||||
|
*
|
||||||
|
* Input Parameters:
|
||||||
|
*
|
||||||
|
* spi - SPI device that controls the bus the device that requires the CMD/
|
||||||
|
* DATA selection.
|
||||||
|
* devid - If there are multiple devices on the bus, this selects which one
|
||||||
|
* to select cmd or data. NOTE: This design restricts, for example,
|
||||||
|
* one one SPI display per SPI bus.
|
||||||
|
* cmd - true: select command; false: select data
|
||||||
|
*
|
||||||
|
* Returned Value:
|
||||||
|
* None
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_SPI_CMDDATA
|
||||||
|
#ifdef CONFIG_STM32_SPI1
|
||||||
|
int stm32_spi1cmddata(struct spi_dev_s *dev, uint32_t devid, bool cmd)
|
||||||
|
{
|
||||||
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_SPI2
|
||||||
|
int stm32_spi2cmddata(struct spi_dev_s *dev, uint32_t devid, bool cmd)
|
||||||
|
{
|
||||||
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_SPI3
|
||||||
|
int stm32_spi3cmddata(struct spi_dev_s *dev, uint32_t devid, bool cmd)
|
||||||
|
{
|
||||||
|
return -ENODEV;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#endif /* CONFIG_SPI_CMDDATA */
|
||||||
|
|
||||||
|
#endif /* CONFIG_STM32_SPI1 || CONFIG_STM32_SPI2 || CONFIG_STM32_SPI3 */
|
||||||
@@ -0,0 +1,103 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* boards/arm/stm32/odrive36/src/stm32_usb.c
|
||||||
|
*
|
||||||
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
* contributor license agreements. See the NOTICE file distributed with
|
||||||
|
* this work for additional information regarding copyright ownership. The
|
||||||
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
* "License"); you may not use this file except in compliance with the
|
||||||
|
* License. You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
* License for the specific language governing permissions and limitations
|
||||||
|
* under the License.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
|
#include <sys/types.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <sched.h>
|
||||||
|
#include <errno.h>
|
||||||
|
#include <assert.h>
|
||||||
|
#include <debug.h>
|
||||||
|
|
||||||
|
#include <nuttx/kthread.h>
|
||||||
|
#include <nuttx/usb/usbdev.h>
|
||||||
|
#include <nuttx/usb/usbdev_trace.h>
|
||||||
|
|
||||||
|
#include "arm_internal.h"
|
||||||
|
#include "stm32.h"
|
||||||
|
#include "stm32_otgfs.h"
|
||||||
|
#include "odrive.h"
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_OTGFS
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-processor Definitions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#if defined(CONFIG_USBDEV)
|
||||||
|
# define HAVE_USB 1
|
||||||
|
#else
|
||||||
|
# warning "CONFIG_STM32_OTGFS is enabled but neither CONFIG_USBDEV"
|
||||||
|
# undef HAVE_USB
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Private Data
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Private Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_usbinitialize
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Called from stm32_usbinitialize very early in inialization to setup
|
||||||
|
* USB-related GPIO pins for the STM32F4Discovery board.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
void stm32_usbinitialize(void)
|
||||||
|
{
|
||||||
|
/* The OTG FS has an internal soft pull-up.
|
||||||
|
* No GPIO configuration is required
|
||||||
|
*/
|
||||||
|
}
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_usbsuspend
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Board logic must provide the stm32_usbsuspend logic if the USBDEV
|
||||||
|
* driver is used. This function is called whenever the USB enters or
|
||||||
|
* leaves suspend mode. This is an opportunity for the board logic to
|
||||||
|
* shutdown clocks, power, etc. while the USB is suspended.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_USBDEV
|
||||||
|
void stm32_usbsuspend(struct usbdev_s *dev, bool resume)
|
||||||
|
{
|
||||||
|
uinfo("resume: %d\n", resume);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* CONFIG_STM32_OTGFS */
|
||||||
Reference in New Issue
Block a user